CN110205965A - Environmental sanitation cleaning equipment and its control method - Google Patents
Environmental sanitation cleaning equipment and its control method Download PDFInfo
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- CN110205965A CN110205965A CN201910631520.5A CN201910631520A CN110205965A CN 110205965 A CN110205965 A CN 110205965A CN 201910631520 A CN201910631520 A CN 201910631520A CN 110205965 A CN110205965 A CN 110205965A
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- Prior art keywords
- environmental sanitation
- cleaning equipment
- operating
- central controller
- chassis
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- 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
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
Abstract
The invention discloses a kind of environmental sanitation cleaning equipment and its control methods, and wherein environmental sanitation cleaning equipment includes: chassis；Suction cleaning systems on chassis and washing cleaning systems are set；Walking mechanism below chassis is set；Travel-driving mechanism, travel-driving mechanism drive environmental sanitation cleaning equipment to travel by driving walking mechanism；Operating-controlling mechanism, operating-controlling mechanism is for receiving operational order；Control system, control system respectively with suction cleaning systems, wash cleaning systems, travel-driving mechanism is connected with operating-controlling mechanism, control system is according to operational order respectively to suction cleaning systems, washing cleaning systems and travel-driving mechanism are controlled, and detect the positional relationship between operating-controlling mechanism and chassis, and it is switched between driving mode and tow mode according to the positional relationship control environmental sanitation cleaning equipment between operating-controlling mechanism and chassis, city can be served, rural area can be served again, it is adapted to different applications, facilitate the operation and use of environmental sanitation personnel.
Description
Technical field
The present invention relates to environmental sanitation equipment technology field more particularly to a kind of environmental sanitation cleaning equipment and a kind of environmental sanitation are clear
The control method of clean equipment.
Background technique
With the application popularization of new and high technology, environmental sanitation is equipped to integrated, environmental protection, digitlization and intelligent development, dress
Spare unit kind is increasingly complete, operation function is more abundant, technical level steps up, realize full-automatic, full working scope, fining,
High efficiency cleaning operation peace desk type network management, gradually gets rid of the operation mode that labor intensity is big, operating efficiency is low.
Occur a variety of environmental sanitation equipment products currently on the market, for example, pure electric vehicle pavement maintenance truck, automatic Pilot road sweeper, from
Line garbage dust absorption machine, wireless type dust catcher, mobile cleaning robot, mobile dustbin, intelligent floor-cleaning machine device people etc., and this
A little environmental sanitation applications are in different occasions, such as when square, road, rural area and meadow environment, it is necessary to different function be presented
Demand.But current these environmental sanitation equipment is difficult to propulsion and operation in conjunction with operating area feature flexible transformation cleaning equipment
Mode brings great inconvenience to user.
Summary of the invention
The present invention is directed at least solve one of the technical problem in above-mentioned technology to a certain extent.For this purpose, of the invention
One purpose is to propose a kind of environmental sanitation cleaning equipment for having both tow mode and driving mode, can serve city and
Rural area is served, not only there are the cleaning functions such as vacuum is inhaled, air blast is blown, water rinses, also has the technologies such as drive, power-assisted drags special
Point is adapted to different applications, greatly facilitates the operation and use of environmental sanitation personnel.
It is another object of the present invention to the control methods for proposing a kind of environmental sanitation cleaning equipment.
In order to achieve the above objectives, a kind of environmental sanitation cleaning equipment that one aspect of the present invention embodiment proposes, comprising: chassis；If
Set suction cleaning systems and washing cleaning systems on the chassis；Walking mechanism below the chassis is set；Traveling
Driving mechanism, the travel-driving mechanism is by driving the walking mechanism to drive the environmental sanitation cleaning equipment to travel；Manipulation
Mechanism, the operating-controlling mechanism is for receiving operational order；Control system, the control system is cleaned with the suction respectively is
System, the washing cleaning systems, the travel-driving mechanism are connected with the operating-controlling mechanism, and the control system is according to the behaviour
It instructs and the suction cleaning systems, the washing cleaning systems and the travel-driving mechanism is controlled respectively, and examine
The positional relationship between the operating-controlling mechanism and the chassis is surveyed, and according to the position between the operating-controlling mechanism and the chassis
The relationship control environmental sanitation cleaning equipment is set to switch between driving mode and tow mode.
Environmental sanitation cleaning equipment according to an embodiment of the present invention, by detecting the positional relationship between operating-controlling mechanism and chassis,
The switching between driving mode and tow mode is carried out, thus have both both of which adapting to different applications, it can
City is served, and rural area can be served, and there are the cleaning functions such as vacuum is inhaled, air blast is blown, water rinses, it can be in city, suburb
Area and rural road surface, park meadow, pavement, market, plant area, enterprise, any kind of waste of narrow zone processing are for example
Leaf, paper, cigarette butt, Bottle & Can, food, sack, dog excrement etc. greatly facilitate the operation and use of environmental sanitation personnel, sufficiently full
The demand of sufficient environmental sanitation cleaning.
In addition, environmental sanitation cleaning equipment according to the above embodiment of the present invention can also have the following additional technical features:
Optionally, the operating-controlling mechanism includes manipulation handle, wherein when the position between the operating-controlling mechanism and the chassis is closed
When system is vertical relation, the control system controls the environmental sanitation cleaning equipment work in the driving mode, and by described
It manipulates handle and receives speed-regulating instruction and turning driving instruction, to control the travel-driving mechanism；When the manipulation machine
When positional relationship between structure and the chassis is the relationship of offset from perpendicular, the control system controls the environmental sanitation cleaning
Equipment works in the tow mode, and receives speed-regulating instruction and turning driving instruction by the manipulation handle, to described
Travel-driving mechanism is controlled.
Optionally, anticollision danger button is additionally provided on the manipulation handle, wherein when environmental sanitation cleaning equipment work exists
When the tow mode, if the anticollision danger button is triggered, the control system is described by reversely outputing signal to
Travel-driving mechanism, to be braked to the environmental sanitation cleaning equipment.
Optionally, the operating-controlling mechanism further includes control panel, and the control panel is equipped with switching switch, the switching
Switch has dust suction state, Overblow state and rinses state, wherein the control system is in dust suction shape in switching switch
The suction cleaning systems are controlled when state or Overblow state, and when switching switch is in flushing state to described
Washing cleaning systems are controlled.
Optionally, the control system includes: central controller；Operating mode sensor, the operating mode sensor
It is connected with the central controller, is sent with the positional relationship signal between the operating-controlling mechanism that will test and the chassis
To the central controller；Braking sensor, the braking sensor are connected with the central controller, with the institute that will test
It states environmental sanitation cleaning equipment and is in the signal of on-position and be sent to the central controller；Cistern water level sensor, the water tank
Water level sensor is connected with the central controller, with the water level signal hair of water tank in the washing cleaning systems that will test
Give the central controller；Dustbin spill-over sensor, the dustbin spill-over sensor are connected with the central controller,
The central controller is sent to the garbage collection signal of dustbin in the suction cleaning systems that will test；Positioning mould
Block, the locating module are connected with the central controller, the location information of the environmental sanitation cleaning equipment are sent to described
Central controller；Information display module, the information display module are connected with the central controller, to execute the center control
The idsplay order that device processed is sent；Pump motor drive module, the pump motor drive module are connected with the central controller,
To execute the flushes instructions that the central controller is sent；Running motor drive module, the running motor drive module and institute
It states central controller to be connected, to execute the driving instruction that the central controller is sent；Dust suction and blower motor drive module, institute
It states dust suction and blower motor drive module is connected with the central controller, referred to executing the dust suction that the central controller is sent
It enables or air blast instructs.
Optionally, the control system further includes first communication module, and the first communication module and the center control
Device is connected, and the first communication module is used for the communication connection established between the central controller and remote server, described
Central controller is believed the garbage collection of the location information of the environmental sanitation cleaning equipment, dustbin by the first communication module
The running state information of breath, the water level information of water tank and the environmental sanitation cleaning equipment is sent to the remote server, with toilet
Remote server is stated to be believed according to the water level of the location information of the environmental sanitation cleaning equipment, the garbage collection information of dustbin, water tank
The running state information of breath and the environmental sanitation cleaning equipment generates job task, and by described in first communication module reception
The job task that remote server issues, and the control information display module prompt the job task.
Optionally, the environmental sanitation cleaning equipment, further includes: photographic unit, the photographic unit clean the environmental sanitation
The ambient enviroment of running region is shot when equipment works, to generate image information；Image processing module, described image processing
Module is connected with the photographic unit, and described image processing module is handled described image information to generate picture control number
According to；Second communication module, the second communication module are connected with described image processing module, and the second communication module is for building
Communication connection between vertical described image processing module and the remote server, wherein described image processing module passes through institute
State second communication module and described image monitoring data be uploaded to the remote server, using the environmental sanitation cleaning equipment as
Mobile monitoring terminal.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of control method of environmental sanitation cleaning equipment,
The environmental sanitation cleaning equipment includes that chassis, the suction cleaning systems being arranged on the chassis and washing cleaning systems, setting exist
Walking mechanism below the chassis, the traveling drive by driving the walking mechanism to drive the environmental sanitation cleaning equipment to travel
Motivation structure, operating-controlling mechanism, wherein the control method is the following steps are included: receive operational order by the operating-controlling mechanism；Root
The suction cleaning systems, the washing cleaning systems and the travel-driving mechanism are controlled respectively according to the operational order
System, and detect the positional relationship between the operating-controlling mechanism and the chassis；According between the operating-controlling mechanism and the chassis
Positional relationship control the environmental sanitation cleaning equipment and switched between driving mode and tow mode.
The control method of environmental sanitation cleaning equipment according to an embodiment of the present invention, by between detection operating-controlling mechanism and chassis
Positional relationship, to control the switching between environmental sanitation cleaning equipment progress driving mode and tow mode, so that environmental sanitation cleans
Equipment has both both of which to adapt to different applications, can serve city and serve rural area, and has true
The cleaning functions such as suction, air blast are blown, water rinses, can be in city, suburb and rural road surface, park meadow, pavement, city
Field, plant area, enterprise, narrow zone processing any kind of waste such as leaf, paper, cigarette butt, Bottle & Can, food, sack, dog excrement
Just etc., the operation and use of environmental sanitation personnel are greatly facilitated, sufficiently meets the needs of environmental sanitation cleaning.
Optionally, the operating-controlling mechanism includes manipulation handle, wherein the position between the operating-controlling mechanism and the chassis
When to set relationship be vertical relation, environmental sanitation cleaning equipment work is controlled in the driving mode, and pass through the manipulation handle
Speed-regulating instruction and turning driving instruction are received, to control the travel-driving mechanism；When the operating-controlling mechanism with it is described
When positional relationship between chassis is the relationship of offset from perpendicular, the environmental sanitation cleaning equipment work is controlled described and tows mould
Formula, and speed-regulating instruction and turning driving instruction are received by the manipulation handle, to control the travel-driving mechanism.
Optionally, the environmental sanitation cleaning equipment further includes photographic unit, the control method further include: passes through the shooting
The ambient enviroment of running region is shot when mechanism works to the environmental sanitation cleaning equipment, to generate image information；To described
Image information is handled to generate picture control data；By the way that described image monitoring data is uploaded to remote server, with
Using the environmental sanitation cleaning equipment as mobile monitoring terminal.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of environmental sanitation cleaning equipment according to an embodiment of the invention；
Fig. 2 is schematic diagram of the environmental sanitation cleaning equipment work according to an embodiment of the invention in driving mode；
Fig. 3 is schematic diagram of the environmental sanitation cleaning equipment work according to an embodiment of the invention in tow mode；
Fig. 4 is the block diagram of control system according to an embodiment of the invention；
Fig. 5 is the information exchange schematic diagram of environmental sanitation cleaning equipment according to an embodiment of the invention and remote server；
Fig. 6 is the flow diagram of the control method of environmental sanitation cleaning equipment according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The just control of the environmental sanitation cleaning equipment and environmental sanitation cleaning equipment of embodiment with reference to the accompanying drawings to describe the present invention below
Method.
Referring to shown in attached drawing 1 to attached drawing 3, the environmental sanitation cleaning equipment that the embodiment of the present invention proposes includes that chassis 10, setting exist
Suction cleaning systems 20 and washing cleaning systems 30 on chassis 10, the walking mechanism 40 being arranged in below chassis 10, traveling are driven
Motivation structure 50, operating-controlling mechanism 60, control system 70.
Wherein, travel-driving mechanism 50 drives environmental sanitation cleaning equipment to travel by driving walking mechanism 40.Specifically, such as
Shown in Fig. 1, travel-driving mechanism 50 may include running motor and rear axle assy, and walking mechanism 40 may include three wheels 112,
That is travel-driving mechanism 50 can be by two rear wheels 112 of driving come so that environmental sanitation cleaning equipment travels.
Such as steering handle assembly of operating-controlling mechanism 60 cleans system with suction respectively for receiving operational order, control system 70
System 20, washing cleaning systems 30, travel-driving mechanism 50 are connected with operating-controlling mechanism 60, and control system 70 is distinguished according to operational order
Suction cleaning systems 20, washing cleaning systems 30 and travel-driving mechanism 50 are controlled, and detect operating-controlling mechanism 60 and bottom
Positional relationship between disk 10, and existed according to the positional relationship control environmental sanitation cleaning equipment between operating-controlling mechanism 60 and chassis 10
It is switched between driving mode and tow mode.
Further, according to one embodiment of present invention, which can be used pure electric vehicle, internal combustion engine, mixes
Power isotype is closed to work.
Specifically, as shown in Figure 1, by taking electric-only mode as an example, which is supplied using battery 111
Electricity.And aspirate cleaning systems 20 and may include dust suction and air blast compound machine assembly 103, inhale blowpipe 106 and dustbin 109, and
And the upper surface of dustbin 109 is equipped with garbage cover 113, is worked or is arranged by the air-breathing of dust suction and air blast compound machine assembly 103
The vacuum that environmental sanitation cleaning equipment can be achieved in gas work is inhaled and function is blown in air blast.Washing cleaning systems 30 includes water tank, pump motor
Assembly, water pipe and hydraulic giant can realize the water pre-washing function of environmental sanitation cleaning equipment by the pumping work of pump motor assembly.
In conjunction with shown in attached drawing, operating-controlling mechanism 60 include manipulation handle 202, wherein as shown in Fig. 2, when operating-controlling mechanism 60 with
When positional relationship between chassis 10 is vertical relation, control system 70 controls the work of environmental sanitation cleaning equipment in driving mode, and
Speed-regulating instruction and turning driving instruction are received by manipulation handle 202, to control travel-driving mechanism 50；Such as Fig. 3 institute
Show, when the positional relationship between operating-controlling mechanism 60 and chassis 10 is the relationship of offset from perpendicular, 70 control ring of control system
Cleaning equipment work is defended in tow mode, and speed-regulating instruction and turning driving instruction are received by manipulation handle 202, to traveling
Driving mechanism 50 is controlled.
Therefore, in an embodiment of the present invention, which passes through the position between detection operating-controlling mechanism and chassis
Relationship, the switching between Lai Jinhang driving mode and tow mode are set, to have both both of which to adapt to different applied fields
It closes, city can be served and serve rural area, and the cleaning functions that have that vacuum is inhaled, air blast is blown, water rinses etc., it can be
City, suburb and rural road surface, park meadow, pavement, market, plant area, enterprise, narrow zone processing are any kind of
Waste such as leaf, paper, cigarette butt, Bottle & Can, food, sack, dog excrement etc. greatly facilitates the operation of environmental sanitation personnel and makes
With sufficiently meeting the needs of environmental sanitation cleaning.
Specifically, in one embodiment of the invention, as shown in figure 4, control system 70 includes operating mode sensor
201, braking sensor 204, cistern water level sensor 205, dustbin spill-over sensor 206, suction pipe sensor 207, positioning mould
Block 208, battery management unit 209, dust suction and blower motor drive module 210, running motor drive module 211, water pump electricity
Machine drive module 212, information display module 213 and central controller 216.
Operating mode sensor 201 is connected with central controller 216, with the operating-controlling mechanism 60 that will test and chassis 10 it
Between positional relationship signal be sent to central controller 216.In other words, when such as steering handle assembly of operating-controlling mechanism 60 is in vertical
When the position of chassis, operating mode sensor 201 will test result and be sent to central controller 216, and central controller 216 controls
Environmental sanitation cleaning equipment is in driving mode, and operator station's front region on chassis holds manipulation handle 202 and carries out driving behaviour
Make, manipulation handle 202 can control equipment speed regulation, turning driving etc.；It hangs down when such as steering handle assembly of operating-controlling mechanism 60 deviates
Histogram to when, operating mode sensor 201 will test result and be sent to central controller 216, and central controller 216 controls environmental sanitation
Operating mode is switched to tow mode by cleaning equipment, and staff is located in front of environmental sanitation cleaning equipment, holds manipulation handle 202
Drag operation is carried out, manipulation handle 202 can control equipment speed regulation, turning power-assisted dragging is advanced etc..Wherein, handle 202 is manipulated
Signal acquired by central controller 216, after internal algorithm is handled, output driving instruction is to running motor drive module
211, in other words, running motor drive module 211 is connected with central controller 216, to execute the traveling of the transmission of central controller 216
Instruction.
Optionally, it manipulates on handle 202 and is additionally provided with anticollision danger button, wherein when the work of environmental sanitation cleaning equipment is towing
When mode, if anticollision danger button is triggered, control system 70 is by reversely outputing signal to travel-driving mechanism 50, with right
Environmental sanitation cleaning equipment is braked.
Further, when environmental sanitation cleaning equipment is with tow mode power running, it is possible that stall risk, in order to anti-
Only environmental sanitation cleaning equipment, which moves forward, hurts staff, is mounted with anticollision danger button in manipulation 202 forefront position of handle.When
When pressing anticollision danger button, central controller 216 collects braking requirement, after internal algorithm is handled, reversed output letter
Number arrive running motor drive module 211, realize to environmental sanitation cleaning equipment carry out control for brake, while braking sensor 204 detect
It is in on-position to environmental sanitation cleaning equipment, central controller 216 exports idsplay order to information display module 213, control letter
Breath display module 213 is shown, is shown that equipment is currently at on-position, is served as a warning.In other words, braking sensor
204 are connected with central controller 216, are sent to central control with the signal that the environmental sanitation cleaning equipment that will test is in on-position
Device 216 processed, information display module 213 are connected with central controller 216, to execute the idsplay order of the transmission of central controller 216,
The on-position of equipment is prompted.
Optionally, according to one embodiment of present invention, operating-controlling mechanism 60 further includes control panel 203, control panel 203
It is equipped with switching switch, switching switch has dust suction state, Overblow state and rinses state, wherein control system 70 is switching
Suction cleaning systems 20 are controlled when switch is in dust suction state or Overblow state, and are in flushing state in switching switch
When to washing cleaning systems 30 control.
Specifically, when operator presses the switching switching of control panel 203 to dust suction state, operator behaviour
Make suction pipe and carry out dust suction operation, and air force is controlled by the air volume test of suction pipe sensor 207.Control panel 203
The signal of the signal and suction pipe sensor 207 that switch switch is acquired by central controller 216, defeated after internal algorithm is handled
Dust suction instruction is to dust suction and blower motor drive module 210 out, and in other words, dust suction and blower motor drive module 210 and center are controlled
Device 216 processed is connected, to execute the dust suction instruction of the transmission of central controller 216.
When operator presses the switching switching of control panel 203 to Overblow state, operator operates blowpipe
Operation is blowed, the signal of the switching switch of control panel 203 is acquired by central controller 216, handled by internal algorithm
Afterwards, output air blast instruction is to dust suction and blower motor drive module 210, and in other words, dust suction and blower motor drive module 210 are in
Controller 216 is entreated to be connected, to execute the air blast instruction of the transmission of central controller 216.
When operator presses the switching switching of control panel 203 to flushing state, operator operates water pipe
It is rinsed operation, the signal of switching switch and the signal of cistern water level sensor 205 of control panel 203 are controlled by center
Device 216 acquires, after internal algorithm is handled, output flushes instructions to pump motor drive module 212, in other words, cistern water level
Sensor 205 is connected with central controller 216, is sent to the water level signal of water tank in the washing cleaning systems that will test
Controller 216 is entreated, pump motor drive module 212 is connected with central controller 216, to execute the transmission of central controller 216
Flushes instructions.
Also, as shown in figure 4, dustbin spill-over sensor 206 is connected with central controller 216, with the pumping that will test
The garbage collection signal for inhaling dustbin in cleaning systems is sent to central controller 216, and central controller 216 is according to dustbin
Garbage collection signal judge dustbin whether spill-over；Locating module 208 is connected with central controller 216, and environmental sanitation cleaning is set
Standby location information is sent to central controller 216.
That is, the environmental sanitation cleaning equipment of the embodiment of the present invention can acquire various information by central controller 216, wrap
Include but be not limited to the location information of environmental sanitation cleaning equipment, staff's information on duty, dustbin spill-over information, cistern water level letter
Breath, equipment running status information and emergency information etc..
As shown in Fig. 4 or Fig. 5, control system 70 further includes first communication module 214, first communication module 214 and center
Controller 216 is connected, and first communication module 214 is used for the communication link established between central controller 216 and remote server 215
It connects, central controller 216 passes through first communication module 214 for the location information of environmental sanitation cleaning equipment, the garbage collection of dustbin
The running state information of information, the water level information of water tank and environmental sanitation cleaning equipment is sent to remote server 215, remotely to take
Be engaged in device 2015 according to the location information of environmental sanitation cleaning equipment, the garbage collection information of dustbin, water tank water level information and environmental sanitation
The running state information of cleaning equipment generates job task, and receives what remote server issued by first communication module 214
Job task, and control information display module 213 prompt job task.
In an embodiment of the present invention, various information are acquired by central controller 216, including positioning, staff exist
The information such as hilllock, dustbin spill-over, cistern water level, cleaning equipment operating status and emergent management, are packed into message, pass through
One communication module 214 is wirelessly transmitted to remote server 215；Remote server 215 returns to cleaning equipment job instruction, target
The job tasks such as ground, route planning, and display and auditory tone cues are carried out by information display module 213, give full play to information system
The advantage of system efficient quick, enhances operation intelligence degree, improves cleaning operation efficiency, realizes that the information of environmental sanitation cleaning equipment is mutual
Join intercommunication.
Also, as shown in figure 5, above-mentioned environmental sanitation cleaning equipment further includes photographic unit, image processing module 301 and second
Communication module 302, wherein photographic unit may include preceding camera 303, rear camera 304 and look around camera 305, camera
The ambient enviroment of running region is shot when structure works to environmental sanitation cleaning equipment by these cameras, to generate image letter
Breath, image processing module 301 are connected with photographic unit, and image processing module 301 handles to generate image image information
Monitoring data, second communication module 302 are connected with image processing module 301, and second communication module 302 is for establishing image procossing
Communication connection between module 301 and remote server 215, wherein image processing module 301 passes through second communication module 302
Picture control data are uploaded to remote server 215, using environmental sanitation cleaning equipment as mobile monitoring terminal.
That is, image processing module 301 acquires the preceding camera 303 being mounted in environmental sanitation cleaning equipment, rear camera shooting
First 304 and the image of the shooting of camera 305 is looked around, and after carrying out internal algorithm analysis processing, passes through high-speed communication module 302 and pass
It is sent to remote server 215, the database of the city management departments such as public security, fire-fighting, municipal administration, gardens, environmental sanitation, road administration can be connected
306, in this way by comparing, in time the problem of discovery city management process, so as to which environmental sanitation cleaning equipment is made
For mobile monitoring terminal, the application scenarios of environmental sanitation cleaning equipment have further been expanded.
In conclusion the removable environmental sanitation cleaning for having both tow mode and driving mode that the embodiment of the present invention proposes is set
It is standby, city can be served and serve rural area, not only there are the cleaning functions such as vacuum is inhaled, air blast is blown, water rinses, simultaneously
Also with driving, power-assisted dragging, information alert, data collection, intelligent interconnection, smart city the technical characterstics such as mobile terminal.
The environmental sanitation cleaning equipment can be in city, suburb and rural road surface, park meadow, pavement, market, plant area, enterprise, narrow
Any kind of waste of regional processing: leaf, paper, cigarette butt, Bottle & Can, food, sack, dog excrement etc..
Fig. 6 is the flow chart according to the control method of the environmental sanitation cleaning equipment of the embodiment of the present invention.Wherein, which cleans
Equipment can be the environmental sanitation cleaning equipment of above-described embodiment description comprising chassis, the suction being arranged on chassis cleaning system
It is system and washing cleaning systems, the walking mechanism being arranged in below the chassis, described to drive by driving the walking mechanism
Travel-driving mechanism, the operating-controlling mechanism of environmental sanitation cleaning equipment traveling.As shown in fig. 6, the control method packet of the environmental sanitation cleaning equipment
Include following steps:
S1 receives operational order by operating-controlling mechanism.
S2 respectively controls suction cleaning systems, washing cleaning systems and travel-driving mechanism according to operational order,
And detect the positional relationship between operating-controlling mechanism and chassis.
S3 in driving mode and tows mould according to the positional relationship control environmental sanitation cleaning equipment between operating-controlling mechanism and chassis
It is switched between formula.
The control method of environmental sanitation cleaning equipment according to an embodiment of the present invention, by between detection operating-controlling mechanism and chassis
Positional relationship, to control the switching between environmental sanitation cleaning equipment progress driving mode and tow mode, so that environmental sanitation cleans
Equipment has both both of which to adapt to different applications, can serve city and serve rural area, and has true
The cleaning functions such as suction, air blast are blown, water rinses, can be in city, suburb and rural road surface, park meadow, pavement, city
Field, plant area, enterprise, narrow zone processing any kind of waste such as leaf, paper, cigarette butt, Bottle & Can, food, sack, dog excrement
Just etc., the operation and use of environmental sanitation personnel are greatly facilitated, sufficiently meets the needs of environmental sanitation cleaning.
Optionally, operating-controlling mechanism includes manipulation handle, wherein when the position between the operating-controlling mechanism and the chassis is closed
When system is vertical relation, controls the environmental sanitation cleaning equipment work and received in the driving mode, and by the manipulation handle
Speed-regulating instruction and turning driving instruction, to control the travel-driving mechanism；When the operating-controlling mechanism and the chassis
Between positional relationship when being the relationship of offset from perpendicular, control environmental sanitation cleaning equipment work in the tow mode,
And speed-regulating instruction and turning driving instruction are received by the manipulation handle, to control the travel-driving mechanism.
Optionally, the environmental sanitation cleaning equipment further includes photographic unit, the control method further include: passes through the shooting
The ambient enviroment of running region is shot when mechanism works to the environmental sanitation cleaning equipment, to generate image information；To described
Image information is handled to generate picture control data；By the way that described image monitoring data is uploaded to remote server, with
Using the environmental sanitation cleaning equipment as mobile monitoring terminal.
Wherein, photographic unit may include preceding camera, rear camera and look around camera, and it is clear to be mounted on environmental sanitation by acquisition
Preceding camera, rear camera in clean equipment and the image for looking around camera shooting, and after carrying out internal algorithm analysis processing, lead to
It crosses high speed communication module and is transmitted to remote server, the city management such as public security, fire-fighting, municipal administration, gardens, environmental sanitation, road administration can be connected
The database of department, in this way by comparing, in time the problem of discovery city management process, so as to which environmental sanitation is clear
Clean equipment has further expanded the application scenarios of environmental sanitation cleaning equipment as mobile monitoring terminal.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of environmental sanitation cleaning equipment characterized by comprising
Chassis；
Suction cleaning systems on the chassis and washing cleaning systems are set；
Walking mechanism below the chassis is set；
Travel-driving mechanism, the travel-driving mechanism is by driving the walking mechanism to drive the environmental sanitation cleaning equipment row
It sails；
Operating-controlling mechanism, the operating-controlling mechanism is for receiving operational order；
Control system, the control system drive with the suction cleaning systems, the washing cleaning systems, the traveling respectively
Mechanism is connected with the operating-controlling mechanism, and the control system is according to the operational order respectively to the suction cleaning systems, institute
It states washing cleaning systems and the travel-driving mechanism is controlled, and detect the position between the operating-controlling mechanism and the chassis
Relationship is set, and the environmental sanitation cleaning equipment is controlled according to the positional relationship between the operating-controlling mechanism and the chassis and is being driven
It is switched between mode and tow mode.
2. environmental sanitation cleaning equipment as described in claim 1, which is characterized in that the operating-controlling mechanism includes manipulation handle, wherein
When the positional relationship between the operating-controlling mechanism and the chassis is vertical relation, the control system controls the ring
Cleaning equipment work is defended in the driving mode, and speed-regulating instruction and turning driving instruction are received by the manipulation handle, with
The travel-driving mechanism is controlled；
When the positional relationship between the operating-controlling mechanism and the chassis is the relationship of offset from perpendicular, the control system
It controls the environmental sanitation cleaning equipment work and receives speed-regulating instruction and turning row in the tow mode, and by the manipulation handle
Instruction is sailed, to control the travel-driving mechanism.
3. environmental sanitation cleaning equipment as claimed in claim 2, which is characterized in that be additionally provided on the manipulation handle anticollision promptly by
Button, wherein when environmental sanitation cleaning equipment work is in the tow mode, if the anticollision danger button is triggered, institute
Control system is stated by reversely outputing signal to the travel-driving mechanism, to brake to the environmental sanitation cleaning equipment.
4. environmental sanitation cleaning equipment as claimed in claim 2, which is characterized in that the operating-controlling mechanism further includes control panel, institute
It states control panel and is equipped with switching switch, the switching switch has dust suction state, Overblow state and rinses state, wherein institute
Control system is stated to control the suction cleaning systems when switching switch is in dust suction state or Overblow state, and
The washing cleaning systems are controlled when switching switch is in flushing state.
5. such as environmental sanitation cleaning equipment of any of claims 1-4, which is characterized in that the control system includes:
Central controller；
Operating mode sensor, the operating mode sensor are connected with the central controller, with the behaviour that will test
Positional relationship signal between control mechanism and the chassis is sent to the central controller；
Braking sensor, the braking sensor are connected with the central controller, are set with the environmental sanitation cleaning that will test
The standby signal in on-position is sent to the central controller；
Cistern water level sensor, the cistern water level sensor are connected with the central controller, with the water that will test
The water level signal for washing water tank in cleaning systems is sent to the central controller；
Dustbin spill-over sensor, the dustbin spill-over sensor are connected with the central controller, with the institute that will test
The garbage collection signal for stating dustbin in suction cleaning systems is sent to the central controller；
Locating module, the locating module are connected with the central controller, by the location information of the environmental sanitation cleaning equipment
It is sent to the central controller；
Information display module, the information display module are connected with the central controller, to execute the central controller hair
The idsplay order sent；
Pump motor drive module, the pump motor drive module are connected with the central controller, to execute the center
The flushes instructions that controller is sent；
Running motor drive module, the running motor drive module are connected with the central controller, to execute the center
The driving instruction that controller is sent；
Dust suction and blower motor drive module, the dust suction and blower motor drive module are connected with the central controller, with
Execute the dust suction instruction or air blast instruction that the central controller is sent.
6. environmental sanitation cleaning equipment as claimed in claim 5, which is characterized in that the control system further includes the first communication mould
Block, the first communication module are connected with the central controller, and the first communication module is for establishing the center control
Communication connection between device and remote server, the central controller are cleaned the environmental sanitation by the first communication module
The location information of equipment, the garbage collection information of dustbin, the water level information of water tank and the environmental sanitation cleaning equipment operation shape
State information is sent to the remote server, so as to the remote server according to the location information of the environmental sanitation cleaning equipment,
The running state information of the garbage collection information of dustbin, the water level information of water tank and the environmental sanitation cleaning equipment generates operation and appoints
Business, and the job task that the remote server issues is received by the first communication module, and the control information is shown
Show that module prompts the job task.
7. environmental sanitation cleaning equipment as claimed in claim 6, which is characterized in that further include:
Photographic unit, the ambient enviroment of running region is shot when the photographic unit works to the environmental sanitation cleaning equipment,
To generate image information；
Image processing module, described image processing module are connected with the photographic unit, and described image processing module is to the figure
As information is handled to generate picture control data；
Second communication module, the second communication module are connected with described image processing module, and the second communication module is used for
Establish the communication connection between described image processing module and the remote server, wherein described image processing module passes through
Described image monitoring data is uploaded to the remote server by the second communication module, and the environmental sanitation cleaning equipment is made
For mobile monitoring terminal.
8. a kind of control method of environmental sanitation cleaning equipment, which is characterized in that the environmental sanitation cleaning equipment includes chassis, is arranged in institute
It states the suction cleaning systems on chassis and washes cleaning systems, the walking mechanism being arranged in below the chassis, by driving institute
Walking mechanism is stated to drive travel-driving mechanism, the operating-controlling mechanism of the environmental sanitation cleaning equipment traveling, wherein the control method
The following steps are included:
Operational order is received by the operating-controlling mechanism；
According to the operational order respectively to the suction cleaning systems, the washing cleaning systems and the travel-driving mechanism
It is controlled, and detects the positional relationship between the operating-controlling mechanism and the chassis；
According to the positional relationship between the operating-controlling mechanism and the chassis control the environmental sanitation cleaning equipment in driving mode and
It is switched between tow mode.
9. the control method of environmental sanitation cleaning equipment as claimed in claim 8, which is characterized in that the operating-controlling mechanism includes manipulation
Handle, wherein
When the positional relationship between the operating-controlling mechanism and the chassis is vertical relation, the environmental sanitation cleaning equipment work is controlled
Make in the driving mode, and speed-regulating instruction and turning driving instruction are received by the manipulation handle, to be driven to the traveling
Motivation structure is controlled；
When the positional relationship between the operating-controlling mechanism and the chassis is the relationship of offset from perpendicular, the environmental sanitation is controlled
Cleaning equipment works in the tow mode, and receives speed-regulating instruction and turning driving instruction by the manipulation handle, with right
The travel-driving mechanism is controlled.
10. the control method of environmental sanitation cleaning equipment as claimed in claim 8 or 9, which is characterized in that the environmental sanitation cleaning equipment
It further include photographic unit, the control method further include:
The ambient enviroment of running region is shot when being worked by the photographic unit the environmental sanitation cleaning equipment, to generate
Image information；
Described image information is handled to generate picture control data；
By the way that described image monitoring data is uploaded to remote server, using the environmental sanitation cleaning equipment as mobile monitor end
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910631520.5A CN110205965A (en) | 2019-07-12 | 2019-07-12 | Environmental sanitation cleaning equipment and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910631520.5A CN110205965A (en) | 2019-07-12 | 2019-07-12 | Environmental sanitation cleaning equipment and its control method |
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| CN110205965A true CN110205965A (en) | 2019-09-06 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910631520.5A Pending CN110205965A (en) | 2019-07-12 | 2019-07-12 | Environmental sanitation cleaning equipment and its control method |
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