CN111002321A - Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces - Google Patents
Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces Download PDFInfo
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- CN111002321A CN111002321A CN201911298028.7A CN201911298028A CN111002321A CN 111002321 A CN111002321 A CN 111002321A CN 201911298028 A CN201911298028 A CN 201911298028A CN 111002321 A CN111002321 A CN 111002321A
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- brush assembly
- cleaning
- cleaning brush
- wall
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- 238000004140 cleaning Methods 0.000 title claims abstract description 303
- 238000000034 method Methods 0.000 title claims abstract description 35
- 241001417527 Pempheridae Species 0.000 claims description 42
- 238000004590 computer program Methods 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- 230000001939 inductive effect Effects 0.000 description 113
- 230000007246 mechanism Effects 0.000 description 102
- 238000001514 detection method Methods 0.000 description 28
- 230000006698 induction Effects 0.000 description 20
- 238000010408 sweeping Methods 0.000 description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 230000008569 process Effects 0.000 description 9
- 230000007306 turnover Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 239000010865 sewage Substances 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 230000001680 brushing effect Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 235000006506 Brasenia schreberi Nutrition 0.000 description 1
- 244000267222 Brasenia schreberi Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a control method and a system for a cleaning arm assembly capable of cleaning inner and outer wall surfaces. The control method comprises the following steps of cleaning the outside of the wall: lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height; if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance; if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall; if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height; if yes, the cleaning brush assembly is started. The invention has the advantage that the cleaning arm assembly capable of cleaning the inner and outer wall surfaces can be controlled to clean the inner and outer surfaces of the wall surface.
Description
Technical Field
The invention relates to the field of sanitation vehicles, in particular to a control method and a system for a cleaning arm assembly capable of cleaning inner and outer wall surfaces.
Background
With the continuous promotion of the construction of domestic foundation roads, expressways and the like, the construction of road sound-insulating walls is more and more, the workload of cleaning the sound-insulating walls is increased day by day, and the cleaning modes of the sound-insulating walls at present are mainly divided into manual cleaning and sanitation vehicle cleaning; the tunnel is washed to the manual work inefficiency, and the cost of labor of spending is higher, has certain potential safety hazard simultaneously, and sanitation car washs the sound-proof wall and accounts for the mainstream mode.
The existing sanitation vehicle capable of cleaning the inner surface and the outer surface of the sound insulation wall is provided with the cleaning arm assembly capable of cleaning the inner wall and the outer wall, and a control system capable of controlling the cleaning arm assembly capable of cleaning the inner wall and the outer wall is needed at present, so that the cleaning operation of the inner surface and the outer surface of the wall can be realized according to a control method, the driving safety of the sanitation vehicle is improved, and traffic accidents are avoided.
Disclosure of Invention
Therefore, a control method and a system for a cleaning arm assembly capable of cleaning the inner and outer wall surfaces are needed to be provided, so as to solve the problem that the prior art has no method and system for controlling the cleaning arm assembly capable of cleaning the inner and outer wall surfaces to clean the outer wall surface.
To achieve the above object, the inventor provides a control method of a cleaning arm assembly capable of cleaning inner and outer wall surfaces, comprising the following steps of cleaning the outer surface of a wall:
lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height;
if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance;
if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall;
if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height;
if yes, the cleaning brush assembly is started.
As a preferred embodiment of the present invention, after the step of detecting whether to lower to the second preset height, the method further includes:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
As a preferred embodiment of the present invention, after the step of detecting whether to lower to the second preset height, the method further includes:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
As a preferred embodiment of the present invention, the method further comprises the following steps of cleaning the inner surface of the wall:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
As a preferred embodiment of the present invention, after detecting whether the moving distance is the third preset distance, the method further includes:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
The inventor also provides a control system for a wash arm assembly for cleaning interior and exterior walls, comprising a storage medium having a computer program stored thereon, the computer program when executed by a processor performing the steps of:
lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height;
if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance;
if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall;
if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height;
if yes, the cleaning brush assembly is started.
As a preferred embodiment of the present invention, after the step of detecting whether to lower to the second preset height, the computer program when executed by the processor further implements the steps of:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
As a preferred embodiment of the present invention, after the step of detecting whether to lower to the second preset height, the computer program when executed by the processor further implements the steps of:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
As a preferred embodiment of the present invention, the computer program when executed by the processor further implements the steps of:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
As a preferred embodiment of the present invention, after detecting whether the moving distance is the third preset distance, the computer program when executed by the processor further implements the following steps:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
Different from the prior art, the control system of the cleaning arm assembly capable of cleaning the inner and outer wall surfaces, which is disclosed by the technical scheme, can control the cleaning arm assembly capable of cleaning the inner and outer wall surfaces to continuously complete each action according to the control method, so that the operation of cleaning the outer surface and the inner surface of the wall can be efficiently and safely completed.
Drawings
FIG. 1 is a flow chart of a method for controlling a cleaning arm assembly for cleaning interior and exterior walls according to an embodiment of the present invention;
FIG. 2 is a first side view of a cleaning arm assembly for cleaning interior and exterior walls in accordance with the background of the invention;
FIG. 3 is a second side view of the cleaning arm assembly for cleaning the inner and outer walls according to the background of the invention;
FIG. 4 is a sectional view taken along line A-A of FIG. 3 in accordance with the background of the invention;
FIG. 5 is a first expanded view of a cleaning arm assembly for cleaning inner and outer walls according to the background art of the present invention;
FIG. 6 is a second expanded view of the cleaning arm assembly for cleaning the inner and outer wall surfaces according to the background art of the present invention;
FIG. 7 is a view showing a state of the outer surface of a cleaning wall of the sanitation vehicle according to the background art of the present invention;
FIG. 8 is a view showing a state of cleaning the inner surface of the wall of the sanitation vehicle according to the background art of the present invention;
FIG. 9 is a first view of a portion of a sweeper brush assembly according to the background of the present disclosure;
FIG. 10 is a second partial view of a wiper assembly according to the background of the invention;
fig. 11 is a structural view of a sanitation vehicle according to the background art of the present invention.
Description of reference numerals:
1. cleaning the arm assembly;
101. a fixed seat; 102. a third swing mechanism; 103. a main arm; 104. a boom; 105. a first cylinder; 106. a second cylinder; 107. an outer arm of the first telescopic arm; 108. an inner arm of the first telescopic arm; 109. a telescopic cylinder of the first telescopic arm; 110. an outer arm of the second telescopic arm; 111. an inner arm of the second telescopic arm; 112. a telescopic oil cylinder of the second telescopic arm; 113. turning over the oil cylinder; 114. a first link; 115. a second link; 116. a first swing mechanism; 117. a brush holder arm; 118. a second swing mechanism; 119. brushing; 120. a brush sweeping frame; 121. a brush shaft; 122. a first bearing housing; 123. a second bearing housing; 124. a first motor; 125. a nozzle; 126. a water retaining cover; 127. a water shield bracket; 128. a second motor; 129. a chain; 130. a sprocket; 131. a first inductive switch; 132. a second inductive switch; 133. a third inductive switch; 134. a fourth inductive switch; 135. a fifth inductive switch; 136. a sixth inductive switch; 137. a seventh inductive switch; 138. an eighth inductive switch; 139. a ninth inductive switch; 140. a tenth inductive switch; 141. an eleventh inductive switch; 142. a twelfth inductive switch; 143. a thirteenth inductive switch; 144. a fourteenth inductive switch; 145. a fifteenth inductive switch; 146. a sixteenth inductive switch; 147. a seventeenth inductive switch; 148. an eighteenth inductive switch; 149. a nineteenth inductive switch; 150. an ultrasonic ranging inductive switch; 151. a pedestal bearing;
2. a cab;
3. a frame;
4. a supporting seat;
5. the inner surface of the wall;
6. and (5) outside the wall.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, 5, 6 and 7, the present invention provides a method for controlling a cleaning arm assembly capable of cleaning inner and outer walls, comprising the following steps of cleaning the outer surface of the wall:
firstly, step S101 is carried out to lift the cleaning brush assembly, and whether the cleaning brush assembly is lifted to a first preset height is detected;
if yes, then step S102 is carried out to stop lifting, the cleaning brush assembly is moved transversely, and whether the cleaning brush assembly moves transversely for a first preset distance is detected;
if yes, then step S103 is carried out to stop the transverse movement, turn over the cleaning brush assembly and detect whether the cleaning brush assembly is turned over to face the outside of the wall;
if yes, then step S104 is carried out to stop overturning, the cleaning brush assembly is put down, and whether the cleaning brush assembly is put down to a second preset height position is detected;
if yes, the cleaning brush assembly is started in step S105.
The first preset height in step S101 may be set manually, and the first preset height is a height that enables the sweeper assembly to span the wall to be cleaned, so that the sweeper assembly can be ensured to freely span the wall to be cleaned without being blocked in step S101.
Since the outside of the wall needs to be cleaned, if the outside of the wall is a sound insulation wall, the sound insulation wall is far away from the outer wall of the road, and therefore, the sweeper brush assembly needs to be moved to the outside of the wall, and the sweeper brush assembly can be cleaned to the outside of the wall, therefore, the step S102 needs to be performed after the step S101, wherein the first preset distance in the step S102 can also be manually set, and the first preset distance is a distance which the sweeper brush crosses and sufficiently reaches the outside of the wall, so as to ensure that the sweeper brush assembly can be freely and unimpededly lowered to the opposite position of the outside of the wall.
In order to clean the inner surface of the wall and the outer surface of the wall, the orientation of the cleaning brush assembly of the cleaning arm assembly capable of cleaning the inner and outer wall surfaces is adjustable, if the cleaning brush assembly needs to be turned over to face the outer surface of the wall when the outer surface of the wall needs to be cleaned, and the cleaning brush assembly needs to be turned over to face the inner surface of the wall when the inner surface of the wall needs to be cleaned, at this time, the control method needs to clean the outer surface of the wall, so that step S103 needs to be performed, and the orientation of the cleaning brush assembly can be adjusted to be capable of cleaning the outer surface of the wall through the step.
After the step S101 and the step S102, the sweeper brush assembly is lifted and moved across, so that the sweeper brush assembly is at a position higher than the wall surface, and therefore, the step S104 is required, and the position of the sweeper brush assembly can be adjusted to be opposite to the outer surface of the wall through the step S104. The second preset height can also be manually set, and the second preset height is the height that the sweeper brush assembly can descend to the outside of the opposite wall, so that the sweeper brush assembly can be cleaned to the outside of the wall.
Steps S101 to S104 are all the steps of moving the cleaning brush assembly, so as to move the cleaning brush assembly of the cleaning arm assembly, which is located on the inner wall surface and can clean the inner and outer wall surfaces, to the outer wall surface, and after the position is adjusted, step S105 can be performed to clean the outer wall surface.
In a further embodiment, after the step of detecting whether to lower to the second preset height, the method further comprises:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
Through the steps described in this embodiment, the distance between the cleaning brush assembly and the outside of the wall during operation can be ensured, and the sewage splashing to the cleaning brush assembly during cleaning is avoided, wherein the second preset distance is longer than the distance of the sewage splashing.
In a further embodiment, after the step of detecting whether to lower to the second preset height, the method further comprises:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
Through the steps described in this embodiment, it can be ensured that the sweeping brush assembly can freely and unimpededly perform the sweeping operation.
Referring to fig. 8, in another embodiment, the method further includes the following steps of cleaning the inner surface of the wall:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
Through the steps described in this embodiment, the cleaning of the inner surface of the wall can be completed, wherein the third preset distance is the distance that the cleaning brush assembly can clean the wall surface.
Likewise, in a further embodiment, after detecting whether the moving distance is the third preset distance, the method further includes:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
The fourth preset distance is consistent with the second preset distance, namely the fourth preset distance is larger than the sewage back-splashing distance, so that the distance between the cleaning brush assembly and the inner surface of the wall during working can be ensured, and the sewage back-splashing to the cleaning brush assembly during cleaning is avoided.
The invention also provides a control system of the cleaning arm assembly capable of cleaning the inner wall surface and the outer wall surface, which comprises a storage medium, wherein the storage medium stores a computer program, and the computer program realizes the following steps when being operated by a processor:
lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height;
if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance;
if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall;
if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height;
if yes, the cleaning brush assembly is started.
Through the control system, the cleaning arm assembly capable of cleaning the inner wall surface and the outer wall surface can be controlled to clean the inner wall surface and the outer wall surface.
In a further embodiment, after the step of detecting whether to lower to the second preset height, the computer program when executed by the processor further performs the steps of:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
In a further embodiment, after the step of detecting whether to lower to the second preset height, the computer program when executed by the processor further performs the steps of:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
In a further embodiment, the computer program when executed by the processor further performs the steps of:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
In a further embodiment, after detecting whether the movement distance is the third preset distance, the computer program when executed by the processor further implements the steps of:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
The specific structure of the cleaning arm assembly capable of cleaning the inner wall surface and the outer wall surface is as follows:
the cleaning arm assembly 1 capable of cleaning the inner and outer wall surfaces comprises a fixed seat 101, a lifting mechanism, a lifting detection component, a first telescopic arm, a first telescopic detection component, a second telescopic arm, a second telescopic detection component, a first rotation mechanism 116, a first rotation detection component, a second rotation mechanism 118, a second rotation detection component, a cleaning brush assembly and a cleaning detection component. The lifting mechanism and the lifting detection assembly are matched for lifting the first telescopic arm, the second telescopic arm, the first rotary mechanism 116, the second rotary mechanism 118 and the cleaning brush assembly; the first telescopic arm and the first telescopic detection component are matched to move the cleaning brush assembly to the inner surface 5 or the outer surface 6 of the wall and adjust the distance between the cleaning brush assembly and the wall surface; the second telescopic arm and the second telescopic detection component are matched for adjusting the working height of the cleaning brush assembly, and the first rotation mechanism 116, the first rotation detection component, the second rotation mechanism 118 and the second rotation detection component are matched for adjusting the working direction and the running direction of the cleaning brush assembly; the cleaning brush assembly is an actuating mechanism for cleaning the wall surface.
The lifting mechanism is arranged on the fixed seat 101; the lifting mechanism comprises a main arm 103, an arm support 104, a first oil cylinder 105 and a second oil cylinder 106; the main arm 103 is fixedly arranged on the fixing seat 101, one end of the arm support 104 is hinged with the main arm 103, and the other end of the arm support 104 is hinged with the first telescopic arm; the first oil cylinder 105 is hinged to the main arm 103, and the output end of the first oil cylinder 105 is hinged to the arm support 104, specifically, both the side wall of the main arm 103 and the side wall of the arm support 104 are provided with ear plates, the first oil cylinder 105 is connected to the ear plate of the main arm 103, and the output end of the first oil cylinder 105 is hinged to the ear plate of the arm support 104; the second oil cylinder 106 is hinged to the arm support 104, an output end of the second oil cylinder 106 is hinged to the first telescopic arm, specifically, another lug plate is further arranged on the side wall of the arm support 104, the first telescopic arm is also provided with a lug plate, the second oil cylinder 106 is hinged to the other lug plate of the arm support 104, and the second oil cylinder 106 is hinged to the lug plate of the first telescopic arm. When the first oil cylinder 105 and the second oil cylinder 106 are in a shortened state, the arm support 104 is folded downwards, and preferably, the arm support 104 can be folded to be parallel to the first telescopic mechanism, so that the first telescopic mechanism can be realized; when the first telescopic arm, the second telescopic arm and the cleaning brush assembly need to be lifted, the first oil cylinder 105 and the second oil cylinder 106 extend, the arm support 104 is turned to the position which is the same as the main arm 103, and the lifting mechanism can achieve the lifting effect when in the extending state due to the arrangement, and the mechanism can advance in the turning direction of the arm support 104, so that the range of the horizontal movement of the cleaning brush assembly is enlarged.
The lifting detection assembly is disposed at the lifting mechanism and used for detecting whether the lifting mechanism is lifted in place, in a certain embodiment, the lifting detection assembly includes a third inductive switch 133, a fourth inductive switch 134, and a fifth inductive switch 135; the third inductive switch 133 is disposed at the side wall of the main arm 103, specifically, the third inductive switch 133 is disposed at the top end of the main arm 103 and is far away from the folded arm support 104; the fourth inductive switch 134 and the fifth inductive switch 135 are disposed on the side wall of the arm support 104, specifically, the fourth inductive switch 134 and the fifth inductive switch 135 are respectively disposed at two ends of the arm support 104, the fourth inductive switch 134 is close to the main arm 103, and the fifth inductive switch 135 is close to the first telescopic arm. The third inductive switch 133, the fourth inductive switch 134, and the fifth inductive switch 135 detect which state the boom 104 is in by sensing the movement of the boom 104 relative to the main arm 103, and the specific state of the boom 104 can be obtained under the sensing combination of the third inductive switch 133, the fourth inductive switch 134, and the fifth inductive switch 135, so as to determine whether the lifting mechanism is lifted in place, and whether the next step is required.
The first telescopic arm is used for driving the cleaning brush assembly to be close to or far away from the wall body and adjusting the distance between the cleaning brush assembly and the wall body, so that the first telescopic arm can be horizontally arranged, namely the telescopic direction of the first telescopic arm is the horizontal direction. First flexible arm sets up in elevating system department, and first flexible arm can be raised or transfer under elevating system's drive, and the output of first flexible arm is connected to the flexible arm department of second.
The first telescopic arm and the second telescopic arm respectively comprise an inner arm, an outer arm and a telescopic oil cylinder; the inner arm can slidably penetrate through the outer arm from one end of the outer arm, specifically, a sliding block is welded on the inner side of the outer arm, a sliding groove is formed in the outer side of the inner arm, the inner arm is sleeved in the outer arm, and the sliding block of the outer arm slidably penetrates through the sliding groove; the telescopic oil cylinder is arranged in the outer arm, the output end of the telescopic oil cylinder is connected with the inner arm, and the telescopic oil cylinder can be extended or shortened to drive the inner arm to move relative to the outer arm. At this time, the outer arm 107 of the first telescopic arm is connected to the lifting mechanism, the inner arm 108 of the first telescopic arm is connected to the outer arm 110 of the second telescopic arm, and the inner arm 111 of the second telescopic arm is connected to the first swing mechanism 116.
The first telescopic detection assembly is arranged at the first telescopic arm and used for detecting whether the first telescopic arm is telescopic in place or not; the second telescopic detection component is arranged at the second telescopic arm and is used for detecting whether the second telescopic arm is telescopic in place or not, taking the example of the first telescopic arm and the second telescopic arm as an example, in a further embodiment, the first telescoping detection assembly comprises a sixth inductive switch 136, a seventh inductive switch 137, an eighth inductive switch 138, the sixth inductive switch 136, the seventh inductive switch 137, and the eighth inductive switch 138 are sequentially disposed at the outer arm 107 of the first telescopic arm along the shortening direction, such a configuration can sense the movement of the inner arm 108 of the first telescopic arm relative to the outer arm, under the mutual cooperation of the sixth inductive switch 136, the seventh inductive switch 137 and the eighth inductive switch 138, it is possible to determine in which operating state the first telescopic arm is, on the basis of which it is determined whether it is in position to telescope and whether the next step is required. Similarly, the second telescopic detection assembly comprises a ninth inductive switch 139, a tenth inductive switch 140 and an eleventh inductive switch 141, wherein the ninth inductive switch 139, the tenth inductive switch 140 and the eleventh inductive switch 141 are sequentially arranged at the outer arm 110 of the second telescopic arm along the shortening direction, such arrangement can sense the movement of the inner arm 111 of the second telescopic arm relative to the outer arm, and under the mutual cooperation of the ninth inductive switch 139, the tenth inductive switch 140 and the eleventh inductive switch 141, the working state of the second telescopic arm can be determined, so as to determine whether the second telescopic arm is in the telescopic position or not and determine whether the next step needs to be performed or not.
In order to span higher walls, the wall overturning device further comprises an overturning driving mechanism, wherein the overturning driving mechanism comprises an overturning oil cylinder 113, a first connecting rod 114, a second connecting rod 115 and an overturning detection assembly; the inner arm 108 of the first telescopic arm is hinged with the outer arm 110 of the second telescopic arm; the output end of the turning oil cylinder 113 is hinged to the outer arm 110 of the second telescopic arm; one end of the first connecting rod 114 and one end of the second connecting rod 115 are respectively hinged to the outer arm 110 of the second telescopic arm and the inner arm 108 of the first telescopic arm, and the other end of the first connecting rod 114 is hinged to the other end of the second connecting rod 115 and hinged to the overturning oil cylinder 113. When a higher wall body needs to be crossed, only the turning oil cylinder 113 needs to be started, the turning oil cylinder 113 drives the second telescopic arm to turn upwards until the second telescopic arm can be driven to cross the wall body in a turned state, and the second telescopic arm is preferably turned to be located at the same straight line with the first telescopic arm.
In order to detect the turning state of the second telescopic arm, the turning detection assembly is arranged at the first telescopic arm and used for detecting whether the second telescopic arm turns in place relative to the first telescopic arm or not, and whether the next step needs to be carried out or not is judged according to the turning detection assembly. Specifically, the overturn detecting assembly includes a sixteenth inductive switch 146 and a seventeenth inductive switch 147, and the sixteenth inductive switch 146 and the seventeenth inductive switch 147 are respectively disposed on two sides of the first telescopic arm or two sides of the second telescopic arm.
The first rotating mechanism 116 is disposed at the output end of the second telescopic arm, and the first rotating mechanism 116 is in transmission connection with the second rotating mechanism 118 for adjusting the orientation of the sweeper brush assembly, such as when the sweeper brush assembly is moved to the outer wall 6, the sweeper brush assembly is adjusted to face the outer wall 6; the sweeper brush assembly is adjusted to face the interior wall surface 5 as it is moved to the interior wall surface 5. Therefore, the axial direction of the output end of the first rotating mechanism 116 is horizontal and is arranged parallel to the wall, i.e. perpendicular to the running direction of the sanitation truck.
The second swing mechanism 118 is in transmission connection with the sweeper brush assembly and is used for adjusting the swinging direction of the sweeping surface of the sweeper brush assembly; if the swinging direction of the cleaning brush assembly in the non-working state is that the rotating shaft is in a horizontal state, then the cleaning brush assembly is rotated by ninety degrees until the rotating shaft of the cleaning brush assembly is rotated to a vertical state from the horizontal state, the arrangement enables the cleaning rotation direction of the cleaning brush assembly to be along the running path of the sanitation truck. Therefore, the axial direction of the output end of the first rotating mechanism 116 is horizontal direction, and is arranged perpendicular to the wall body, i.e. parallel to the running direction of the sanitation truck.
The first rotary mechanism 116 and the second rotary mechanism 118 each include a stator, a rotor, and a motor; the stator of the first rotation mechanism 116 is disposed at the output end of the second telescopic arm, the motor of the first rotation mechanism 116 is disposed at the stator of the first rotation mechanism 116, and the output end of the motor of the first rotation mechanism 116 is connected to the rotor of the first rotation mechanism 116. The axial direction of the output end of the motor of the first rotating mechanism 116 is a horizontal direction, and is arranged parallel to the wall, that is, perpendicular to the running direction of the sanitation truck. The stator of the second swing mechanism 118 is connected to the rotor of the first swing mechanism 116, the motor of the second swing mechanism 118 is disposed at the stator of the second swing mechanism 118, and the output end of the motor of the second swing mechanism 118 is connected to the rotor of the second swing mechanism 118, and the rotor of the second swing mechanism 118 is connected to the sweeping brush assembly; the output shafts of the motor of the first swing mechanism 116 and the motor of the second swing mechanism 118 are disposed horizontally and vertically to each other.
The rotor of the first rotating mechanism 116 and the stator of the second rotating mechanism 118 may be integrated, that is, the stator of the second rotating mechanism 118 is the rotor of the first rotating mechanism 116, the rotor of the first rotating mechanism 116 is the stator of the second rotating mechanism 118, the rotor of the first rotating mechanism 116 and the stator of the second rotating mechanism 118 are the brush holder arm 117, the output end of the motor of the first rotating mechanism 116 is connected with the brush holder arm 117, and the body of the motor of the second rotating mechanism 118 is connected with the brush holder arm 117.
In order to detect the turning state of the first turning mechanism 116, the first turning detection assembly is disposed at the first turning assembly for detecting whether the first turning mechanism 116 is rotated in place. In one embodiment, the first rotation detecting assembly includes a twelfth inductive switch 142, a thirteenth inductive switch 143; the twelfth inductive switch 142 and the thirteenth inductive switch 143 are both disposed at the stator of the first rotation mechanism 116 and symmetrically disposed at two sides of the output end of the motor of the first rotation mechanism 116, and the rotation state of the rotor relative to the stator can be sensed by the mutual matching induction of the twelfth inductive switch 142 and the thirteenth inductive switch 143, so as to know whether the rotor rotates in place relative to the stator and determine whether the next step needs to be performed.
To detect the swing state of the second swing mechanism 118, the second swing detection component is disposed at the second swing mechanism 118 for detecting whether the second swing mechanism 118 is rotated into position. In one embodiment, the second rotation detection assembly includes a fourteenth inductive switch 144, a fifteenth inductive switch 145; the fourteenth and fifteenth inductive switches 144 and 145 are disposed at the stator of the second rotating mechanism 118 and symmetrically disposed at two sides of the output end of the motor of the second rotating mechanism 118. Through the fourteenth inductive switch 144 and the fifteenth inductive switch 145, the rotation state of the rotor relative to the stator can be sensed, and based on this, whether the rotor rotates in place relative to the stator is known, and whether the next step needs to be performed is determined. Referring to fig. 3, when the fourteenth inductive switch 144 is powered alone, the washing brush assembly is in the left position, when the fifteenth inductive switch 145 is powered alone, the washing brush assembly is in the right position, and when the fourteenth inductive switch 144 and the fifteenth inductive switch 145 are powered simultaneously, the washing brush assembly is in the middle position.
The cleaning detection component is arranged at the cleaning brush assembly and used for detecting whether the distance between the cleaning brush assembly and the wall is in place or not, in a certain embodiment, the cleaning detection component comprises an ultrasonic ranging induction switch 150, whether the distance between the cleaning brush assembly and the wall meets the user requirements or not can be detected through the ultrasonic ranging induction switch 150, cleaning operation can be started if the distance meets the user requirements, and the distance between the cleaning brush assembly and the wall can be adjusted through the first telescopic arm if the distance does not meet the user requirements.
Referring to fig. 9, the sweeper assembly includes a sweeper 119, a sweeper frame 120, and a first motor 124; the sweeper 119 is rotatably arranged at the sweeper frame 120 through a sweeper shaft 121, the sweeper frame 120 is in transmission connection with the second swing mechanism 118, and the first motor 124 is in transmission connection with the sweeper shaft 121 and is used for driving the sweeper 119 to rotate so as to complete sweeping operation. Specifically, the sweeping brush shaft 121 and the sweeping brush 119 are relatively fixed, two ends of the sweeping brush shaft 121 are respectively connected to two ends of the sweeping brush holder 120 through a first bearing seat 122 and a second bearing seat 123, the first motor 124 is connected to the sweeping brush shaft 121 through a flat key, the first bearing seat 122 and the second bearing seat 123 are welded to two ends of the sweeping brush holder 120, the first motor 124 and the sweeping brush shaft 121 are fixed to the sweeping brush holder 120 through the first bearing seat 122 and the second bearing seat 123, and when the first motor 124 rotates, the sweeping brush shaft 121 is driven to rotate, so that the sweeping brush 119 rotates to perform a sweeping operation.
The cleaning brush assembly further comprises a nozzle 125, the nozzle 125 is disposed outside the cleaning brush holder 120, and the nozzle of the nozzle 125 is oriented in the same direction as the cleaning surface of the cleaning brush 119, so that water can be sprayed during the cleaning process, and the cleaning operation can be completed better. The wiper 119 is provided with a water blocking cover 126 through a water blocking cover bracket 127, so that the sewage generated by the cleaning operation can be effectively prevented from splashing to the wiper 119.
Referring to fig. 10, the sweeper brush assembly further includes a chain 129, a sprocket 130, a second motor 128, an eighteenth inductive switch 148, and a nineteenth inductive switch 149; the belt seat bearing 151 is fixed at the head and tail sides of the water retaining cover bracket 127 and is matched with the brushing shaft 121, the chain 129 is fixed on the water retaining cover bracket 127, the chain wheel 130 is connected with the second motor 128, the second motor 128 is fixed on the brushing frame 120, and when the second motor 128 works, the water retaining cover bracket 127 is driven to rotate by the chain wheel 130 and the chain 129. When the second motor 128 is operated, the chain wheel 130 and the chain 129 drive the water blocking cover bracket 127 and the belt bearing 151 to rotate around the brushing shaft 121, and the eighteenth inductive switch 148 and the nineteenth inductive switch 149 stop operating when the second motor 128 is powered on.
In order to realize the adjustment of the orientation of the cleaning arm assembly 1 and facilitate the cleaning of the wall bodies on the left side and the right side of the road in the same driving direction, the cleaning machine further comprises a third slewing mechanism 102 and a third slewing detection component; the third swing mechanism 102 is disposed at the fixed seat 101, and the lifting mechanism is in transmission connection with the fixed seat and is used for driving the lifting mechanism to rotate, so that the orientation of the whole cleaning arm assembly 1 can be adjusted, and if the wall on the left side of the road needs to be cleaned in the same driving direction, the lifting mechanism, the first telescopic arm, the second telescopic arm, the first swing mechanism 116, the second swing mechanism 118 and the cleaning brush assembly are driven to synchronously rotate through the third swing mechanism 102 until the cleaning brush assembly faces the wall on the left side; when the wall on the right side of the road needs to be cleaned in the same driving direction, the third swing mechanism 102 drives the first telescopic arm, the second telescopic arm, the first swing mechanism 116, the second swing mechanism 118 and the sweeper brush assembly to synchronously rotate until the sweeper brush assembly faces the wall on the right side.
Similarly, the third rotation mechanism 102 may also include a stator, a rotor, and a motor, the stator is connected to the fixed base 101, the body of the motor is connected to the stator, the output end of the motor faces upward and is connected to the rotor, the rotor is fixedly connected to the lifting mechanism, and when the motor is started, the output end of the motor drives the rotor to drive the lifting mechanism to rotate.
The third rotation detection assembly is disposed at the third rotation mechanism 102 and is used for detecting whether the third rotation mechanism 102 rotates in place, and the third rotation detection assembly includes a first inductive switch 131 and a second inductive switch 132; the first inductive switch 131 and the second inductive switch 132 are both disposed at the third swing mechanism 102. Through the mutual induction of the first induction switch 131 and the second induction switch 132, the rotation state of the third rotation mechanism 102 driving the lifting mechanism to rotate can be sensed, and based on this, whether the rotor rotates in place relative to the stator can be known, and whether the next step needs to be performed can be determined.
Referring to fig. 11, the sanitation vehicle is formed by installing the cleaning arm assembly capable of cleaning the inner and outer wall surfaces at the vehicle body, and the cleaning arm assembly 1 capable of cleaning the inner and outer wall surfaces is any one of the cleaning arm assemblies 1 capable of cleaning the inner and outer wall surfaces; the vehicle body comprises a cab 2 and a vehicle frame 3, the cleaning arm assembly 1 capable of cleaning the inner wall and the outer wall is connected to the vehicle frame 3 of the vehicle body through a fixing seat 101, the sanitation vehicle can clean the whole wall outer surface 6 or the wall inner surface 5 in the driving process, the sanitation vehicle provides a power source for the cleaning arm assembly 1 capable of cleaning the inner wall and the outer wall, and provides high-pressure water for the spray pipe 125, and a user can control the cleaning arm assembly 1 capable of cleaning the inner wall and the outer wall in the cab 2. Specifically, a control console connected with a power source and a cleaning arm assembly 1 capable of cleaning the inner wall and the outer wall is arranged in the cab 2, and the control console is provided with a program and an operation button for cleaning the outer wall on the left side, cleaning the inner wall on the left side, cleaning the outer wall on the right side, cleaning the inner wall on the right side, returning the outer wall on the left side, returning the inner wall on the left side, cleaning the outer wall on the right side and returning the inner wall on the right side.
The supporting seat 4 is arranged at the tail of the vehicle body, the cleaning brush assembly of the cleaning arm assembly 1 in the non-working state abuts against the supporting seat 4, and the stability of the cleaning arm assembly 1 in the running process of the sanitation vehicle can be ensured through the support of the supporting seat 4.
The working process of the sanitation vehicle can be as follows:
when the sanitation truck is transferred, the state of the cleaning arm assembly 1 capable of cleaning the inner and outer wall surfaces is as shown in fig. 11, and at this time, the ninth inductive switch 139, the tenth inductive switch 140, the sixteenth inductive switch 146, the sixth inductive switch 136, the seventh inductive switch 137, the eighth inductive switch 138, the first inductive switch 131, the second inductive switch 132, the twelfth inductive switch 142, the fourteenth inductive switch 144 and the fifteenth inductive switch 145 are powered on.
When the sanitation truck needs to clean the wall outer surface 6 of the left side wall, the sanitation truck is firstly close to a proper position of the left side wall surface, then the left side outer wall cleaning button is operated, the telescopic oil cylinder 112 of the second telescopic arm is contracted according to the program setting, when the ninth inductive switch 139, the tenth inductive switch 140 and the eleventh inductive switch 141 are simultaneously powered on, the telescopic oil cylinder 112 of the second telescopic arm is recovered in place, and at the moment, the cleaning arm assembly 1 is separated from the supporting seat 4; then the turnover oil cylinder 113 contracts, when the seventeenth induction switch 147 is powered on, the turnover oil cylinder 113 stops working, the second telescopic arm is at the horizontal position at the moment, and the cleaning arm assembly 1 is in the state shown in the attached figure 5 at the moment; then the telescopic cylinder 109 of the first telescopic boom starts to extend out, when the seventh inductive switch 137 and the eighth inductive switch 138 are powered off simultaneously, the telescopic cylinder 109 of the first telescopic boom extends out to the right position and stops working, at the moment, the inner boom 108 of the first telescopic boom extends out to the right position, then the motor of the first swing mechanism 116 rotates reversely, when the thirteenth inductive switch 143 is powered on, the motor of the first swing mechanism 116 stops working, the motor of the second swing mechanism 118 rotates forwards, when the fourteenth inductive switch 144 is powered on, the motor of the second swing mechanism 118 stops working, at the moment, the state of the cleaning arm assembly 1 is as shown in fig. 6; then the motor of the third swing mechanism 102 rotates forward, when the first inductive switch 131 is powered on, the motor of the third swing mechanism 102 stops working, the turnover oil cylinder 113 extends out, and when the sixteenth inductive switch 146 is powered on, the turnover oil cylinder 113 stops acting; then the telescopic oil cylinder 112 of the second telescopic arm extends out, when the ninth inductive switch 139 is powered off, the telescopic oil cylinder 112 of the second telescopic arm stops working, at this time, the inner arm 111 of the second telescopic arm extends out to the right position, the telescopic oil cylinder 109 of the first telescopic arm contracts, when the ultrasonic ranging inductive switch 150 senses that the distance from the wall surface is a preset value, the telescopic oil cylinder 109 of the first telescopic arm stops acting, and at this time, the cleaning arm assembly is in the state shown in figure 7.
The high pressure water of the sanitation vehicle is turned on to spray water from the spray pipe 125, and at the same time, the rolling switch of the sanitation vehicle is operated to operate the first motor 124, so that the sanitation vehicle performs the cleaning work of the outside 6 of the left side wall.
The range of the distance between the cleaning brush assembly and the wall surface is preset in a console of the sanitation truck, the ultrasonic ranging induction switch 150 senses the distance between the cleaning brush assembly and the wall surface during working, when the sensed distance is larger than a preset range value, the telescopic oil cylinder 109 of the first telescopic arm retracts to enable the cleaning brush assembly to be close to the wall surface for cleaning, and when the sensed distance is smaller than the preset range value, the telescopic oil cylinder 109 of the first telescopic arm extends to enable the cleaning brush assembly to be far away from the wall surface for cleaning, so that the high efficiency of wall surface cleaning operation can be guaranteed, the difficulty of a driver in operating a vehicle is reduced, and the safety of the whole truck is greatly improved.
After the sanitation truck finishes cleaning the wall outer surface 6 of the left side wall, when the sanitation truck needs to return, the rolling sweeping switch on the sanitation truck is firstly closed, high-pressure water is simultaneously closed, then the left side cleaning outer wall return switch is operated, at the moment, the telescopic oil cylinder 112 of the second telescopic arm contracts, when the ninth inductive switch 139, the tenth inductive switch 140 and the eleventh inductive switch 141 are powered on, the telescopic oil cylinder 112 of the second telescopic arm stops working, at the moment, the inner arm 111 of the second telescopic arm is recovered in place, the overturning oil cylinder 113 contracts, when the seventeenth inductive switch 147 is powered on, the overturning oil cylinder 113 stops working, and at the moment, the cleaning arm assembly 1 is in a state as shown in attached figure 6. When the fourteenth and fifteenth inductive switches 144 and 145 are simultaneously powered on, the motor of the second rotary mechanism 118 stops working, and the washing brush assembly is parallel to the ground, the motor of the first rotary mechanism 116 rotates reversely, when the thirteenth inductive switch 143 is powered on, the motor of the first rotary mechanism 116 stops working, the motor of the third rotary mechanism 102 rotates reversely, when the first and second inductive switches 131 and 132 are simultaneously powered on, the motor of the third rotary mechanism 102 stops working, and at this time, the state of the cleaning arm assembly 1 is as shown in fig. 5, then the turnover cylinder 113 extends out, when the sixteenth inductive switch 146 is powered on, the turnover cylinder 113 stops working, the telescopic cylinder 112 of the second telescopic arm extends out, when the tenth and eleventh inductive switches 140 and 141 are simultaneously powered off, the telescopic cylinder 112 of the second telescopic arm stops working, the cleaning arm assembly 1 is now in a retracted position as shown in figure 2.
When the sanitation truck needs to clean the inner wall surface 5 of the right wall, the sanitation truck keeps a safe distance with the left wall surface, then the right side inner wall cleaning button is operated, the cleaning arm assembly 1 moves the cleaning arm assembly 1 to the state shown in figure 5 according to the step of cleaning the outer wall surface 6 of the left wall, then the motor of the second swing mechanism 118 rotates reversely, when the fifteenth induction switch 145 is powered on, the motor of the second swing mechanism 118 stops operating, the turnover oil cylinder 113 extends out, when the sixteenth induction switch 146 is powered on, the turnover oil cylinder 113 stops operating, the telescopic oil cylinder 112 of the second telescopic arm extends out, when the tenth induction switch 140 and the eleventh induction switch 141 are powered off simultaneously, the telescopic oil cylinder 112 of the second telescopic arm stops operating, at the moment, the inner arm 111 of the second telescopic arm extends out to a proper position, the telescopic oil cylinder 109 of the first telescopic arm extends out, when the distance between the ultrasonic ranging induction switch 150 and the wall surface is a preset value, the telescopic cylinder 109 of the first telescopic arm is stopped, and the wash arm assembly 1 is in the state shown in fig. 8.
The high pressure water of the sanitation vehicle is turned on to spray water from the spray pipe 125, and at the same time, the rolling switch of the sanitation vehicle is operated to operate the first motor 124, so that the sanitation vehicle performs the cleaning work of the inner wall surface 5 of the right wall.
After the sanitation truck cleans the wall inner surface 5 of the right wall, when the sanitation truck needs to return, the rolling sweeping switch on the sanitation truck is closed, high-pressure water is closed, then the sanitation truck keeps a safe distance with the left wall surface, the inner wall cleaning return switch on the right side is operated, the telescopic oil cylinder 109 of the first telescopic arm contracts, when the seventh induction switch 137 and the eighth induction switch 138 are powered on, the telescopic oil cylinder 109 of the first telescopic arm stops acting, at the moment, the inner arm 108 of the first telescopic arm is recovered in place, the motor of the second swing mechanism 118 rotates forwards, when the fourteenth induction switch 144 and the fifteenth induction switch 145 are powered on, the motor of the second swing mechanism 118 stops working, the telescopic oil cylinder 112 of the second telescopic arm contracts, when the ninth induction switch 139, the tenth induction switch 140 and the eleventh induction switch 141 are powered on, the telescopic oil cylinder 112 of the second telescopic arm stops working, the overturning oil cylinder 113 contracts, when the seventeenth sensing switch 147 is powered on, the reverse cylinder 113 stops operating, and the cleaning arm assembly is in the state shown in fig. 5, and the process of returning the cleaning arm assembly of fig. 5 to the cleaning arm assembly of fig. 2 is the same as the process of cleaning the portion of the wall outer surface 6 of the left wall.
The working processes of cleaning the inner wall on the left side and returning to the inner wall on the right side are similar to those of cleaning the inner wall on the right side and cleaning the inner wall on the right side; the working processes of cleaning the outer wall on the right side and returning the outer wall on the right side are similar to those of cleaning the outer wall on the left side and returning the outer wall on the left side.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. The control method of the cleaning arm assembly capable of cleaning the inner wall surface and the outer wall surface is characterized by comprising the following steps of cleaning the outer surface of the wall:
lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height;
if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance;
if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall;
if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height;
if yes, the cleaning brush assembly is started.
2. The method for controlling a wiper arm assembly for cleaning interior and exterior walls according to claim 1, further comprising, after the step of detecting whether the door is lowered to a second predetermined height:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
3. The method for controlling a wiper arm assembly for cleaning interior and exterior walls according to claim 1, further comprising, after the step of detecting whether the door is lowered to a second predetermined height:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
4. The method for controlling a wiper arm assembly for cleaning interior and exterior walls according to claim 1, further comprising the step of cleaning the interior walls by:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
5. The method for controlling a wiper arm assembly for cleaning interior and exterior walls according to claim 4, further comprising, after detecting whether the moving distance is a third predetermined distance:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
6. The control system of the cleaning arm assembly capable of cleaning the inner wall and the outer wall is characterized by comprising a storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the following steps are realized:
lifting the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly is lifted to a first preset height;
if so, stopping lifting, transversely moving the cleaning brush assembly, and simultaneously detecting whether the cleaning brush assembly transversely moves for a first preset distance;
if so, stopping the transverse movement, turning over the cleaning brush assembly, and detecting whether the cleaning brush assembly is turned over to face the outside of the wall;
if so, stopping overturning, lowering the cleaning brush assembly, and detecting whether the cleaning brush assembly is lowered to a second preset height;
if yes, the cleaning brush assembly is started.
7. The system for controlling a wash arm assembly for cleaning interior and exterior walls according to claim 6, wherein after the step of detecting the lowering of the wall to the second predetermined height, the computer program when executed by the processor further performs the steps of:
if so, detecting whether the distance between the cleaning brush assembly and the outer surface of the wall is a second preset distance;
if not, the cleaning brush assembly is transversely adjusted.
8. The system for controlling a wash arm assembly for cleaning interior and exterior walls according to claim 7, wherein after the step of detecting the lowering of the wall to the second predetermined height, the computer program when executed by the processor further performs the steps of:
if so, the self-rotating cleaning brush assembly detects whether the cleaning brush assembly rotates to the cleaning direction along the running direction of the sanitation truck or not.
9. The control system for a wash arm assembly for cleaning interior and exterior walls according to claim 7, wherein said computer program when executed by said processor further performs the steps of:
turning the sweeper brush assembly and detecting whether the sweeper brush assembly is turned to the inner surface facing the wall;
if so, stopping overturning, transversely moving the cleaning brush assembly, and simultaneously detecting whether the moving distance is a third preset distance;
if so, stopping the transverse movement and starting the cleaning brush assembly.
10. The system for controlling a wash arm assembly for washing interior and exterior walls according to claim 9, wherein after detecting the distance of movement as a third predetermined distance, the computer program when executed by the processor further performs the steps of:
if so, detecting whether the distance between the cleaning brush assembly and the inner surface of the wall is a fourth preset distance;
if not, the cleaning brush assembly is transversely adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911298028.7A CN111002321A (en) | 2019-12-17 | 2019-12-17 | Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911298028.7A CN111002321A (en) | 2019-12-17 | 2019-12-17 | Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces |
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| CN111002321A true CN111002321A (en) | 2020-04-14 |
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| CN201911298028.7A Pending CN111002321A (en) | 2019-12-17 | 2019-12-17 | Control method and system for cleaning arm assembly capable of cleaning inner and outer wall surfaces |
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| CN (1) | CN111002321A (en) |
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| CN112609619A (en) * | 2020-11-23 | 2021-04-06 | 聚和(天津)智能制造有限公司 | Self-adaptive multi-degree-of-freedom mechanical lifting cleaning device |
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Application publication date: 20200414 |