CN112195845B - Control method and device for preventing blockage of air suction opening of environmental sanitation sweeper - Google Patents
Control method and device for preventing blockage of air suction opening of environmental sanitation sweeper Download PDFInfo
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- CN112195845B CN112195845B CN202011056191.5A CN202011056191A CN112195845B CN 112195845 B CN112195845 B CN 112195845B CN 202011056191 A CN202011056191 A CN 202011056191A CN 112195845 B CN112195845 B CN 112195845B
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- environmental sanitation
- air suction
- suction opening
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
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Abstract
The invention provides a control method and a control device for preventing an air suction opening of a sanitation sweeper from being blocked, and the sanitation sweeper, wherein the method comprises the following steps: the method comprises the steps that in the running process of the environmental sanitation sweeper, the position of the environmental sanitation sweeper is obtained in real time; controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises a stop point; the motor pull rod is controlled to move to drive the air suction opening to vibrate for a preset number of times, so that the foreign matters blocked at the air suction opening can fall off. According to the control method, the environmental sanitation sweeper is controlled to stop at the set position, and the air suction opening is controlled to vibrate, so that foreign matters blocked at the air suction opening can fall off, and the problem that the cleaning effect of a cleaning area is poor due to the blockage of the air suction opening is avoided.
Description
Technical Field
The invention relates to the technical field of environmental sanitation sweeper trucks, in particular to a control method for preventing blockage of an air suction opening of an environmental sanitation sweeper truck, a control device for preventing blockage of the air suction opening of the environmental sanitation sweeper truck, computer equipment and a non-transitory computer readable storage medium.
Background
The technical scheme of the existing unmanned sweeping sweeper is that an air suction opening is provided with a fan, the fan is opened to form negative pressure during normal sweeping, and sucked garbage enters a garbage can through an air suction pipe. During the cleaning process, large branches, plastic bottles and other garbage are driven to bypass by a sanitation worker or picked up manually. In an unmanned state, the environmental sanitation sweeper cannot automatically identify garbage such as large branches and plastic bottles, the air suction opening is easily blocked, and the air suction opening cannot be sensed to be blocked because the air suction opening is not provided with a sensor, so that the garbage is always cleaned in a blocked state, and a large amount of garbage exists in a large area.
Disclosure of Invention
The invention aims to solve the technical problems and provides a control method for preventing an air suction opening of a sanitation sweeper from being blocked.
The technical scheme adopted by the invention is as follows:
a control method for preventing an air suction opening of a sanitation sweeper from being blocked comprises the following steps: the method comprises an air suction opening and a motor pull rod connected with the air suction opening, and comprises the following steps: the method comprises the steps that in the running process of the environmental sanitation sweeper, the position of the environmental sanitation sweeper is obtained in real time; controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises a stop point; and controlling the motor pull rod to move to drive the air suction opening to vibrate for a preset number of times so as to enable the foreign matters blocked at the air suction opening to fall off.
According to an embodiment of the present invention, after controlling the movement of the motor pull rod to drive the air suction opening to vibrate for a preset number of times, the method further includes: controlling the motor pull rod to move, driving the air suction opening to rise by a first preset height, and controlling the environmental sanitation sweeper to move forwards for a preset distance; and controlling the motor pull rod to move, driving the air suction opening to descend to a second preset height, controlling the fan to be started, and controlling the environmental sanitation sweeper to continuously drive forwards.
According to an embodiment of the present invention, the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper further includes: judging whether the environmental sanitation sweeper is in a stop state; when the environmental sanitation sweeper is in a stop state, controlling the fan to be closed, and judging whether the fan is in a closed state; when the fan is in a closed state, the motor pull rod is controlled to move, and the air suction opening is driven to vibrate.
According to an embodiment of the present invention, after the air suction opening vibrates for a preset number of times, the method further includes: and sending the current set position of the environmental sanitation sweeper to a terminal server.
According to an embodiment of the present invention, the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper further includes: acquiring image information of a road surface in front of the environmental sanitation sweeper; preprocessing the image information to identify foreign matter information in the image; and determining the moving path of the environmental sanitation sweeper according to the foreign matter information.
According to an embodiment of the invention, the determining the moving path of the environmental sanitation sweeper according to the foreign matter information comprises the following steps: when the foreign matter blocks the air suction opening, the environmental sanitation sweeper is controlled to drive around the foreign matter, and the current set position of the environmental sanitation sweeper is sent to the terminal server; and when the foreign matters cannot block the air suction opening, controlling the environmental sanitation sweeper to run according to a set route.
Corresponding to the method, the invention also provides a control device for preventing the blockage of the air suction opening of the environmental sanitation sweeper, and the environmental sanitation sweeper comprises: inlet scoop and with the motor pull rod that the inlet scoop links to each other, the device includes: the acquisition module is used for acquiring the position of the environmental sanitation sweeper in real time in the running process of the environmental sanitation sweeper; the control module is used for controlling the environmental sanitation sweeper to stop at a set position, controlling the fan to be closed and controlling the motor pull rod to move to drive the air suction opening to vibrate for a preset number of times so as to block the foreign matter of the air suction opening, wherein the set position at least comprises a stopping point.
The invention also provides a sanitation sweeper which comprises the control device for preventing the blockage of the air suction opening of the sanitation sweeper.
Corresponding to the method, the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the control method for preventing the blockage of the air suction inlet of the environmental sanitation sweeper is realized.
In response to the above method, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the control method for preventing blockage of the air suction opening of the sweeper truck.
The invention has the beneficial effects that:
according to the invention, the environmental sanitation sweeper is controlled to stop at the set position, and the air suction opening is controlled to vibrate, so that foreign matters blocked at the air suction opening can fall off, and the poor cleaning effect of a cleaning area caused by the blockage of the air suction opening is avoided. According to the invention, the route of automatic driving is set in the cleaning range, and the plurality of parking points are set on the whole route, so that the hardware of the environmental sanitation sweeper is not required to be changed, and only the control logic of the environmental sanitation sweeper is required to be adjusted, therefore, the cleaning effect can be obviously improved, and the cost is lower.
Drawings
Fig. 1 is a flowchart of a control method for preventing an air suction inlet of a sweeper truck from being blocked according to an embodiment of the present invention;
fig. 2 is a block diagram illustrating the control device for preventing blockage of the air inlet of the sweeper, according to the embodiment of the present invention;
fig. 3 is a block diagram illustrating a control device for preventing blockage of an air inlet of a sweeper truck according to an embodiment of the present invention;
fig. 4 is a block schematic diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a control method for preventing blockage of an air inlet of a sweeper truck according to an embodiment of the present invention.
In one embodiment of the invention, the environmental sanitation sweeper can comprise an air suction opening and a motor pull rod connected with the air suction opening, and the vehicle-mounted controller can enable the air suction opening to vibrate up and down by controlling the motor pull rod to move.
As shown in fig. 1, the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper provided by the embodiment of the invention comprises the following steps:
and S1, acquiring the position of the environmental sanitation sweeper in real time in the running process of the environmental sanitation sweeper.
And S2, controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises one stop point.
And S3, controlling the motor pull rod to move to drive the air suction opening to vibrate for a preset number of times so as to enable the foreign matters blocked at the air suction opening to fall off. The preset times can be calibrated according to actual conditions.
Specifically, hardware of sweeping functions of the unmanned environmental sanitation sweeper and the manually driven environmental sanitation sweeper are the same, and the hardware of the sweeping functions comprises a sweeping disc, an air suction port, a fan, an air suction pipe and the like. When the manual driving environmental sanitation sweeper is used for sweeping, a driver can check the working state of the air suction opening through the glass window at the bottom of the cockpit or can check the sweeping effect of sweeping the road surface through a rearview mirror, and if the air suction opening is blocked, the air suction opening can be cleaned in time, and the subsequent sweeping work is not influenced. However, the sanitation sweeper is in an unmanned state, whether the air suction opening is blocked or not cannot be checked, if the air suction opening is blocked, the subsequent cleaning effect is very poor, and the cleaning efficiency can be obviously reduced by cleaning again.
Therefore, the invention controls the environmental sanitation sweeper to park at a set place by arranging a plurality of parking points on an automatic driving route of the environmental sanitation sweeper, controls the fan to be turned off after the environmental sanitation sweeper parks, stops dust collection work, simultaneously controls the motor pull rod to operate, and drives the air suction opening to vibrate up and down so as to enable foreign matters blocked at the air suction opening to fall at the set parking points, continues to drive forwards after the vibration frequency of the air suction opening reaches the set frequency, finishes cleaning work, and repeats the same operation until the whole cleaning work is finished when the next set parking point is reached.
The specific process for preventing the blockage of the air suction opening is described in detail below.
According to an embodiment of the present invention, after controlling the movement of the motor pull rod to drive the air suction opening to vibrate for a preset number of times, the method further includes: controlling a motor pull rod to move to drive an air suction opening to rise by a first preset height, and controlling the environmental sanitation sweeper to move forwards for a preset distance; and controlling the motor pull rod to move, driving the air suction opening to descend to a second preset height, controlling the fan to be started, and controlling the environmental sanitation sweeper to continuously run forwards. Wherein, first predetermine the height, the second predetermines the height and predetermines the distance and can mark according to actual conditions, for example, first predetermine highly can suitably be higher a little to prevent that the inlet scoop from touching the foreign matter that drops, the second predetermines the height that highly normally cleans ground rubbish for the sanitation sweeper, predetermines the distance and can be for one section distance (like 1 meter) of the foreign matter that drops, prevents to be cleaned to the inlet scoop by the sanitation sweeper again with the foreign matter that drops.
That is to say, after the suction inlet is driven to vibrate for the preset times, the motor pull rod is controlled to move to drive the suction inlet to be raised to a certain height, and after the environmental sanitation sweeper is controlled to move for a certain distance in the driving direction, the motor pull rod is controlled to move to drive the suction inlet to be lowered to a certain height, the fan is controlled to be started, and the sweeping work is continuously completed.
According to an embodiment of the present invention, the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper further comprises: judging whether the environmental sanitation sweeper is in a stop state; when the environmental sanitation sweeper is in a stop state, controlling the fan to be closed, and judging whether the fan is in a closed state; when the fan is in a closed state, the motor pull rod is controlled to move to drive the air suction opening to vibrate.
That is, when the environmental sanitation sweeper reaches the set place and stops, whether the environmental sanitation sweeper completely stops or not is judged so as to ensure that the foreign matters fall at the set stop point. And when the sanitation sweeper is determined to be completely stopped at the set parking spot, the fan is controlled to be closed. And whether the fan is completely closed is also judged to prevent the dropped foreign matters from being sucked back to the air suction opening.
According to an embodiment of the present invention, after the air suction opening vibrates for a preset number of times, the method further comprises: and sending the current set position of the environmental sanitation sweeper to a terminal server.
That is, after the foreign matters in the air suction opening fall at the set parking spot, the current position of the sweeping vehicle is also sent to the terminal server, so that sanitation workers are conveniently informed to clean the foreign matters.
It can be understood that a plurality of parking spots are arranged on the driving route of the unmanned environmental sanitation sweeper, the control logic of each parking spot is the same as that of the embodiment, and the parking spots are repeatedly executed until the cleaning work is completed in the whole area.
It should be noted that a sensor may also be installed at a parking spot set in the driving route of the environmental sanitation sweeper, so as to determine whether the environmental sanitation sweeper is parked at the corresponding parking spot.
According to an embodiment of the present invention, the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper further includes: acquiring image information of a road surface in front of the environmental sanitation sweeper; preprocessing image information to identify foreign matter information in the image; and determining the moving path of the environmental sanitation sweeper according to the foreign matter information. Wherein, confirm the removal route of sanitation street sweeper according to foreign matter information, include: when the foreign matters block the air suction opening, the environmental sanitation sweeper is controlled to drive around the foreign matters, and the current set position of the environmental sanitation sweeper is sent to the terminal server; when the foreign matters can not block the air suction opening, the environmental sanitation sweeper is controlled to run according to the set route.
Specifically, the image information on the road surface running ahead can be acquired through the camera arranged on the environmental sanitation sweeper, and the image is preprocessed to identify whether large foreign matters exist in the image or whether the foreign matters block the air suction opening easily. When foreign matters which possibly block the air suction opening exist, the environmental sanitation sweeper is controlled to drive around the foreign matters, and the current position of the foreign matters is sent to the terminal server, so that environmental sanitation workers are informed to clean in time; when the foreign matters on the road surface can not block the air suction opening, the environmental sanitation sweeper is controlled to run according to the preset route.
In summary, the invention achieves the purpose of avoiding the blockage of the air suction inlet on the premise of not influencing the normal sweeping work of the environmental sanitation sweeper by flexibly changing the control logic of the environmental sanitation sweeper on the basis of not changing the hardware of the existing environmental sanitation sweeper.
In summary, according to the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper, the environmental sanitation sweeper is controlled to stop at the set position, and the air suction opening is controlled to vibrate, so that the foreign matters blocked at the air suction opening can fall off, and the poor cleaning effect of the cleaning area caused by the blockage of the air suction opening is avoided.
Corresponding to the method of the embodiment, the invention further provides a control device for preventing the blockage of the air suction opening of the environmental sanitation sweeper.
Fig. 2 is a block diagram of a control device for preventing blockage of an air inlet of a sweeper truck according to an embodiment of the present invention.
As shown in fig. 2, the control device for preventing the blockage of the air suction opening of the environmental sanitation sweeper according to the embodiment of the present invention may include: an acquisition module 10 and a control module 20.
The obtaining module 10 is configured to obtain a position of the environmental sanitation sweeper in real time during a driving process of the environmental sanitation sweeper. The control module 20 is used for controlling the environmental sanitation sweeper to stop at a set position, controlling the fan to be turned off, controlling the motor pull rod to move, and driving the air suction opening to vibrate for a preset number of times so as to enable the foreign matter blocked at the air suction opening to drop, wherein the set position at least comprises a stopping point.
According to an embodiment of the present invention, the control module 20 is further configured to control the motor pull rod to move, drive the air suction opening to rise by a first preset height, and control the environmental sanitation sweeper to travel forward by a preset distance; and controlling a motor pull rod to move, driving the air suction opening to descend to a second preset height, controlling the fan to be started, and controlling the environmental sanitation sweeper to continuously run forwards.
According to an embodiment of the present invention, the control module 20 is further configured to determine whether the environmental sanitation sweeper is stopped; when the environmental sanitation sweeper is in a stop state, controlling the fan to be closed, and judging whether the fan is in a closed state; when the fan is in a closed state, the motor pull rod is controlled to move to drive the air suction opening to vibrate.
According to an embodiment of the present invention, the control module 20 is further configured to send the current set position of the environmental sanitation sweeper to the terminal server.
According to an embodiment of the present invention, as shown in fig. 3, the control device for preventing blockage of the air suction opening of the environmental sanitation sweeper, further includes: the system comprises an image acquisition module 30 and an image processing module 40, wherein the image acquisition module 30 is used for acquiring image information of a road surface in front of the environmental sanitation sweeper; the image processing module 40 is used for preprocessing the image information to identify foreign matter information in the image; the control module 20 is also used for determining the moving path of the environmental sanitation sweeper according to the foreign matter information.
According to an embodiment of the present invention, the control module 20 determines a moving path of the environmental sanitation sweeper according to the information of the foreign object, and is specifically configured to control the environmental sanitation sweeper to drive around the foreign object when the foreign object blocks the air inlet, and send a current set position of the environmental sanitation sweeper to the terminal server; when the foreign matters can not block the air suction opening, the environmental sanitation sweeper is controlled to run according to the set route.
It should be noted that details, which are not disclosed in the control device for preventing the blockage of the air suction opening of the sweeper truck according to the embodiment of the present invention, please refer to details disclosed in the control method for preventing the blockage of the air suction opening of the sweeper truck according to the embodiment of the present invention, and details are not repeated herein.
According to the invention, the environmental sanitation sweeper is controlled to stop at the set position, and the air suction opening is controlled to vibrate, so that foreign matters blocked at the air suction opening can fall off, and the poor cleaning effect of a cleaning area caused by the blockage of the air suction opening is avoided.
The invention further provides a vehicle corresponding to the embodiment.
Fig. 4 is a block schematic diagram of a vehicle according to an embodiment of the present invention.
As shown in fig. 4, a vehicle 100 of the embodiment of the present invention includes: the control device 110 for preventing the blockage of the air suction opening of the environmental sanitation sweeper.
According to the vehicle provided by the embodiment of the invention, through the control device for preventing the blockage of the air suction opening of the environmental sanitation sweeper, the situation that the cleaning effect of a cleaning area is poor due to the blockage of the air suction opening can be avoided.
Corresponding to the above embodiment, the present invention further provides a computer device.
The computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the control method for preventing the blockage of the air suction inlet of the environmental sanitation sweeper can be realized.
According to the computer equipment disclosed by the embodiment of the invention, when the processor executes the computer program stored on the memory, the position of the environmental sanitation sweeper is acquired in real time in the running process of the environmental sanitation sweeper; controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises a stop point; the movement of the motor pull rod is controlled to drive the air suction opening to vibrate for a preset number of times, so that foreign matters blocked at the air suction opening can drop, and the poor cleaning effect of the cleaning area caused by blockage of the air suction opening is avoided.
The invention also provides a non-transitory computer readable storage medium corresponding to the above embodiment.
The non-transitory computer readable storage medium of the embodiment of the present invention stores thereon a computer program, which when executed by a processor, can implement the control method for preventing the blockage of the air suction opening of the sweeper truck according to the above-mentioned embodiment of the present invention.
According to the non-transitory computer readable storage medium of the embodiment of the invention, when the processor executes the computer program stored on the processor, the position of the environmental sanitation sweeper is acquired in real time during the running process of the environmental sanitation sweeper; controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises a stopping point; the movement of the motor pull rod is controlled to drive the air suction opening to vibrate for a preset number of times, so that foreign matters blocked at the air suction opening can drop, and the poor cleaning effect of the cleaning area caused by blockage of the air suction opening is avoided.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless explicitly defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A control method for preventing blockage of an air suction opening of a sanitation sweeper is characterized by comprising the following steps: the method comprises an air suction opening and a motor pull rod connected with the air suction opening, and comprises the following steps:
the method comprises the steps that in the running process of the environmental sanitation sweeper, the position of the environmental sanitation sweeper is obtained in real time;
controlling the environmental sanitation sweeper to stop at a set position, and controlling the fan to be turned off, wherein the set position at least comprises a stop point;
controlling the motor pull rod to move to drive the air suction opening to vibrate for a preset number of times so as to enable the foreign matters blocked at the air suction opening to fall off;
the method further comprises the following steps:
judging whether the environmental sanitation sweeper is in a stop state;
when the environmental sanitation sweeper is in a stop state, controlling the fan to be closed, and judging whether the fan is in a closed state;
when the fan is in a closed state, the motor pull rod is controlled to move, and the air suction opening is driven to vibrate.
2. The method as claimed in claim 1, further comprising the step of, after controlling the movement of the motor rod to drive the suction opening to vibrate for a predetermined number of times:
controlling the motor pull rod to move, driving the air suction opening to rise by a first preset height, and controlling the environmental sanitation sweeper to move forwards for a preset distance;
and controlling the motor pull rod to move to drive the air suction opening to descend to a second preset height, controlling the fan to be started, and controlling the environmental sanitation sweeper to continuously drive forwards.
3. The control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper according to claim 1, wherein after the air suction opening vibrates for a preset number of times, the control method further comprises the following steps:
and sending the current set position of the environmental sanitation sweeper to a terminal server.
4. The control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper according to claim 1, further comprising the following steps:
acquiring image information of a road surface in front of the environmental sanitation sweeper;
preprocessing the image information to identify foreign matter information in the image;
and determining the moving path of the environmental sanitation sweeper according to the foreign matter information.
5. The control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper according to claim 4, wherein the step of determining the moving path of the environmental sanitation sweeper according to the foreign matter information comprises the following steps:
when the foreign matter blocks the air suction opening, the environmental sanitation sweeper is controlled to drive around the foreign matter, and the current set position of the environmental sanitation sweeper is sent to the terminal server;
and when the foreign matters cannot block the air suction opening, controlling the environmental sanitation sweeper to run according to a set route.
6. The utility model provides a prevent controlling means of sanitation street sweeper inlet scoop jam which characterized in that, sanitation street sweeper includes: inlet scoop and with the motor pull rod that the inlet scoop links to each other, the device includes:
the acquisition module is used for acquiring the position of the environmental sanitation sweeper in real time in the running process of the environmental sanitation sweeper;
the control module is used for controlling the environmental sanitation sweeper to stop at a set position, controlling the fan to be turned off, and controlling the motor pull rod to move to drive the air suction opening to vibrate for a preset number of times so as to enable foreign matters blocked at the air suction opening to fall off, wherein the set position at least comprises one stopping point;
specifically, the control module is used for judging whether the environmental sanitation sweeper is in a stop state, when the environmental sanitation sweeper is in the stop state, the fan is controlled to be closed, whether the fan is in a closed state is judged, and when the fan is in the closed state, the motor pull rod is controlled to move to drive the air suction opening to vibrate.
7. A sweeper for environmental sanitation is characterized by comprising the control device for preventing the air suction opening of the sweeper for environmental sanitation from being blocked according to claim 6.
8. Computer equipment comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the control method for preventing the blockage of the air suction opening of the environmental sanitation sweeper as claimed in any one of claims 1 to 5.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for controlling an inlet scoop of a sweeper truck according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011056191.5A CN112195845B (en) | 2020-09-30 | 2020-09-30 | Control method and device for preventing blockage of air suction opening of environmental sanitation sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011056191.5A CN112195845B (en) | 2020-09-30 | 2020-09-30 | Control method and device for preventing blockage of air suction opening of environmental sanitation sweeper |
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| CA2264999A1 (en) * | 1998-04-09 | 1999-10-09 | Madvac International Inc. | Mobile walk-behind sweeper |
| CN108978562A (en) * | 2018-08-19 | 2018-12-11 | 邓东 | A kind of sanitation cart of environment-friendly high-efficiency |
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| CN201077969Y (en) * | 2007-01-23 | 2008-06-25 | 刘良祥 | Dry and wet two purpose sucking cleaning sweeping machine |
| CN201790741U (en) * | 2010-07-20 | 2011-04-13 | 马卫宏 | Suction nozzle of vacuum cleaner |
| CN108433648A (en) * | 2018-05-11 | 2018-08-24 | 苏州莱锦机电自动化有限公司 | A kind of garbage collection process device of sweeping robot |
| CN208668342U (en) * | 2018-05-22 | 2019-03-29 | 刘峥霞 | A kind of anti-block apparatus of pure-suction type road sweeper |
| CN110955235A (en) * | 2018-09-27 | 2020-04-03 | 广东美的生活电器制造有限公司 | Control method and control device of sweeping robot |
| KR102050324B1 (en) * | 2019-02-21 | 2019-12-02 | 주식회사 포이닉스 | Pavement road air void recovery vehicle |
| CN111583695A (en) * | 2020-04-29 | 2020-08-25 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Intelligent environmental sanitation system based on Beidou navigation |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2264999A1 (en) * | 1998-04-09 | 1999-10-09 | Madvac International Inc. | Mobile walk-behind sweeper |
| CN108978562A (en) * | 2018-08-19 | 2018-12-11 | 邓东 | A kind of sanitation cart of environment-friendly high-efficiency |
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