CN113944136A - Self-adaptive control method for working condition of unmanned sweeper - Google Patents

Self-adaptive control method for working condition of unmanned sweeper Download PDF

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Publication number
CN113944136A
CN113944136A CN202111333219.XA CN202111333219A CN113944136A CN 113944136 A CN113944136 A CN 113944136A CN 202111333219 A CN202111333219 A CN 202111333219A CN 113944136 A CN113944136 A CN 113944136A
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sweeper
power
broom
garbage
max
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CN113944136B (en
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潘家保
叶锦
杨广鑫
艾和金
吴波文
叶东东
徐锐
汪奥
武怀彪
辛凯勒
陈贵刚
汤天成
李�瑞
王子
王家梅
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Kuwa Technology Co ltd
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Anhui Polytechnic University
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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

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)

Abstract

The invention discloses a self-adaptive control method for working conditions of an unmanned sweeper, which belongs to the technical field of sweepers, and comprises a control system, a recovery hopper for containing garbage, a dust suction port, a motor I for driving a vehicle to run, a broom, a motor II for driving the broom to work, a water pump and a fan for adjusting the pressure intensity at the dust suction port, wherein the control system comprises a quality sensor, a control module and an operation module, the quality sensor is arranged in the recovery hopper and used for weighing the garbage, the operation module is used for calculating the quality of the recovered garbage, and the control method comprises a control method under initial setting and a control method during power adjustment. The sweeper disclosed by the invention can clean garbage on the ground in a self-adaptive manner under the combined use of the initially set control method and the power regulation control method, so that the working efficiency of the sweeper is improved, and the anti-epidemic work can be favorably carried out under the condition that the new crown epidemic situation spreads globally.

Description

Self-adaptive control method for working condition of unmanned sweeper
Technical Field
The invention relates to the technical field of a sweeper, in particular to a working condition self-adaptive control method of an unmanned sweeper.
Background
The sweeper is an integrated garbage sweeper combining sweeping and dust collection, has the advantages of high working efficiency, low cleaning cost, good cleaning effect, high safety performance, high economic return rate and the like, and is widely applied to the sweeping work of roads in various large, medium and small cities.
The unmanned technology is a complex of multi-leading-edge subjects such as sensors, computers, artificial intelligence, communication, navigation positioning, mode recognition, machine vision, intelligent control and the like.
The existing sweeper is generally constant in power or manually adjusted, manual driving can be replaced by integration of unmanned technology, the operation efficiency of the sweeper can be improved through intelligent control, particularly under the condition that the new crown epidemic situation spreads globally, the sweeper can automatically clean unmanned garbage in places with large human flow, such as airports, railway stations, automobile stations and the like, in an adaptive mode through artificial intelligence, the possibility that sanitation workers infect new crowns can be reduced, and the anti-epidemic work can be facilitated.
Disclosure of Invention
1. Technical problem to be solved
The invention aims to provide a self-adaptive control method for the working condition of an unmanned sweeper, which aims to solve the problems in the background technology.
2. Technical scheme
In order to solve the problems, the invention adopts the following technical scheme:
the utility model provides an unmanned street sweeper operating mode self-adaptation control method, unmanned street sweeper includes control system, holds recovery fill, the dust absorption mouth of rubbish, the motor that the drive vehicle went, broom, the motor two of drive broom work, water pump and the fan of adjusting the dust absorption mouth department pressure size, control system is including locating in the recovery fill and carry out the mass sensor who weighs rubbish, control module and carry out the operation module that calculates to retrieving rubbish quality, control method includes control method under the initial set and the control method when power is adjusted.
Furthermore, the motor I for driving the vehicle to run, the motor II for driving the broom to work, the water pump and the fan for adjusting the pressure intensity at the dust suction port are fed back and subjected to asynchronous linkage control according to the quality sensor under the conditions of initial setting and power adjustment.
Further, the maximum value of the quality of the garbage recovered within the preset time is set to be QmaxThe minimum value of the quality of the garbage recovered in the preset time is set as QminThe total mass of the content in the recovery hopper before work is QcThe total mass of the recycled garbage in the recycling hopper is QLThe maximum bearing weight of the recovery bucket is QMAXAnd setting the initial power of a vehicle driving motor, a broom driving motor, a water pump and a fan, wherein the quality of the garbage recovered in the calibration time is represented as Q.
Further, the control method under the initial setting comprises the following steps:
the method comprises the following steps of operating the unmanned sweeper: judging Q by an operation modulecWhether or not less than QMAX；
When Q iscLess than QMAXWhen the unmanned sweeping vehicle runs normally, the motor I for driving the vehicle to run, the motor II for driving the broom to work, the water pump and the fan for adjusting the pressure intensity at the dust suction port are operated at the power which is initially set through the control system; after the sweeper runs for a first period of calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q; when Q ismax＞Q＞QminWhen the power of the sweeper is reduced, the sweeper is switched to the power regulation, and otherwise, the sweeper continues to work with the initially set power;
when Q iscGreater than QMAXDirectly entering the second step;
step two, carrying out overload alarm on a recovery bucket of the unmanned sweeper: when Q iscGreater than QMAXWhen the broom, the water pump and the fan do not work, the sweeper automatically drives to a specified garbage recycling point to discharge garbage;
when the sweeper works under the initial power, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper is used, the broom, the water pump and the fan stop working, and the sweeper automatically drives to a specified garbage recycling point to discharge garbage.
Further, the control method during power adjustment includes:
a: when Q > QmaxWhen the sweeper is used, the advancing speed of the sweeper is actively reduced through the control system, the power of a driving motor of the broom is increased, the sweeping and dust raising efficiency of the broom is improved, and the power of a water pump and the power of a fan are kept unchanged at the moment; after the continuous operation is carried out for a certain calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q;
when Q is restored to Qmax＞Q＞QminAnd Q is close toQminWhen the power is recovered to the initial setting, the power continues to work;
when Q is still larger than QmaxThe power of the water pump and the fan is increased on the basis of increasing the power of the broom driving motor;
b: when Q < QminWhen the unmanned sweeping vehicle is accelerated through the control system, after the first calibration time, the operation module judges whether Q is smaller than QminWhen Q is greater than QminWhen the road sweeper works, the control system switches the road sweeper to the power set in the initial test to work;
when Q is less than QminWhen the broom is started, the power of the broom driving motor, the power of the broom driving water pump and the power of the broom driving fan can be reduced again, and the Q is judged by the operation module according to the subsequent calibration time;
when the sweeper works under the condition of power adjustment, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper is used, the broom, the water pump and the fan stop working, and the sweeper automatically drives to a specified garbage recycling point to discharge garbage.
3. Advantageous effects
In the working process of the sweeper, the quality sensor sends a garbage quality signal to the operation module in real time, the value of the garbage quality Q recovered within the calibration time is obtained, and the value of the garbage quality Q are comparedmax、QminComparing to know the amount of garbage on the ground, and when the quality Q value of the garbage recovered in the calibration time is located at QmaxAnd QminMeanwhile, the quantity of the garbage in the area to be cleaned on the ground is general, at the moment, a motor I, a broom, a water pump and a fan on the sweeper all work according to the power which is initially set, namely the sweeper cleans the ground at a uniform speed under the action of the control method which is initially set, and when the quality Q of the garbage recovered in the set time is greater than QmaxOr less than QminDuring the process, the use power of the motor I, the broom, the water pump and the fan on the sweeper is adjusted, namely the sweeper can be used for adjusting the garbage on the ground under the action of a control method for adjusting the powerHow much to adjust the working state of the device.
In conclusion, the sweeper can clean the garbage on the ground in an adaptive manner under the combined use of the initially set control method and the power regulation control method, so that the working efficiency of the sweeper is improved, and the anti-epidemic work can be favorably carried out under the condition that the new crown epidemic situation spreads all over the world.
Drawings
FIG. 1 is a block diagram of the control principle of the garbage collection system according to the embodiment of the present invention;
fig. 2 is a schematic diagram of the garbage recycling quality within the calibration time set in the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Examples
As shown in fig. 1-2, the self-adaptive control method for the working conditions of the unmanned sweeper comprises a control system, a recovery hopper for containing garbage, a dust collection port, a first motor for driving a vehicle to run, a broom, a second motor for driving the broom to work, a water pump and a fan for adjusting the pressure intensity at the dust collection port, wherein the control system comprises a mass sensor, a control module and an operation module, the mass sensor is arranged in the recovery hopper and used for weighing the garbage, and the operation module is used for calculating the quality of the recovered garbage;
the control method comprises a control method under initial setting and a control method during power regulation, wherein a motor I for driving a vehicle to run, a motor II for driving a broom to work, a water pump and a fan for regulating the pressure intensity at a dust suction opening are subjected to asynchronous linkage control according to feedback of a quality sensor under the conditions of initial setting and power regulation, and the motor I and the motor II respectively correspond to a motor 1 and a motor 2 in the picture 1;
setting the maximum value of the quality of the garbage recovered in the initial set subscript time as QmaxThe minimum value of the quality of the garbage recovered in the preset time is set as QminThe total mass of the content in the recovery hopper before work is QcThe total mass of the recycled garbage in the recycling hopper is QLRecoveringThe maximum bearing weight of the bucket is QMAXSetting initial power of a vehicle driving motor, a broom driving motor, a water pump and a fan, wherein the quality of the garbage recovered in the calibration time is represented as Q;
the control method under the initial setting comprises the following steps:
the method comprises the following steps of operating the unmanned sweeper: judging Q by an operation modulecWhether or not less than QMAX；
When Q iscLess than QMAXWhen the unmanned sweeping vehicle runs normally, the motor I for driving the vehicle to run, the motor II for driving the broom to work, the water pump and the fan for adjusting the pressure intensity at the dust suction port are operated at the power which is initially set through the control system; after the sweeper runs for a first period of calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q; when Q ismax＞Q＞QminWhen the power of the sweeper is reduced, the sweeper is switched to the power regulation, and otherwise, the sweeper continues to work with the initially set power;
when Q iscGreater than QMAXDirectly entering the second step;
step two, carrying out overload alarm on a recovery bucket of the unmanned sweeper: when Q iscGreater than QMAXWhen the broom, the water pump and the fan do not work, the sweeper automatically drives to a specified garbage recycling point to discharge garbage;
when the sweeper works under the initial power, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper stops working, the broom, the water pump and the fan are automatically driven to a specified garbage recycling point to discharge garbage;
the control method during power regulation comprises the following steps:
when the power regulation mode, namely the initial setting power, does not meet or exceed the actual sweeping requirement, the operation module judges whether Q is larger than QmaxOr less than QminOtherwise, directly returning to control under initial settingA method;
if so, performing self-adaptive adjustment, and sequentially performing power adjustment on a vehicle driving motor, a broom driving motor, a water pump and a fan;
the vehicle driving motor, the broom driving motor, the water pump and the fan are sequentially regulated, and linkage control of the vehicle driving motor, the broom driving motor, the water pump and the fan is carried out according to a signal feedback result of the weight gain Q of the recovery hopper in a calibration time;
the adaptive adjustment of the sweeper comprises the following two conditions of A, B, and specifically comprises the following steps:
a: when Q > QmaxWhen the sweeper is used, the advancing speed of the sweeper is actively reduced through the control system, the power of a driving motor of the broom is increased, the sweeping and dust raising efficiency of the broom is improved, and the power of a water pump and the power of a fan are kept unchanged at the moment; after the continuous operation is carried out for a certain calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q;
when Q is restored to Qmax＞Q＞QminAnd Q is close to QminWhen the power is recovered to the initial setting, the power continues to work;
when Q is still larger than QmaxThe power of the water pump and the fan is increased on the basis of increasing the power of the broom driving motor;
b: when Q < QminWhen the unmanned sweeping vehicle is accelerated through the control system, after the first calibration time, the operation module judges whether Q is smaller than QminWhen Q is greater than QminWhen the road sweeper works, the control system switches the road sweeper to the power set in the initial test to work;
when Q is less than QminWhen the broom is started, the power of the broom driving motor, the power of the broom driving water pump and the power of the broom driving fan can be reduced again, and the Q is judged by the operation module according to the subsequent calibration time;
when the sweeper works under the condition of power adjustment, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper stops working, the broom, the water pump and the fan are automatically driven to a specified garbage recycling point to discharge garbage。
The specific application process of the self-adaptive control method for the working condition of the unmanned sweeper comprises the following steps: firstly, starting the unmanned sweeping vehicle and initially judging QCDetermining whether the sweeper can work directly, when Q iscLess than QMAXWhen the unmanned sweeping vehicle runs normally, the motor I for driving the vehicle to run, the motor II for driving the broom to work, the water pump and the fan for adjusting the pressure intensity at the dust suction port are operated at the power which is initially set through the control system; when Q iscGreater than QMAXWhen the broom, the water pump and the fan do not work, the sweeper is automatically driven to a specified garbage recycling point under the control of the control system to discharge garbage;
secondly, in the working process of the sweeper, the quality sensor sends a garbage quality Q signal to the operation module in real time, and the value of Q and Q are comparedmax、QminCarrying out comparison; when Q ismax＞Q＞QminWhen the sweeping vehicle works, the sweeping vehicle works by using the power which is initially set; when Q > QmaxOr Q < QAt minThat is, when the initial set power does not meet or exceed the actual sweeping requirement, the operating module judges and controls the service powers of the vehicle driving motor, the broom driving motor, the water pump and the fan through the control module, so that the sweeper can correspondingly adjust the working state of the sweeper according to the amount of the garbage on the ground to be cleaned.
Thirdly, in the whole working process of the sweeper, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper is used, the broom, the water pump and the fan stop working, and the sweeper automatically drives to a specified garbage recycling point to discharge garbage.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims (5)

1. The self-adaptive control method for the working conditions of the unmanned sweeper is characterized by comprising a control system, a recovery hopper for containing garbage, a dust suction port, a first motor for driving a vehicle to run, a broom, a second motor for driving the broom to work, a water pump and a fan for adjusting the pressure intensity of the dust suction port, wherein the control system comprises a mass sensor, a control module and an operation module, the mass sensor is arranged in the recovery hopper and used for weighing the garbage, the operation module is used for calculating the quality of the recovered garbage, and the control method comprises a control method under initial setting and a control method during power adjustment.
2. The self-adaptive control method for the working conditions of the unmanned sweeper according to claim 1, wherein the first motor for driving the sweeper to run, the second motor for driving the broom to work, the water pump and the fan for adjusting the pressure at the dust suction port are subjected to asynchronous linkage control according to feedback of the quality sensor under initial setting and under the condition of power adjustment.
3. The self-adaptive control method for the working conditions of the unmanned sweeper according to claim 1, wherein the maximum value of the quality of the garbage recovered within the initial set lower fixed time is set to be QmaxThe minimum value of the quality of the garbage recovered in the preset time is set as QminThe total mass of the content in the recovery hopper before work is QcThe total mass of the recycled garbage in the recycling hopper is QLThe maximum bearing weight of the recovery bucket is QMAXAnd setting the initial power of a vehicle driving motor, a broom driving motor, a water pump and a fan, wherein the quality of the garbage recovered in the calibration time is represented as Q.
4. The adaptive control method for the unmanned sweeper conditions of claim 3, wherein the control method at the initial setting comprises the steps of:
the method comprises the following steps of operating the unmanned sweeper: judging Q by an operation modulecWhether or not less than QMAX；
When Q iscLess than QMAXWhen the unmanned sweeping vehicle runs normally, the motor I for driving the vehicle to run, the motor II for driving the broom to work, the water pump and the fan for adjusting the pressure intensity at the dust suction port are operated at the power which is initially set through the control system; after the sweeper runs for a first period of calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q; when Q ismax＞Q＞QminWhen the power of the sweeper is reduced, the sweeper is switched to the power regulation, and otherwise, the sweeper continues to work with the initially set power;
when Q iscGreater than QMAXDirectly entering the second step;
step two, carrying out overload alarm on a recovery bucket of the unmanned sweeper: when Q iscGreater than QMAXWhen the broom, the water pump and the fan do not work, the sweeper automatically drives to a specified garbage recycling point to discharge garbage;
when the sweeper works under the initial power, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper is used, the broom, the water pump and the fan stop working, and the sweeper automatically drives to a specified garbage recycling point to discharge garbage.
5. The adaptive control method for the working condition of the unmanned sweeper according to claim 4, wherein the control method during power adjustment comprises the following steps:
a: when Q > QmaxWhen the sweeper is used, the advancing speed of the sweeper is actively reduced through the control system, the power of a driving motor of the broom is increased, the sweeping and dust raising efficiency of the broom is improved, and the power of a water pump and the power of a fan are kept unchanged at the moment; after the continuous operation is carried out for a certain calibration time, the quality sensor sends a quality signal to the operation module, and the operation module judges the value of Q;
when Q is restored to Qmax＞Q＞QminAnd Q is close to QminWhen it is time, it is restored to the initial settingThe fixed power continues to work;
when Q is still larger than QmaxThe power of the water pump and the fan is increased on the basis of increasing the power of the broom driving motor;
b: when Q < QminWhen the unmanned sweeping vehicle is accelerated through the control system, after the first calibration time, the operation module judges whether Q is smaller than QminWhen Q is greater than QminWhen the road sweeper works, the control system switches the road sweeper to the power set in the initial test to work;
when Q is less than QminWhen the broom is started, the power of the broom driving motor, the power of the broom driving water pump and the power of the broom driving fan can be reduced again, and the Q is judged by the operation module according to the subsequent calibration time;
when the sweeper works under the condition of power adjustment, the quality sensor transmits a signal to the operation module in real time, and the operation module judges QLWhether or not it is greater than QMAXWhen Q isLGreater than QMAXWhen the sweeper is used, the broom, the water pump and the fan stop working, and the sweeper automatically drives to a specified garbage recycling point to discharge garbage.
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CN113026631A (en) * 2021-03-16 2021-06-25 重庆智行者信息科技有限公司 Cleaning motor control method and system of unmanned sweeper

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150112691A (en) * 2014-03-29 2015-10-07 명관 이 Cleaning system for food waste
CN104757907A (en) * 2014-10-23 2015-07-08 深圳市银星智能科技股份有限公司 Smart floor sweeping robot and rubbish sweeping method thereof
CN110786785A (en) * 2019-10-10 2020-02-14 长江大学 Garbage cleaning and collecting system and method based on Internet of things
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