CN111061186A - Intelligent water spraying control system and method for pure electric sweeping machine - Google Patents
Intelligent water spraying control system and method for pure electric sweeping machine Download PDFInfo
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- CN111061186A CN111061186A CN201911290642.9A CN201911290642A CN111061186A CN 111061186 A CN111061186 A CN 111061186A CN 201911290642 A CN201911290642 A CN 201911290642A CN 111061186 A CN111061186 A CN 111061186A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to an intelligent water spraying control system and method for a pure electric sweeping machine, which is characterized in that the running speed of a chassis motor is monitored; judging whether the running rotating speed of the chassis motor is less than a preset running rotating speed value of the chassis motor; if so, the controller controls the water spraying device to enter a pause working state, and simultaneously controls the rotating speed of an upper motor of the vehicle to an idle speed; if not, the working state of the water spraying device before the suspension of the work and the idling of the upper motor is maintained. During the running process of the sweeping machine, the running rotating speed of the chassis motor and the preset value of the chassis motor can be judged, when the running rotating speed of the chassis motor is smaller than the preset value, the cleaning vehicle is in a temporary parking or deceleration state, the water spraying work is controlled to be suspended, the rotating speed of the upper motor is reduced, and the problem that the ground area water and the electric energy consumption are high when the cleaning vehicle is temporarily parked and decelerated is solved.
Description
Technical Field
The invention relates to the technical field of operation control of road surface cleaning vehicles, in particular to an intelligent water spraying control system and method of a pure electric sweeping vehicle.
Background
A water spraying device of a road cleaning operation vehicle, particularly a pure electric road sweeper, effectively inhibits dust raised in the road sweeping process, but in the working and running process of the road cleaning vehicle, when the vehicle needs to be greatly reduced in running speed for short parking or under special conditions, such as the condition of waiting for a traffic light, the continuous water spraying work is carried out, if no control mode is added to temporarily pause the water spraying work, a certain area of accumulated water can be left on the road surface, and the road surface condition is influenced; and under the condition of temporary parking or the condition of greatly reducing the running speed of the vehicle, if the rotating speed of the motor arranged on the sanitation vehicle is in a higher state, the ineffective loss of electric energy can be generated, and the noise generated by the high working rotating speed can also generate a fixed-point continuous influence.
Disclosure of Invention
Therefore, an intelligent water spraying control system and method for a pure electric sweeping machine are needed to be provided, and the system and method are used for solving the technical problems that when the sweeping machine is parked temporarily or the speed of the sweeping machine is reduced in the prior art, the road surface is affected by continuous water spraying work, and the power consumption of an upper motor is high.
In order to achieve the aim, the inventor provides an intelligent water spray control system of a pure electric sweeping machine, which comprises a controller, a chassis motor, an upper motor and a water spray device;
the controller comprises a speed detection module, the speed detection module is in signal connection with the chassis motor and is used for receiving the running rotating speed information of the chassis motor, and the controller is used for acquiring the running rotating speed information of the chassis motor and comparing the running rotating speed information with a preset running rotating speed value of the chassis motor;
the upper motor and the water spraying device are respectively electrically connected with the controller, and when the running rotating speed of the chassis motor is less than the running rotating speed preset value of the chassis motor, the controller controls the water spraying device to enable the water spraying device to enter a pause working state and simultaneously control the rotating speed of the upper motor of the vehicle to an idle speed; when the running rotating speed of the chassis motor is equal to or greater than the preset running rotating speed value of the chassis motor, the controller does not control the water spraying device and the upper motor, and the water spraying device and the upper motor are in a working state before being suspended and the upper motor is in a working state before being idling.
Further, the control system further comprises a manual switch, the manual switch is electrically connected with the controller, when the manual switch is turned on, the controller controls the water spraying device to enter a pause working state, the rotating speed of a loading motor of the vehicle is controlled to an idle speed, when the manual switch is turned off, the controller controls the water spraying device to exit the pause working state, and the loading motor is recovered to the rotating speed before the idle speed.
Further, the control system further comprises a control display screen, the control display screen is electrically connected with the controller, and the control display screen is used for displaying the suspension working state of the water spraying device.
Further, the control system further comprises a buzzer, the buzzer is electrically connected with the controller, and the buzzer is used for giving out a sound prompt when the controller controls the water spraying device to enter a pause working state.
Different from the prior art, the technical proposal of the upper complaint comprises a controller, a chassis motor, an upper motor and a water spraying device; the controller comprises a speed detection module, the speed detection module is in signal connection with the chassis motor and is used for receiving the running rotating speed information of the chassis motor, and the controller is used for acquiring the running rotating speed information of the chassis motor and comparing the running rotating speed information with a preset running rotating speed value of the chassis motor; the upper motor and the water spraying device are respectively electrically connected with the controller, when the running speed of the chassis motor is less than the preset running speed value of the chassis motor, the controller controls the water spraying device, the water spraying device enters a pause working state, the rotating speed of the upper motor of the vehicle is controlled to idle speed, real-time rotating speed information of the chassis motor is acquired through the controller, the running condition of the cleaning vehicle is judged more intelligently, therefore, when the vehicle is parked temporarily or decelerated, intelligent temporary water spraying work is achieved, the rotating speed of the upper motor of the vehicle is reduced, and the problem that the ground area and the electric energy consumption are high when the cleaning vehicle is parked temporarily and decelerated is solved.
The inventor also provides an intelligent water spraying control method of the pure electric sweeping machine, which comprises the following steps:
monitoring the running speed of a chassis motor;
judging whether the running rotating speed of the chassis motor is less than a preset running rotating speed value of the chassis motor or not;
if so, the controller controls the water spraying device to enter a pause working state, and simultaneously controls the rotating speed of an upper motor of the vehicle to an idle speed;
if not, the working state of the water spraying device before the suspension of the work and the idling of the upper motor is maintained.
Further, after the step of judging that the running rotating speed of the chassis motor is less than the preset running rotating speed value of the chassis motor, the method further comprises the following steps:
and opening the manual switch to force the water spraying device to enter a pause working state.
Further, after the step of the water spraying device entering the work suspending state, the method also comprises the following steps:
and closing the manual switch to force the water spraying device to exit the pause working state.
Further, after the step of the water spraying device entering the work suspending state, the method also comprises the following steps:
and displaying the suspended working state of the water spraying device by controlling the display screen.
Further, after the step of the water spraying device entering the work suspending state, the method also comprises the following steps:
and carrying out sound prompt through a buzzer.
Different from the prior art, the intelligent water spray control method of the pure electric sweeping machine comprises the following steps: monitoring the running speed of a chassis motor; judging whether the running rotating speed of the chassis motor is less than a preset running rotating speed value of the chassis motor or not; if so, the controller controls the water spraying device to enter a pause working state, and simultaneously controls the rotating speed of an upper motor of the vehicle to an idle speed; if not, the working state of the water spraying device before the suspension of the work and the idling of the upper motor is maintained. During the running process of the sweeping machine, the running rotating speed of the chassis motor and the set preset value of the chassis motor can be judged, when the running rotating speed of the chassis motor is smaller than the preset value of the running rotating speed of the chassis motor, the cleaning vehicle is in a temporary parking or deceleration state, the water spraying work is controlled to be suspended, the rotating speed of the upper motor is reduced, and the problem that the ground area water and the electric energy consumption are high when the cleaning vehicle is temporarily parked and decelerated is solved.
Drawings
FIG. 1 is a schematic view of an intelligent water spray control system of a pure electric sweeping machine according to a specific embodiment;
FIG. 2 is a flow chart of an intelligent water spray control method of the electric road sweeper in the specific embodiment;
fig. 3 is a flowchart of an intelligent water spray control method for a pure electric sweeping machine according to another embodiment.
Description of reference numerals:
1. a controller;
2. a chassis motor;
3. installing a motor;
4. a water spraying device;
5. a manual switch;
6. controlling the display screen;
7. a buzzer.
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 to 3, the present invention provides an intelligent water spraying control system and method for a pure electric sweeping machine, which is used for intelligently controlling a water spraying device to enter a pause state and reducing the rotation speed of a motor mounted on a road surface cleaning vehicle according to the comparison between the real-time rotation speed of a chassis motor obtained by a controller and a rotation speed preset value of a chassis motor.
Referring to fig. 1, in an embodiment, the intelligent water spraying control system of the all-electric road sweeper comprises a controller 1, a chassis motor 2, an upper motor 3 and a water spraying device 4.
The controller 1 comprises a speed detection module, the speed detection module is in signal connection with the chassis motor 2 and is used for receiving running rotating speed information of the chassis motor, and the controller 1 is used for acquiring running rotating speed information of the chassis motor 2 and comparing the running rotating speed information with a preset running rotating speed value of the chassis motor. Specifically, the preset value of the running rotating speed of the chassis motor is the running rotating speed of the chassis motor 2 in the normal speed running process of the sweeping machine, and the preset value of the running rotating speed of the chassis motor can be obtained in advance according to the normal running speed of the sweeping machine and is input into the controller 1; the speed detection module in the controller 1 is connected with the chassis motor 2 through the CAN bus, so that the connection between the chassis motor 2 and the controller 1 is realized, and the change condition of the rotating speed of the chassis motor CAN be rapidly judged.
The upper motor 3 and the water spraying device 4 are respectively electrically connected with the controller 1, when the running rotating speed of the chassis motor 2 is less than the running rotating speed preset value of the chassis motor, the controller 1 controls the water spraying device 4 to enable the water spraying device 4 to enter a pause working state, and meanwhile, the rotating speed of the upper motor 3 of the vehicle is controlled to be idle; when the running speed of the chassis motor 2 is equal to or greater than the preset running speed value of the chassis motor, the controller 1 does not control the water spraying device 4 and the upper motor 3, and the water spraying device 4 is recovered to the working state before suspension and the upper motor 3 is recovered to the working state before idling.
The judgment of the road sweeper at normal running speed or the running condition of temporary parking and road sweeper deceleration is realized by comparing the running speed of the chassis motor 2 with the preset running speed value of the chassis motor; when the running speed of the chassis motor 2 is lower than the running speed preset value of the chassis motor, the vehicle is judged to be in a state of temporary parking or vehicle deceleration, and in order to prevent water accumulation on a road surface and reduce the loss of electric energy, the controller 1 controls the water spraying device 4 to temporarily stop working and reduce the rotating speed of the motor 3 mounted on the vehicle; when the running rotating speed of the chassis motor 2 is equal to or greater than the preset running rotating speed value of the chassis motor, the vehicle is judged to be in a non-parking state or a vehicle deceleration state, and at the moment, the normal running state that the sweeping machine is not parked or decelerated temporarily is continuously kept or recovered.
Preferably, the control system further comprises a manual switch 5, the manual switch 5 is electrically connected with the controller 1, when the manual switch 5 is turned on, the controller 1 controls the water spraying device 4 to enter a pause working state, and simultaneously controls the rotating speed of the upper motor 3 of the vehicle to an idle speed, when the manual switch 5 is turned off, the controller 1 controls the water spraying device 4 to exit the pause working state, and the upper motor 3 is recovered to the rotating speed before the idle speed. The manual switch 5 can intervene in the intelligent control of the controller 1 manually, so as to make a correct judgment in real time according to the actual road condition.
Preferably, the control system further comprises a control display screen 6, the control display screen 6 is electrically connected with the controller 1, and the control display screen 6 is used for displaying the pause working state of the water spraying device 4. Specifically, no matter the suspension working state of the water spraying device 4 in the intelligent control state or the suspension working state of the water spraying device 4 forcibly entered by the manual switch 5 can be displayed by the control display screen 6, so that the operator can directly know the working state of the water spraying device 4 of the sweeping machine through the control display screen 6.
Preferably, the control system further comprises a buzzer 7, the buzzer 7 is electrically connected with the controller 1, and the buzzer 7 is used for giving a sound prompt when the controller 1 controls the water spraying device 4 to enter a pause working state. Specifically, no matter the suspension working state of the water spraying device 4 in the intelligent control state or the suspension working state of the water spraying device 4 forcibly entered by the manual switch 5, sound prompt can be carried out through the buzzer 7, and the condition that the operator can timely know the working condition of the water spraying device 4 is further ensured.
Referring to fig. 2, in a specific embodiment, the intelligent water spraying control method for the all-electric sweeping machine includes the following steps:
firstly, step S101 is carried out to keep the sweeping machine in a running and water spraying working state;
secondly, the step S102 is entered to monitor the running speed of the chassis motor 2;
then, step S103 is carried out to judge whether the running speed of the chassis motor 2 is less than the preset running speed value of the chassis motor 2; and judging whether the vehicle is in a parking state or a pause state or greatly reducing the running speed of the vehicle.
Step S102 realizes real-time monitoring of the rotation speed of the chassis motor 2 of the sweeping machine, and provides a data source for comparing the rotation speeds of the chassis motor 2 in step S103.
The condition that the monitored running speed of the chassis motor 2 is less than the running speed preset value of the chassis motor 2 is that the water spraying device 4 of the sweeping machine stops working and the rotating speed of the upper motor 3 is adjusted to be idle, so that the judgment of the rotating speed of the chassis motor 2 in the step S103 is the judgment of the stopping of the water spraying device 4 of the sweeping machine and the adjustment of the rotating speed of the upper motor 3 to be idle, and the method is suitable for the condition that the sweeping machine is in a parking state and a stopping state or the running speed of the sweeping machine is greatly reduced.
Since the monitored running speed of the chassis motor 2 is lower than the running speed preset value of the chassis motor 2 is a condition that the water spraying device 4 of the sweeping machine stops working and the rotating speed of the upper motor 3 is adjusted to an idle speed, if the judgment result of the step S103 is yes, the step S104 is executed: the controller 1 controls the water spraying device 4 to enter a pause working state, and simultaneously controls the rotating speed of the upper motor 3 of the vehicle to be in an idle speed, if not, the step S106 is carried out: and the working state of the water spraying device 4 before the pause and before the idling of the upper motor 3 is maintained. By the steps, the problems that the road surface water is accumulated due to the fact that the water spraying device 4 continues spraying water and the electric energy consumption is large under the condition that the sweeping machine is in a short-time parking state or a pause state or the speed of the sweeping machine is greatly reduced are solved.
The preset running speed value of the chassis motor 2 represents the rotating speed of the chassis motor 2 in the normal running process of the sweeping machine.
As shown in fig. 3, in another embodiment, after the step of determining that the running rotation speed of the chassis motor 2 is less than the predetermined running rotation speed of the chassis motor 2, the step may also proceed to step S105: turning on the manual switch 5, forcing the water spraying device 4 to enter a pause working state and adjusting the rotating speed of the upper motor 3 to an idle speed in one step, or turning off the manual switch 5, and entering step S106: keeping the water spraying device 4 to work continuously and keeping the rotating speed of the upper motor 3 unchanged. In the working process of the sweeping machine, the small-amplitude speed reduction controller 1 can also be flexibly acquired, but the working states of the water spraying device 4 and the upper motor 3 do not need to be frequently adjusted at the moment, and the intelligent water spraying control method is more humanized due to the control of the manual switch 5.
After the step of suspending the operation of the water jet device 4, the flow proceeds to step S107: the pause working state of the water spraying device 4 is displayed through the control display screen 6 or the sound prompt is carried out through the buzzer 7. The voice prompt and control display screen 6 can have one or two reminding modes.
During the running process of the sweeping machine, the running rotating speed of the chassis motor 2 and the set preset value of the chassis motor 2 can be judged, when the running rotating speed of the chassis motor 2 is smaller than the preset value, the cleaning vehicle is in a temporary parking or deceleration state, the water spraying work is controlled to be suspended, the rotating speed of the upper motor 3 is reduced, and the problem that the ground area water and the electric energy consumption are high when the cleaning vehicle is temporarily parked and decelerated is solved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
As will be appreciated by one skilled in the art, the above-described embodiments may be provided as a method, apparatus, or computer program product. These embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. All or part of the steps in the methods according to the embodiments may be implemented by a program instructing associated hardware, where the program may be stored in a storage medium readable by a computer device and used to execute all or part of the steps in the methods according to the embodiments. The computer devices, including but not limited to: personal computers, servers, general-purpose computers, special-purpose computers, network devices, embedded devices, programmable devices, intelligent mobile terminals, intelligent home devices, wearable intelligent devices, vehicle-mounted intelligent devices, and the like; the storage medium includes but is not limited to: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, U disk, removable hard disk, memory card, memory stick, network server storage, network cloud storage, etc.
The various embodiments described above are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a computer apparatus to produce a machine, such that the instructions, which execute via the processor of the computer apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer apparatus to cause a series of operational steps to be performed on the computer apparatus to produce a computer implemented process such that the instructions which execute on the computer apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
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 (9)
1. The intelligent water spray control system of the pure electric sweeping machine is characterized by comprising a controller, a chassis motor, an upper motor and a water spray device;
the controller comprises a speed detection module, the speed detection module is in signal connection with the chassis motor and is used for receiving the running rotating speed information of the chassis motor, and the controller is used for acquiring the running rotating speed information of the chassis motor and comparing the running rotating speed information with a preset running rotating speed value of the chassis motor;
the upper motor and the water spraying device are respectively electrically connected with the controller, and when the running rotating speed of the chassis motor is less than the running rotating speed preset value of the chassis motor, the controller controls the water spraying device to enable the water spraying device to enter a pause working state and simultaneously control the rotating speed of the upper motor of the vehicle to an idle speed; when the running rotating speed of the chassis motor is equal to or greater than the preset running rotating speed value of the chassis motor, the controller does not control the water spraying device and the upper motor, and the water spraying device and the upper motor are in a working state before being suspended and the upper motor is in a working state before being idling.
2. The intelligent water spray control system of the pure electric sweeping machine according to claim 1, wherein the control system further comprises a manual switch, the manual switch is electrically connected with the controller, when the manual switch is turned on, the controller controls the water spray device to enter a pause working state and simultaneously controls the rotating speed of a loading motor of the vehicle to an idle speed, when the manual switch is turned off, the controller controls the water spray device to exit the pause working state, and the loading motor is recovered to the rotating speed before the idle speed.
3. The intelligent water spray control system of the pure electric sweeping machine according to claim 1 or 2, wherein the control system further comprises a control display screen, the control display screen is electrically connected with the controller, and the control display screen is used for displaying the suspension working state of the water spray device.
4. The intelligent water spray control system of the pure electric sweeping machine according to claim 1 or 2, wherein the control system further comprises a buzzer, the buzzer is electrically connected with the controller, and the buzzer is used for giving a sound prompt when the controller controls the water spray device to enter a pause working state.
5. The intelligent water spraying control method of the pure electric sweeping machine is characterized by comprising the following steps:
monitoring the running speed of a chassis motor;
judging whether the running rotating speed of the chassis motor is less than a preset running rotating speed value of the chassis motor or not;
if so, the controller controls the water spraying device to enter a pause working state, and simultaneously controls the rotating speed of an upper motor of the vehicle to an idle speed;
if not, the working state of the water spraying device before the suspension of the work and the idling of the upper motor is maintained.
6. The intelligent water spray control method of the pure electric sweeping machine according to claim 5, wherein after the step of judging that the running speed of the chassis motor is less than the preset running speed value of the chassis motor, the intelligent water spray control method further comprises the following steps of:
and opening the manual switch to force the water spraying device to enter a pause working state.
7. The intelligent water spray control method of the pure electric sweeping machine according to claim 6, wherein after the step of enabling the water spray device to enter the work pause state, the intelligent water spray control method further comprises the following steps of:
and closing the manual switch to force the water spraying device to exit the pause working state.
8. The intelligent water spray control method of the pure electric sweeping machine according to claim 5 or 6, wherein after the step of enabling the water spray device to enter the work pause state, the intelligent water spray control method further comprises the following steps of:
and displaying the suspended working state of the water spraying device by controlling the display screen.
9. The intelligent water spray control method of the pure electric sweeping machine according to claim 5 or 6, wherein after the step of enabling the water spray device to enter the work pause state, the intelligent water spray control method further comprises the following steps of:
and carrying out sound prompt through a buzzer.
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| CN201911290642.9A CN111061186A (en) | 2019-12-16 | 2019-12-16 | Intelligent water spraying control system and method for pure electric sweeping machine |
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| CN108221820A (en) * | 2018-01-22 | 2018-06-29 | 莆田市烛火信息技术有限公司 | A kind of control method on the road-cleaning sprinkling truck based on speed watering |
| CN109083059A (en) * | 2018-07-20 | 2018-12-25 | 福建龙马环卫装备股份有限公司 | A kind of road surface dumper apparatus for work control method and system |
| CN109322266A (en) * | 2018-11-27 | 2019-02-12 | 徐州徐工环境技术有限公司 | Sweeping machine and sweeping machine brush speed regulating method |
| CN110080152A (en) * | 2019-06-19 | 2019-08-02 | 新乡市达威智能门窗实用技术研究中心 | A kind of device for administering motor vehicle itself fugitive dust |
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