CN112575726A - Intelligent water system of motor sweeper - Google Patents
Intelligent water system of motor sweeper Download PDFInfo
- Publication number
- CN112575726A CN112575726A CN202011245121.4A CN202011245121A CN112575726A CN 112575726 A CN112575726 A CN 112575726A CN 202011245121 A CN202011245121 A CN 202011245121A CN 112575726 A CN112575726 A CN 112575726A
- Authority
- CN
- China
- Prior art keywords
- water
- point
- judging
- automatically
- electromagnetic valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 464
- 241001417527 Pempheridae Species 0.000 title claims abstract description 19
- 238000005507 spraying Methods 0.000 claims abstract description 64
- 238000000034 method Methods 0.000 claims abstract description 56
- 239000007921 spray Substances 0.000 claims abstract description 37
- 238000007599 discharging Methods 0.000 claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 239000010865 sewage Substances 0.000 claims description 37
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000007664 blowing Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 2
- 239000000779 smoke Substances 0.000 description 27
- 238000004140 cleaning Methods 0.000 description 21
- 238000001514 detection method Methods 0.000 description 16
- 238000010408 sweeping Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000009826 distribution Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
- 239000004071 soot Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 101000912561 Bos taurus Fibrinogen gamma-B chain Proteins 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to an intelligent water system of a sweeper, which comprises an automatic water spraying and water amount control method and system, an automatic water adding method and system, an automatic water discharging and automatic water system blockage judgment method and system, wherein the automatic water spraying and water amount control method and system comprises a water spraying and water adding system, a water spraying and water adding system; the automatic water adding system of the water tank comprises a control system, a processor, a calculation module, an adjustment module, a controller and the like; the vehicle speed sensor, the electromagnetic valve opening sensor and the water level sensor are connected with the adjusting module; the method and the system for automatically adding water into the water tank are characterized by comprising the following steps: d1: converting into a water spray amount Z based on the opening degree of the electromagnetic valve; d2: calculating how long the whole vehicle water S can work based on the classified route L and the working speed V, wherein L' is VS/Z; d3: judging the water adding sequence based on the positions of the water adding points; d4: and executing work on the water adding times and positions.
Description
Technical Field
The invention belongs to the field of intelligent cleaning equipment, and mainly relates to an intelligent water system of a sweeper.
Background
Environmental sanitation cleaning equipment used in the market at present controls the water spraying amount and the water spraying mode of water spraying and dust falling of the environmental sanitation cleaning equipment by manpower. The operation mode can not meet the requirements of intellectualization and unmanned operation at all. Therefore, how to realize the problems of automatic control of water spraying mode, control of water spraying quantity, garbage bin sewage discharge, automatic water discharging when a vehicle is received, water spraying in rainy days, wet road surface operation, automatic judgment of nozzle blockage and the like is the key point for realizing the intellectualization and the unmanned environment sanitation cleaning equipment.
Disclosure of Invention
The invention aims to solve the problems, and realizes the problems of automatic water spraying mode control, water spraying quantity control, garbage can sewage discharge, automatic water discharging during vehicle collection, water spraying in rainy days, wet road surface operation and the like, thereby realizing the intelligent and unmanned operation requirements of environmental sanitation cleaning equipment.
The invention aims to realize the intelligent water system of the sweeper, which consists of a method and a system for automatically spraying water and automatically controlling the water quantity, a method and a system for automatically adding water, a method and a system for automatically discharging water and automatically judging the blockage of the water system; the device comprises a clean water tank, a water level sensor, a water pipe, a water electromagnetic valve, a flow detector, a spray head, a filter, a water pump, a rainfall receiving system, a controller, a control circuit, a camera, a smoke concentration detector, a garbage tank water level sensor, a garbage tank body and an electromagnetic water drain valve. Wherein, the clean water tank is a water storage device, and a water pipe is connected with a filter, a water pump, a water electromagnetic valve, a flow detector and a spray head in sequence; and the controller detects a water level and water sensor of the water tank, a flow detector, a water electromagnetic valve, a water level sensor of the garbage can, a smoke concentration detector, an electromagnetic water drain valve, a rainfall detection system, a temperature sensor and the like. Wherein, automatic water spray and automatic control water yield system includes: the device comprises a camera, a processor, a calculation module, an adjustment module and a controller, wherein the adjustment module is connected with a rainfall detector, a smoke concentration detector, an electromagnetic water valve opening sensor and a water pump; or the adjusting module is connected with a vehicle speed sensor, a sweeping speed sensor, an electromagnetic water valve opening sensor and a water pump; the automatic water spraying and automatic water quantity control system of the sweeper is characterized by comprising the following steps of:
a1: classifying and quantifying the road surface garbage based on the camera;
a2: based on the processor, judging a water spray pattern according to the cleaning mode;
a3: based on the cleaning mode, the smoke concentration and the rainfall detection equipment, and a water spraying judgment and execution mechanism. It is also characterized in that: in step a1, operation modes B and/or C are included, where operation mode B:
a11: acquiring an uncleaned road surface image based on a front camera, identifying road surface garbage components through a picture processor, and judging the amount of garbage, the distribution of the garbage on the road surface and the actual situation of the road surface;
b12: selecting a quantization value area based on the garbage quantization value, thereby determining a flow rate ratio;
a13: selecting a reasonable cleaning mode according to the garbage judged by the front camera, the distribution of the garbage on the road surface and the actual situation on the road surface;
wherein the working mode C:
a11: acquiring an uncleaned road surface image based on a front camera, identifying road surface garbage components through a picture processor, and judging the amount of garbage, the distribution of the garbage on the road surface and the actual situation of the road surface;
c12: presetting a working speed and a brushing rotating speed based on the distribution on the road surface and the actual condition on the road surface;
a13, selecting a reasonable cleaning mode according to the garbage judged by the front camera, the distribution on the road surface and the actual situation on the road surface.
The present invention is also characterized in that the automatic water spraying and water amount controlling method step a3 further includes:
a31: judging the actual water spraying flow rate used based on the water spraying type and the flow rate ratio;
b32: adjusting the water spraying flow based on the rainfall detection value;
b33: determining the predicted opening degree of the electromagnetic valve according to the water spraying flow;
b34: adjusting the opening degree of the electromagnetic valve based on the smoke concentration detector;
b35: and judging the adjusted opening of the electromagnetic valve, and finally determining the actual opening of the electromagnetic valve.
The present invention is also characterized in that in the step a3 of the method for automatically spraying water and automatically controlling water amount, another mode further comprises:
a31: judging the used water spraying flow rate based on the water spraying type and the flow rate ratio;
c32: calculating the opening compensation quantity of the electromagnetic valve based on the actual speed and the actual rotation speed of the sweeping brush;
c33: adjusting the opening degree of the electromagnetic valve based on the compensation processing;
c34: and judging the adjusted opening of the electromagnetic valve, and finally determining the actual opening of the electromagnetic valve.
The invention is also characterized in that the step A31 of the dynamic water spraying and automatic water control method is specifically as follows:
the required flow rate δ' is calculated from the flow rate ratio and the maximum flow rate σ, and the opening γ of the solenoid valve is calculated from the required flow rate σ y/the maximum flow rate σ.
The invention is also characterized in that the step B32 of the dynamic water spraying and automatic water control method is specifically as follows:
based on the rainfall value β and the required flow rate δ ', the opening γ ' of the solenoid valve (required flow rate δ ' -rainfall value β)/the maximum flow rate δ can be calculated.
The invention is also characterized in that the step B34 of the dynamic water spraying and automatic water control method is specifically as follows:
the relationship between the valve opening gamma 'and the actual detection preset value a and the actual detection value a' of the smoke concentration is as follows: when α 1 '< a, then γ 1 ″ ═ γ' -L; after the adjustment, a second detection is carried out, when alpha 2 'is less than a, gamma 2 ″ -gamma 1 ″ -L, and when alpha 3' is more than or equal to a, gamma 3 ″ -gamma 2 ″, after the adjustment; if the detected value a ' is still smaller than the preset value a, on the basis of the previous adjustment, subtracting L from the valve opening gamma ' until a ' is larger than or equal to a, wherein the valve opening is the adjacent opening value in the previous step;
when α 1 'is greater than a, then γ 1 ″ ═ γ' + K; after adjustment, a second test is performed, where α 2' is greater than a, then γ 2 ″ + γ 1 ″ + K; if α 3 ═ a, then γ 3 ═ γ 2 "; if α 3 '< a, γ 3 ″ -L, and if α 4' < a, γ 4 ″ - γ 3 ″ -L; at this time, if α 5' is ≧ a, the valve opening at this time is γ 5 ″, γ 4 ″;
K. l is a constant value, and K > L. During the judgment period, only the comparison between the actual detection preset value a and the actual detection value a' of the smoke concentration is carried out, and if the above conditions are met, the conversion is carried out, and the specific calculation times are not referred.
The invention is also characterized in that the step B34 of the dynamic water spraying and automatic water control method can also be:
when gamma is more than or equal to gamma max, the opening of the electromagnetic valve is gamma max; when the gamma is less than or equal to gamma min, the opening of the electromagnetic valve is gamma min; when gamma is less than gamma and less than gamma max, the opening of the electromagnetic valve is gamma.
The invention is also characterized in that the step B35 of the automatic water spraying and water amount controlling method specifically comprises the following steps:
when γ ″ "is 0, the water pump does not work; when gamma is more than or equal to gamma, the gamma is equal to gamma; when γ "< γ, then γ" ═ γ ".
The invention is also characterized in that the step B32 of the dynamic water spraying and automatic water control method is specifically as follows:
epsilon is J (V1/V + V1 '/V'), wherein V is a preset operation vehicle speed, V 'is an estimated sweeping rotation speed, V1 is an actual operation vehicle speed, V1' is an actual sweeping rotation speed, and J is a compensation coefficient.
The present invention is also characterized in that the opening γ ″, which is the solenoid valve, in the dynamic water injection and automatic water amount control method, is γ (1+ e) in step B33.
The invention is also characterized in that the method and the system for automatically adding water into the water tank comprise the following steps:
d1: converting into a water spray amount Z based on the opening degree of the electromagnetic valve;
d2: calculating how long the whole vehicle water S can work based on the classified route L and the working speed V, wherein L' is VS/Z;
d3: judging the water adding sequence based on the positions of the water adding points;
d4: and executing work on the water adding times and positions.
The invention is further characterized in that the step D3 specifically comprises:
d31, determining the shortest distance from each water adding point to the road, for example, each point is M1, M2, M3, M4 and Mx in sequence;
d32: comparing the distance L' with the distance of each point based on the working length of the whole vehicle water S;
d33: and determining the water adding sequence according to the comparison content.
The invention is characterized in that between the steps D3 and D4, the invention also comprises:
d34, judging again based on the opening of the electromagnetic valve;
d35 judging again based on the fact that the whole vehicle is refilled
D36, re-judging based on the change of the vehicle speed;
the invention is further characterized in that the step D34 specifically comprises:
d341: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d342: calculating cleanable path length Lx ' VS '/Z ' according to water quantity S ' remaining in the whole vehicle, water injection flow Z ' and working speed V,
d342, entering D3 to circulate.
The invention is further characterized in that the step D35 specifically comprises:
d351: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d352: calculating the cleanable path length Lx' VS/Z according to the vehicle water quantity S, the water injection flow Z and the working speed V,
d353, entering D3 for circulation.
The invention is further characterized in that the step D36 specifically comprises:
d361: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d352: according to the water quantity S ', water jet flow Z' and working speed V ', calculating the cleanable path length Lx ═ V' S '/Z',
d353, entering D3 for circulation.
The invention is further characterized in that the step D33 specifically comprises:
when L' is more than or equal to L, no water is needed to be added;
when L' is equal to M1, judging the shortest distance between each water adding point and M1, and selecting the closest water adding point;
when M1 < L ' < M1+ M2, judging the shortest distance L1 ' between each water adding point and the L ' point when the vehicle reaches the L ' point, and then judging the shortest distance M1 ' between each water adding point and M1, and when M1 ' is less than or equal to L1 ', adding water when the vehicle reaches the M1 point; if M1 ' is greater than L1 ', the vehicle is driven to the L ' point and then water is added;
when M1+ M2 < L ' < M1+ M2+ M3, automatically passing M1 point, and when M2 point is reached, judging the shortest distance L1 ' between each water adding point and the L ' point when the vehicle reaches the L ' point, and then judging the shortest distance M2 ' between each water adding point and the M2, and when M2 ' is less than or equal to L1 ', adding water when the vehicle runs to the M2 point; if M2 ' is greater than L1 ', the vehicle is driven to the L ' point and then water is added.
The invention is also characterized in that the method and the system for automatically judging the water system blockage comprise a self-flow detector, a water pressure sensor, a water pump, an overflow pipe, a flowmeter, a water filter pressure sensor, a water electromagnetic valve, a water level sensor, a water pump clutch or a water pump motor, and the steps of automatic judgment are as follows:
e1: based on the detection of a flow detector and a water pressure sensor, whether a water channel is blocked or not and whether a water pump is damaged or not are judged;
e2: measuring a normal working flow value zeta based on a flowmeter in the overflow pipe;
e3: based on the pressure sensor of the water filter, measure the pressure value psi during normal work
E4: measuring the opening gamma' of the water-based electromagnetic valve;
e5: detecting whether the water level is normal based on a water level sensor;
e6: judging whether the water pump works or not based on a water pump clutch or a water pump motor;
the following judgment is made according to the data:
when the variable flow value zeta 'is larger than zeta (1+ L), and psi and gamma' values are unchanged, the water pump works, the water level sensor has water, the nozzle is judged to be blocked, and the judging module controls the actuator to enter a working stopping mode after receiving a signal;
when the variable pressure value psi' is larger than psi (1+ L), and the values of zeta and gamma are not changed, the water pump works, and the water level sensor has water, the water filter is judged to be blocked, and the judging module controls the actuator to enter a working stopping mode after receiving a signal;
when the variable pressure value psi' is smaller than psi (1-L), the values of zeta and gamma are unchanged, the water pump is in a working mode, and the water level sensor has water, the water pump is judged to be damaged, and the judging module controls the actuator to enter a working stopping mode after receiving a signal;
when the variable flow value zeta' is smaller than zeta (1-L), and the values of zeta and gamma are unchanged, the water pump is in a working mode, and the water level sensor has water, the water pump is judged to be damaged, and the judging module controls the actuator to enter a working stopping mode after receiving a signal;
where L is a constant.
The invention is also characterized in that the automatic sewage draining method for the sewage tank and the system self-checking method thereof comprise a temperature sensor, a water level sensor, a judging module, a control actuator, a flow sensor, a controller, a water pump, a water tank water draining electromagnetic valve, a water pump water draining electromagnetic valve, a pipeline water draining electromagnetic valve and a water spraying air valve,
the automatic sewage draining method for the sewage tank comprises the following steps:
f1: when the sewage in the garbage bin reaches an on-line state, the water level sensor transmits a signal to the judgment module;
f2: after receiving the signal, the judging module controls the actuator to enter a stop working mode;
f3: after the sewage tank reaches the designated sewage discharge place, the judging module controls the actuator to open the drain valve of the sewage tank.
F4: and when the flow sensor of the water drain valve cannot sense the flow signal, controlling the actuator to close the water drain valve.
The invention is also characterized in that the temperature detector is used for detecting the outside temperature; when the external temperature is below a certain set temperature (including equal to the set temperature), starting an automatic water discharging mode; if the outside temperature is higher than a certain set temperature, automatic water discharging is not carried out; after the judgment module judges that the work is finished, the vehicle is driven to a specified water discharging point; the judging module controls the actuator to open a water tank water discharging electromagnetic valve, a water pump water discharging electromagnetic valve, a pipeline water discharging electromagnetic valve and the like; when the flow sensor at each electromagnetic valve has no flow signal, the water discharge of the waterway is finished; the water level sensor should send out a water shortage alarm; and then intermittently starting the water pump for 2-3 times, finally, controlling the blowing air valve to be opened by the controller, enabling residual water in the water spray pipe to flow out through the spray head, controlling the actuator to close each water discharge electromagnetic valve and each water spray air valve by the judgment module, and finishing the work.
The invention is also characterized in that the starting time of the water pump is optimally 5-7 seconds, and the rest time is then optimally 15-20 seconds.
The invention is also characterized in that the time for controlling the water spraying air valve to spray and blow by the actuator is set to be 4-5 minutes by the judging module.
The invention is also characterized in that the optimal scheme of the set temperature is 3-5 ℃.
The invention is also characterized in that the self-checking method of the automatic sewage draining system comprises the following steps:
f11, when the judging module judges that the drain valve is in a closed state, the flow sensor of the drain valve has a flow signal, the damage of the drain valve is automatically judged, the actuator is controlled to enter a stop working mode, and a fault signal is fed back to the controller;
f12, when the judging module judges that the drain valve is in the open state and the flow sensor of the drain valve can not sense the flow signal, and the water level sensor judges that the sewage is higher than the lowest point of the drain, the blockage of the drain valve is automatically judged, the actuator is controlled to enter the stop working mode, and the fault signal is fed back to the controller;
in order to further achieve the purpose of the invention, the water electromagnetic valve can control any opening degree.
In order to further realize the aim of the invention, the controller is connected with or combined with other function controls of the sanitation vehicle.
In order to further achieve the purpose of the invention, the number of the water level sensors of the water tank can be 1, 2 or more. But 1 is necessary to detect the water shortage state of the water tank. The form of the water level detection device comprises a certain point or a plurality of points for detecting the water level, and the water level can be detected in real time.
In order to further achieve the purpose of the invention, the rainfall detection system carries out real-time detection and transmits data to the controller.
In order to further achieve the aim of the invention, the number of the cameras is one or more, and the cameras are connected with the controller.
To further achieve the object of the present invention, the controller may be connected to a network terminal or a monitoring platform.
In order to further achieve the purpose of the invention, the smoke concentration detector is arranged at the working position where dust is most easily raised, such as the position where dust is easily raised of a cleaning brush, a suction port, a rolling brush, an automobile tire and the like, and a water spray nozzle is required to be arranged at the position where the smoke concentration detector is arranged. One or more smoke concentration detectors can be arranged according to the requirement.
In order to further realize the aim of the invention, the filter is provided with a pressure sensor which can judge whether the filter screen is blocked.
In order to further realize the aim of the invention, the electromagnetic water drain valve has the functions of opening and closing alarm.
In order to further realize the aim of the invention, the lowest end of the water pipe connected between the filter and the water tank is provided with a water discharging electromagnetic valve.
The invention has the following gain effects:
the invention adopts the controller to control, detects various detection means and program operation, can automatically control the water spraying mode, control the water spraying amount, discharge the sewage of the dustbin, automatically drain water when the vehicle is received, spray water in rainy days, operate on wet road surfaces and the like, thereby realizing the intelligent and unmanned operation requirements of the environmental sanitation cleaning equipment.
The above description is only an overview of the technical solution of the present invention, and can be implemented according to the content of the description in order to make the technical solution of the present invention more clearly understood, and in order to make the above-mentioned aspects of the present invention, including the automatic water spraying mode, the controlled water spraying amount, the sewage discharge of the garbage bin, the automatic water discharge when the vehicle is received, the water spraying in rainy days, the wet road surface operation, and other objects, features, and advantages more clearly understood, the following preferred embodiments are described in detail with reference to the attached drawings.
Drawings
FIG. 1 is a schematic view of a waterway connection according to the present invention;
FIG. 2 is a circuit diagram of the present invention;
FIG. 3 is a flow chart illustrating an automatic water spraying and automatic water control method;
FIG. 4 is a system diagram of automatic water spraying and automatic water quantity control method;
FIG. 5 is another system diagram of automatic water spraying and automatic water metering control;
FIG. 6 is a schematic diagram illustrating the control of automatic water spraying and the automatic water quantity control method;
FIG. 7 is a schematic flow chart of an automatic water adding method;
FIG. 8 is a graph of an automatic water addition method;
FIG. 9 is a system diagram of an automatic water adding method;
FIG. 10 is a schematic view illustrating a flow of automatically determining a fault in a waterway;
FIG. 11 is a schematic view of an automatic sewage discharge process;
fig. 12 is a flow chart of an automatic water discharging method.
In the figure, 1 is a smoke concentration detector, 2 is a nozzle, 3 is a spray pipe, 4 is a water electromagnetic valve, 5 is a flow detector, 6 is a blowing air valve, 7 is a water pump, 8 is a waterway water discharge electromagnetic valve, 9 is a water filter, 10 is a water filter water discharge electromagnetic valve, 11 is a lower water level sensor, 12 is an upper water level sensor, 13 is a water tank, 14 is a garbage tank, 15 is a garbage tank water level sensor, 16 is a garbage tank water discharge electromagnetic valve, a water tank water discharge electromagnetic valve, 18 is a water pump electromagnetic clutch, 19 is a controller, 20 is a rainfall detector, 21 is a signal line, 22 is a camera, 23 is a temperature sensor, 24 is a water filter pressure switch, 25 is a network terminal, 26 is a garbage tank water discharge flow sensor, 27 is a water tank water discharge flow sensor, 28 is a pipeline water discharge flow sensor, and 29 is a water filter water discharge sensor.
Detailed Description
The following detailed description of the inventive embodiments is provided in connection with the accompanying drawings.
Referring to fig. 1, the water tank 13 is a water storage device, and the water outlet of the water tank 13 is disposed at the bottom of the water tank 13 and is connected to the filter 9, the water pump 7, the water electromagnetic valve 4, and the nozzle 2 in sequence by the water spray pipe 3. Wherein, the water tank 13 is provided with a water tank discharge electromagnetic valve 17, a lower water level sensor 11, an upper water level sensor 12 and a water tank discharge flow sensor 27; a waterway water discharge electromagnetic valve 8 and a pipeline water discharge flow sensor 28 are arranged at the lowest end of the water pipe connected between the filter 9 and the water tank 13; a corresponding smoke concentration detector 1 is arranged at the spray head 2; a water pump electromagnetic switch 18 is arranged on the water pump 7; an injection air valve 6 is arranged on a pipeline of the water electromagnetic valve 4; a water filter water discharging electromagnetic valve 10 is arranged on the water filter 9; a water filter pressure sensor 24 and a water filter discharge sensor 29 are mounted on the water filter 9;
the controller 19 detects signals of the smoke concentration detector 1, the water electromagnetic valve 4, the flow detector 5, the blowing air valve 6, the waterway drain electromagnetic valve 8, the water filter drain electromagnetic valve 10, the lower water level sensor 11, the upper water level sensor 12, the garbage bin water level sensor 15, the garbage bin drain electromagnetic valve 16, the water tank drain electromagnetic valve 17, the water pump electromagnetic clutch 18, the rainfall detector 20, the camera 22, the temperature sensor 23, the water filter pressure switch 24, the garbage bin drain flow sensor 26, the water tank drain flow sensor 27, the pipeline drain flow sensor 28 and the water filter drain sensor 29, and finally transmits the signals to the network terminal 25.
The dustbin 14 is internally provided with a dustbin water level sensor 15, a dustbin drain electromagnetic valve 16 and a dustbin drain flow sensor 26.
Automatic control water spray mode and automatic control water spray volume: when the vehicle arrives at a designated place, the street is photographed through the camera 22 and then transmitted to the network terminal 25 through the controller 19; after the network terminal 25 obtains the data, it can automatically determine the street condition according to the big data, or manually identify the street condition, and then select the corresponding working mode. Such as: (1) the sweeper can select a sweeping speed, a fan rotating speed, a sweeping mode and the like to determine according to the condition of a road surface (note that only the sweeping mode is explained in detail in the invention, and the control method of parameters such as the sweeping speed, the fan rotating speed and the like is not explained in the invention). According to the photos transmitted by the controller 19, after the road condition is judged by big data or manual work, if only the right side needs to be cleaned, the right operation mode can be selected, and the full-sweeping mode is selected if the right side needs to be cleaned completely; where left side sweeping is desired, a left side sweeping mode may be selected. After the big data or the manual cleaning mode is determined, the big data or the manual cleaning mode is fed back to the controller 19, the controller 19 controls the electric control of the vehicle, and only a water spraying system is explained below.
When the controller 19 selects the left-sweeping mode, the electromagnetic clutch 18 of the water pump is powered on at this time, and the water pump 7 is driven to work. The corresponding water electromagnetic valve 4 is opened to control the corresponding spray head 2 to work. When cleaning, the cleaning status can be transmitted to the network terminal 25 in real time according to the camera 22, and the controller 19 is sent by big data or manual work to control the valve opening of the corresponding water electromagnetic valve 4, so as to control the water spraying amount. At this time, the smoke concentration detector 1 at the corresponding nozzle 2 detects the smoke concentration, and the smoke concentration value can be set as required. Such as setting the soot concentration value at PM 2. 5, then, when the detected soot concentration value is less than PM 2. 5-PM 2, the smoke concentration detector 1 no longer sends a command to the controller 19, and the cleaning is normal. When the PM value is greater than 2. And 5, the smoke concentration detector 1 sends a command to the controller 19, the controller 19 controls the valve opening of the water electromagnetic valve 4 to increase, the water spraying amount of the spray head 2 is increased, and when the valve opening of the water electromagnetic valve 4 is controlled to be maximum, the PM2 is still not reached. 5 (set smoke concentration value), a feedback signal is sent to the controller 19, the controller 19 feeds back to the network terminal 25, and whether the network terminal continues to work is determined by big data or manual work. When the PM value is smaller than 2, the smoke concentration detector 1 sends a command to the controller 19 at the moment, and the controller 19 controls the valve opening of the water electromagnetic valve 4 to be reduced, reduces the water spraying amount of the spray head 2 until the valve opening of the water electromagnetic valve 4 is completely closed.
Similarly, when the full-sweeping mode is selected, the controller 19 selects the full-sweeping mode, and the electromagnetic clutch 18 of the water pump is powered on to drive the water pump 7 to work. The corresponding water electromagnetic valve 4 is fully opened to control all the spray heads 2 to work. When cleaning, the cleaning status can be transmitted to the network terminal 25 in real time according to the camera 22, and the controller 19 is sent by big data or manual work to control the valve opening of the corresponding water electromagnetic valve 4, so as to control the water spraying amount. At this time, the smoke concentration detector 1 at the corresponding nozzle 2 detects the smoke concentration, and the smoke concentration value can be set as required. Such as setting the soot concentration value at PM 2. 5, then, when the detected soot concentration value is less than PM 2. 5-PM 2, the smoke concentration detector 1 no longer sends a command to the controller 19, and the cleaning is normal. When the PM value at a certain spray head is larger than 2. And 5, the smoke concentration detector 1 sends a command to the controller 19, the controller 19 controls the valve opening of the water electromagnetic valve 4 to increase the water spraying amount of the spray head 2, and when the valve opening of the water electromagnetic valve 4 is controlled to be maximum, the PM2 is still not reached. 5 (set smoke concentration value), a feedback signal is sent to the controller 19, the controller 19 feeds back to the network terminal 25, and whether the network terminal continues to work is determined by big data or manual work. When the PM value at a certain position is smaller than 2, the smoke concentration detector 1 sends a command to the controller 19 at the moment, and the controller 19 controls the valve opening of the water electromagnetic valve 4 to be reduced, reduces the water spraying amount of the spray head 2 and controls the valve opening of the water electromagnetic valve 4 to be completely closed. The method can also be used for judging when the road works on a wet road surface. Other operation modes are the same, and therefore are not illustrated.
And when the operation is carried out in rainy days, the control can be carried out by adopting a rainfall detection mode. When raining, the rainfall is detected by the rainfall detector 20, then the rainfall is fed back to the controller 19, the controller 19 calculates the water spraying flow required for work according to the rainfall, controls the opening degree of the water electromagnetic valve 4, detects the water spraying flow by the flow detector 5, and feeds back a signal to the controller 19, when the actual water spraying flow is larger than the water spraying flow set by the controller 19, the opening degree of the water electromagnetic valve 4 is reduced, and if the actual water spraying flow is smaller than the water spraying flow set by the controller 19, the opening degree of the water electromagnetic valve 4 is increased until the actual water spraying flow detected by the flow detector 5 is equal to the water spraying flow set by the controller 19.
The specific control method comprises the following steps: first, the maximum flow rate of each head is calculated, and when the rainfall is smaller than the flow rate of the head, the controller 19 controls the opening of the corresponding water electromagnetic valve 4 to a level equal to the water spray flow rate + rainfall (liter/minute) to the water electromagnetic valve 4 and the maximum flow rate of the head. When the rainfall is larger than the flow of the spray head, the controller 19 separates the electromagnetic clutch 18 of the water pump from the branch pump, the water pump 7 does not work, and the water spraying is stopped.
Automatic sewage discharge of dustbin: when the sewage in the garbage can reaches the set highest line, the garbage can water level sensor 15 feeds back to the controller 19 at the moment, the controller 19 enters a stop working mode, and the vehicle is driven to a set sewage discharge position. The controller 19 opens the dustbin drain electromagnetic valve 16 to discharge sewage, when the water flow signal cannot be detected by the water tank drain flow sensor 27, the sewage is fed back to the controller 19, the controller 19 closes the dustbin drain electromagnetic valve 16, and the draining is finished.
Automatic detection of nozzle blockage: when the vehicle is spraying water, the flow rate detector 5 detects the flow rate according to the opening degree of the water electromagnetic valve 4. When the water electromagnetic valve 4 is not operated, the flow detected by the flow detector 5 suddenly decreases or gradually decreases, a signal is fed back to the controller 19, and the controller 19 judges the corresponding spray head 2 according to the number of the flow detector 5 and transmits the corresponding spray head to the network terminal.
Automatic detection of clogging of a filter element of a water filter: when the vehicle works, the water filter pressure switch 24 judges the water inlet pressure of the water filter 9, when the water filter inlet pressure detected by the water filter pressure switch 24 is greater than the set pressure, a signal is transmitted to the controller 19, the controller 19 judges the water filter inlet pressure to be slightly blocked, generally blocked or seriously blocked according to the size and the stability of the pressure value, and the controller 19 feeds back the water filter inlet pressure to the network terminal 25 to judge whether the water filter inlet pressure continues to work or not manually. The controller 19 may execute a preset program to determine whether to continue the operation based on the clogging degree.
Intelligent water drainage: when the vehicle is parked in winter after the vehicle is finished, the temperature sensor 23 transmits the ambient temperature to the controller 19, and when the detected ambient temperature is low, the intelligent water discharging program is automatically started. Generally, the water level is set below 5 degrees, or the vehicle is set to a vehicle-receiving and water-discharging mode directly after entering into late autumn.
When the vehicle enters the discharge location and is parked smoothly, the controller 19 will turn on the discharge mode. The controller 19 will send signals to the tank discharge solenoid valve 18, the waterway discharge solenoid valve 8, and the water filter discharge solenoid valve 10 to discharge water. When the flow rate is not detected by the tank discharge flow sensor 27, the pipeline discharge flow sensor 28 and the water filter discharge sensor 29, it is determined that the initial discharge is completed. Then, the controller 19 will start the water pump 7 to operate normally, preferably for 7-5 seconds; then the water pump 7 is cut off, after 20 seconds, the water pump 7 is started again to work normally, and the time is preferably set to be 7-5 seconds; finally, the controller 19 controls the blowing air valve 6 to open, and the residual water in the spray pipe 3 flows out through the spray head 2, and is generally blown for 2 to 5 minutes. And after the work is finished, the vehicle is collected.
Intellectual detection system water level realizes adding water automatically and the automatic shutdown water spray:
when the watering position and the cleaning road section are fixed, the vehicle can realize the function of nearby watering. The control method comprises the following steps: in the working mode, the flow (detected by the flow detector 5) of each working sprinkler head is divided by the corresponding time period to be the driving distance, and the driving distance is equal to the required water spraying amount per kilometer; and calculating the kilometers of the remaining water tank. And then judging that the nearest water adding position is met in the cleaning process, and supplementing water. And calculating results, if the spraying work kilometers of the volume of the residual water tank can be satisfied to the farthest point, the nearest water adding point can be automatically bypassed. If the calculation result indicates that the number of kilometers of water spraying work of the volume of the residual water tank can meet the operation requirement of the whole road, additional water is not needed.
When water is added, the controller 19 calculates how much water is needed in the remaining road section according to a calculation formula of multiplying the kilometer number of the remaining road section by the required water spraying amount per kilometer, and then subtracts the amount of water remaining in the water tank to be equal to the amount of water to be added. If the water quantity required to be added is less than the water quantity which can be held by the water tank, water is added according to the water quantity required to be added, so that the water adding time can be saved, and the waste of water resources can be avoided. If the water quantity required to be added is larger than the water quantity which can be still held by the water tank, the water quantity is added to the maximum water containing quantity.
When water is added and the water level exceeds the upper water level sensor 12, the vehicle gives an alarm prompt, and the controller 19 judges that the vehicle is in a full water state and feeds the full water state back to the network terminal 25.
When the water level is lower than the lower water level sensor 11, the water level is fed back to the controller 19, and the controller 19 judges that the water is not in the water state, feeds back the water to the network terminal 25, and stops the operation.
The intelligent water system and the method of the sweeper provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An intelligent water system of a sweeper comprises a method and a system for automatically spraying water and automatically controlling water quantity, a method and a system for automatically adding water, a method and a system for automatically discharging water and automatically judging the blockage of the water system, a method and a system self-checking method for automatically discharging sewage from a sewage tank; the automatic water adding system of the water tank comprises a control system, a processor, a calculation module, an adjustment module, a controller and the like; the vehicle speed sensor, the electromagnetic valve opening sensor and the water level sensor are connected with the adjusting module;
the method and the system for automatically adding water into the water tank are characterized by comprising the following steps:
d1: converting into a water spray amount Z based on the opening degree of the electromagnetic valve;
d2: calculating how long the whole vehicle water S can work based on the classified route L and the working speed V, wherein L' is VS/Z;
d3: judging the water adding sequence based on the positions of the water adding points;
d4: and executing work on the water adding times and positions.
2. The intelligent water system of a sweeper truck of claim 1, further characterized by: the method and the system for automatically adding water into the water tank of the sweeper step D3 are specifically as follows:
d31, determining the shortest distance from each water adding point to the road, for example, each point is M1, M2, M3, M4 and Mx in sequence;
d32: comparing the distance L' with the distance of each point based on the working length of the whole vehicle water S;
d33: and determining the water adding sequence according to the comparison content.
3. The intelligent water system of a sweeper truck as recited in claim 1, further characterized in that between steps D3 and D4, the method and system for automatically adding water further comprises:
d34, judging again based on the opening of the electromagnetic valve;
d35, judging again after the vehicle is refilled;
d36, re-judging based on the change of the vehicle speed;
4. the intelligent water system of a sweeper truck as claimed in claim 3, wherein the method and system step D34 of automatically adding water is specifically as follows:
d341: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d342: calculating cleanable path length Lx ' VS '/Z ' according to water quantity S ' remaining in the whole vehicle, water injection flow Z ' and working speed V,
d342, entering D3 to circulate.
5. The intelligent water system of a sweeper truck as claimed in claim 3, wherein the method and system step D35 of automatically adding water is specifically as follows:
d351: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d352: calculating the cleanable path length Lx' VS/Z according to the vehicle water quantity S, the water injection flow Z and the working speed V,
d353, entering D3 for circulation;
or the automatic water adding method and system step D36 is specifically as follows:
d361: calculating the remaining route length L ═ L-Lx ″, based on the planned route, L being the total route length, Lx "being the cleared route;
d352: according to the water quantity S ', water jet flow Z' and working speed V ', calculating the cleanable path length Lx ═ V' S '/Z',
d353, entering D3 for circulation.
6. The intelligent water system of a sweeper truck as claimed in claim 2, further characterized in that the method and system step D33 of automatically adding water is specifically:
when L' is more than or equal to L, no water is needed to be added;
when L' is equal to M1, judging the shortest distance between each water adding point and M1, and selecting the closest water adding point;
when M1 < L ' < M1+ M2, judging the shortest distance L1 ' between each water adding point and the L ' point when the vehicle reaches the L ' point, and then judging the shortest distance M1 ' between each water adding point and M1, and when M1 ' is less than or equal to L1 ', adding water when the vehicle reaches the M1 point; if M1 ' is greater than L1 ', the vehicle is driven to the L ' point and then water is added;
when M1+ M2 < L ' < M1+ M2+ M3, automatically passing M1 point, and when M2 point is reached, judging the shortest distance L1 ' between each water adding point and the L ' point when the vehicle reaches the L ' point, and then judging the shortest distance M2 ' between each water adding point and the M2, and when M2 ' is less than or equal to L1 ', adding water when the vehicle runs to the M2 point; if M2 ' is greater than L1 ', the vehicle is driven to the L ' point and then water is added.
7. The intelligent water system of the sweeper as recited in claim 1, further characterized in that the automatic sewage draining method for the sewage tank and the system self-checking method thereof comprise a temperature sensor, a water level sensor, a judgment module, a control actuator, a flow sensor, a controller, a water pump, a water tank drain solenoid valve, a water pump drain solenoid valve, a pipeline drain solenoid valve, and a water spray air valve,
the automatic sewage draining method for the sewage tank comprises the following steps:
f1: when the sewage in the garbage bin reaches an on-line state, the water level sensor transmits a signal to the judgment module;
f2: after receiving the signal, the judging module controls the actuator to enter a stop working mode;
f3: after the sewage tank reaches the designated sewage discharge place, the judging module controls the actuator to open the drain valve of the sewage tank.
F4: and when the flow sensor of the water drain valve cannot sense the flow signal, controlling the actuator to close the water drain valve.
8. The intelligent water system of a sweeper truck as recited in claim 7, further characterized in that the automatic sewage draining method for the sewage tank, further characterized in that:
detecting the outside temperature based on a temperature detector; when the external temperature is below a certain set temperature (including equal to the set temperature), starting an automatic water discharging mode; if the outside temperature is higher than a certain set temperature, automatic water discharging is not carried out; after the judgment module judges that the work is finished, the vehicle is driven to a specified water discharging point; the judging module controls the actuator to open a water tank water discharging electromagnetic valve, a water pump water discharging electromagnetic valve, a pipeline water discharging electromagnetic valve and the like; when the flow sensor at each electromagnetic valve has no flow signal, the water discharge of the waterway is finished; the water level sensor should send out a water shortage alarm; and then intermittently starting the water pump for 2-3 times, finally, controlling the blowing air valve to be opened by the controller, enabling residual water in the water spray pipe to flow out through the spray head, controlling the actuator to close each water discharge electromagnetic valve and each water spray air valve by the judgment module, and finishing the work.
9. The intelligent water system of a sweeper of claim 7, further characterized in that when the sewage tank automatically drains sewage: the optimal starting time of the water pump is 5-7 seconds, and the optimal intermittent time is 15-20 seconds; or the judging module controls the actuator to control the time for controlling the water spraying air valve to spray water to be set to 4-5 minutes; or the optimal scheme of the set temperature is 3-5 ℃.
10. The intelligent water system of the sweeper truck as recited in claim 7, further characterized in that the automatic sewage draining method and the system self-checking method for the sewage tank are as follows:
f11, when the judging module judges that the drain valve is in a closed state, the flow sensor of the drain valve has a flow signal, the damage of the drain valve is automatically judged, the actuator is controlled to enter a stop working mode, and a fault signal is fed back to the controller;
f12, when the judging module judges that the drain valve is in the open state and the flow sensor of the drain valve can not sense the flow signal, and at the moment, the water level sensor judges that the sewage is higher than the lowest point of the drain, the blockage of the drain valve is automatically judged, the actuator is controlled to enter the stop working mode, and the fault signal is fed back to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011245121.4A CN112575726A (en) | 2020-11-10 | 2020-11-10 | Intelligent water system of motor sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011245121.4A CN112575726A (en) | 2020-11-10 | 2020-11-10 | Intelligent water system of motor sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112575726A true CN112575726A (en) | 2021-03-30 |
Family
ID=75122582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011245121.4A Pending CN112575726A (en) | 2020-11-10 | 2020-11-10 | Intelligent water system of motor sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112575726A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104153279A (en) * | 2013-05-15 | 2014-11-19 | 中联重科股份有限公司 | Road roller and method, equipment and system for monitoring residual water in watering tank of road roller |
| CN108170143A (en) * | 2017-12-27 | 2018-06-15 | 长沙硕博电子科技股份有限公司 | A kind of sanitation cart job control method and sanitation cart |
| CN109610396A (en) * | 2018-12-26 | 2019-04-12 | 北京智行者科技有限公司 | Unmanned cleaning vehicle and its sprinkler system control method |
| CN111535232A (en) * | 2020-05-07 | 2020-08-14 | 福建龙马环卫装备股份有限公司 | Sprinkler for sprinkling operation based on garbage recognition technology and method thereof |
| KR20200102878A (en) * | 2019-02-22 | 2020-09-01 | 주식회사 뉴엔스 | Integrated control system for watering vehicle |
| CN111608118A (en) * | 2020-06-08 | 2020-09-01 | 烟台海德专用汽车有限公司 | Automatic control method and system for fan and sweeping disc of sweeping machine |
-
2020
- 2020-11-10 CN CN202011245121.4A patent/CN112575726A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104153279A (en) * | 2013-05-15 | 2014-11-19 | 中联重科股份有限公司 | Road roller and method, equipment and system for monitoring residual water in watering tank of road roller |
| CN108170143A (en) * | 2017-12-27 | 2018-06-15 | 长沙硕博电子科技股份有限公司 | A kind of sanitation cart job control method and sanitation cart |
| CN109610396A (en) * | 2018-12-26 | 2019-04-12 | 北京智行者科技有限公司 | Unmanned cleaning vehicle and its sprinkler system control method |
| KR20200102878A (en) * | 2019-02-22 | 2020-09-01 | 주식회사 뉴엔스 | Integrated control system for watering vehicle |
| CN111535232A (en) * | 2020-05-07 | 2020-08-14 | 福建龙马环卫装备股份有限公司 | Sprinkler for sprinkling operation based on garbage recognition technology and method thereof |
| CN111608118A (en) * | 2020-06-08 | 2020-09-01 | 烟台海德专用汽车有限公司 | Automatic control method and system for fan and sweeping disc of sweeping machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112575727A (en) | Intelligent water spraying system of sanitation vehicle | |
| CN109610396A (en) | Unmanned cleaning vehicle and its sprinkler system control method | |
| CN107054302B (en) | Autonomous ecological rainwater collection system for replenishing cleaning liquid in motor vehicle | |
| CN215016857U (en) | Floor washing robot with automatic water spraying amount adjusting function | |
| CN110755002B (en) | Intelligent multifunctional outdoor cleaning robot | |
| CN111520815A (en) | Air conditioner and control method thereof | |
| CN102229331B (en) | Automatic cleaning system for wheels and cleaning method thereof | |
| CN109837852B (en) | Sanitation vehicle self-adaptive cleaning control method, new energy sanitation vehicle and cleaning system thereof | |
| CN112914447B (en) | Sewage circulating water-saving device and method for commercial cleaning robot | |
| CN111000505B (en) | Control method and controller for sweeper | |
| CN109083059A (en) | A kind of road surface dumper apparatus for work control method and system | |
| CN202053989U (en) | Automatic wheel cleaning system | |
| CN108045348A (en) | Engineering truck automatic flushing device | |
| CN112575726A (en) | Intelligent water system of motor sweeper | |
| CN111648288A (en) | Cleaning vehicle dust absorption pipe anti-blocking device based on pressure detection and control system | |
| KR102126854B1 (en) | Road surface sprinkling system | |
| CN208201759U (en) | Intelligent control road sprinkler system based on environmental surveillance | |
| CN112932358B (en) | Floor washing robot system and water spraying control method thereof | |
| CN114281082A (en) | Unmanned sanitation vehicle | |
| KR102545809B1 (en) | Automatic Salt Water Spraying System linked to Snow Removal Agent Spraying Vehicle and its Method | |
| CN105672180A (en) | Dust removal switching control method and device, dust removal device and sweeper | |
| CN113737703A (en) | Water spraying and dust falling automatic control method and system of road sweeper and road sweeper | |
| CN214906477U (en) | Floor washing robot with automatic water level adjustment function of water tank | |
| CN115115285B (en) | Intelligent control method for water system of sweeper | |
| CN210573324U (en) | Intelligent decontamination system for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210330 |
|
| RJ01 | Rejection of invention patent application after publication |