CN114089769A - Control method for automatic operation electric sweeper - Google Patents
Control method for automatic operation electric sweeper Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000000428 dust Substances 0.000 claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 48
- 238000012544 monitoring process Methods 0.000 claims description 38
- 230000008569 process Effects 0.000 claims description 14
- 238000012423 maintenance Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
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- 230000004888 barrier function Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a control method for an automatic operation electric sweeper, which is used for controlling the automatic operation of the automatic operation electric sweeper and is provided with the steps of starting self-checking, obstacle identification, garbage identification, dust raising identification and the like Is more efficient.
Description
Technical Field
The invention relates to the technical field of operation control of automatic operation electric sweeper, in particular to a control method capable of controlling the automatic operation electric sweeper to complete automatic operation.
Background
The electric sweeper is pollution-free and multifunctional sweeping and sanitation integrated operation equipment which is developed along with the urbanization process and the green environmental protection idea, has the functions of sweeping operation, spraying dust fall, high-pressure cleaning and the like, and is one of the representative products of new-generation intelligent operation equipment. In recent years, with the continuous development and popularization and application of big data, intellectualization, internet of things and automation technology, the automatic operation electric sweeper based on the automatic driving technology is gradually researched and developed and is put into various production and living fields such as hospitals, schools, communities, factories and the like, the operation environment is greatly improved, the use amount of related operators is reduced, and social labor force is saved.
However, currently used automatic operation electric sweeper vehicles generally have a single task which can only complete automatic sweeping operation, and the operation mode is relatively fixed, for example, when encountering an obstacle, only emergency braking measures can be adopted for danger avoidance so as to ensure the safety of the vehicle, flexible treatment cannot be carried out according to the state of the obstacle, corresponding measures cannot be flexibly started according to the volume size, the density size and the like of garbage, the sweeping force is changed, and comprehensive real-time monitoring on basic corollary equipment of the vehicle body cannot be carried out, so that the use stability is low, and the cleaning effect is difficult to optimize.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method for an automatic operation electric sweeper, which can flexibly process obstacles, has adjustable cleaning force and can monitor the state of self-matched facilities in real time.
In order to solve the technical problems, the technical scheme of the invention is as follows: a control method for an automatic operation electric sweeper, which is used for controlling the automatic operation of the automatic operation electric sweeper, comprises the following steps,
S1start-up self-test
S1-1Starting the electric sweeper, and setting the size of the road surface garbage, the density of the garbage, the concentration of the flying dust and the standard value of the monitoring parameter of the basic corollary equipment;
S1-2selecting a work area map or importing a new work area map to finish the work area selection;
S1-3the vehicle state of the electric sweeper before operation is automatically detected, and whether the vehicle has a fault is judged according to an automatic detection result;
when the fault is determined, automatic fault analysis is carried out, maintenance personnel are informed to carry out maintenance, and the restarting is carried out after the maintenance is finished;
when no fault is judged, automatically entering the next step;
S2obstacle recognition
Identifying the road surface, judging whether an obstacle exists on the road, and entering an obstacle avoidance strategy when the obstacle exists; when the electric sweeper is judged to be free of obstacles, the electric sweeper continues to automatically run according to the current state;
S3garbage identification
S3-1The method comprises the steps that the size of road garbage is recognized in real time in the advancing process of the electric sweeper, the recognized numerical value is compared with a set garbage size standard value, when the garbage size value recognized in real time is larger than the set garbage size standard value, a front door of a sucker of the electric sweeper is controlled to be opened, suction force is increased, the garbage can enter smoothly, and otherwise, automatic operation is continued according to the current state;
S3-2the electric sweeper identifies the density of the road garbage in real time in the advancing process, compares a numerical value formed by identification with a set garbage density standard value, controls a fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is larger than the set garbage density standard value, and otherwise, continues automatic operation according to the current state;
S4dust identification
Collecting the concentration values of the raised dust in a suction disc opening and a dustbin of the electric sweeper in real time, comparing the concentration values with a preset raised dust concentration standard value, controlling the electric sweeper to spray and reduce dust before starting when the concentration value of the raised dust collected in real time at the suction disc opening is larger than the set raised dust concentration standard value, and otherwise, continuing automatic operation according to the current state; when the dust concentration value collected in real time in the dustbin is greater than the set dust concentration standard value, the electric sweeper is controlled to start the spraying and dust falling function in the box, and otherwise, automatic operation is continued according to the current state.
As the preferred technical scheme, the standard value setting of the monitoring parameter of the basic corollary equipment further comprises the standard value setting of the residual capacity of garbage, the residual amount of water in the water tank and the electric quantity of the battery.
As a preferable technical proposal, the method also comprises the following steps,
S5garbage remaining capacity monitoring
Acquiring residual capacity information in the dustbin in real time, and controlling the electric sweeper to normally operate before the dustbin is fully loaded; controlling the electric sweeper to stop working when the capacity of the dustbin is full;
S6monitoring of water remaining in water tank
The method comprises the steps of acquiring a water quantity value in a water tank on the electric sweeper in real time, comparing the water quantity value with a set water tank water allowance standard value, controlling the electric sweeper to stop automatic operation when the acquired real-time water quantity value is smaller than the water tank water allowance standard value, and otherwise, continuing the automatic operation according to the current state;
S7monitoring battery power
The battery management system on the electric sweeper monitors the electric quantity of the battery in real time, compares the electric quantity of the battery with a set battery electric quantity standard value, controls the automatic operation of the electric sweeper to stop when the acquired real-time electric quantity of the battery is smaller than the battery electric quantity standard value, only keeps a running function, automatically returns to a charging area to supplement the electric energy, and otherwise, continues the automatic operation according to the current state.
As a preferred technical solution, the obstacle avoidance strategy includes the following steps,
S2-1identifying the motion state of the obstacle;
S2-2when the motor sweeper is identified as the moving obstacle, the electric sweeper enters an emergency braking state;
S2-3and when the obstacle is identified as a fixed obstacle, the obstacle is bypassed by virtue of a radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive through the obstacle by virtue of a radar signal, the driving path is automatically reset, the original path is returned again, and the automatic operation of driving is continued.
As to the above techniqueImprovement of the surgical protocol, said S2Obstacle recognition, S3Garbage recognition, S4Dust identification, S5Garbage remaining capacity monitoring, S6Monitoring water residual in water tank and S7The battery electric quantity monitoring is synchronously and circularly implemented in real time in the automatic operation process of the electric sweeper.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: data set when accomplishing electric sweeper through starting the self-checking starts, the operation region sets for, so that electric sweeper accomplishes the automatic task of cleaning of different operation environment, obstacle discernment is used for guaranteeing electric sweeper's safety and stability operation, and can accomplish the regional task of cleaning of setting for to the greatest extent, can adjust electric sweeper's operation intensity through rubbish discernment, with the cooperation of water surplus monitoring step in the water tank, guarantee to clean the effect, battery power monitoring is used for the electric quantity of real-time detection electric sweeper, in time supply the electric energy in order to ensure that it can return the charging area automatically, make electric sweeper automatic operation more intelligent, it is more efficient.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1 is a flowchart illustrating operation of an embodiment of the invention to initiate self-test;
FIG. 2 is a flowchart illustrating the operation of obstacle recognition, garbage recognition and dust emission recognition according to an embodiment of the present invention;
fig. 3 is a flowchart of the operation of monitoring basic supporting equipment according to the embodiment of the present invention.
Detailed Description
The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
The control method for the automatic operation electric sweeper is used for controlling the automatic operation of the automatic operation electric sweeper, a drive-by-wire chassis, a sweeping operation system, a garbage bin storage system, a radar monitoring system, a central control system, a hydraulic control system, a conventional electric control system, a high-voltage electric control system, various sensors and other components are arranged on the automatic operation electric sweeper and are matched with each other to complete the automatic operation control of the electric sweeper, and the control method is a structure well known by a person skilled in the art and is not described in detail herein. The embodiment can realize the automatic operation of the electric sweeper after use, flexibly avoid obstacles, monitor basic configuration and the like, can finish the maintenance of environmental sanitation in a designated area, operates stably and can supplement electric energy in time, not only improves the efficiency of environmental cleaning work, but also greatly reduces the use of manpower and labor force.
As shown in fig. 1, the present embodiment mainly includes the following steps:
S1and starting self-checking
S1-1The electric sweeper is started, standard values of the road surface garbage size, the garbage density, the dust concentration and basic corollary equipment monitoring parameters are set, wherein the dust concentration comprises a dust concentration value of a suction disc opening and a dust concentration value in a garbage can, the comparison standards of all values of the subsequent automatic operation process are monitored in real time, and corresponding component actions are automatically controlled according to comparison results so as to guarantee the cleaning effect. The standard values can be set on site when starting, or can be planned and designed in advance to form various automatic cleaning modes and stored in a central control system of the electric sweeper, and when in use, the proper operation mode can be selected according to the operation of different environments, and the electric sweeper can be used.
S1-2And selecting the operation area map or importing a new operation area map to finish the operation area selection. Various operation area maps can be stored in a central control system of the electric sweeper in advance and can be directly selected for use. When the electric cleaning vehicle is placed in a new working area, the ground of the area needs to be acquired through the internet and the likeAnd the data is led into a central control system of the electric sweeper for calling.
S1-3And the electric sweeper automatically detects the state of the vehicle before entering the operation, and judges whether the vehicle has a fault according to an automatic detection result so as to facilitate the subsequent self-operation to be smoothly started and stably run and finish. The automatic detection includes various function detection and vehicle original state detection, such as voltage, control, sensor, signal, driving computer, etc. When the motor sweeper is detected and judged to have a fault, automatic fault analysis is carried out through the central control system, maintenance personnel are informed of maintenance in a screen display or sound and light alarm mode, and after the maintenance is finished and the motor sweeper is restarted, the steps are repeated until no fault exists; and when the fault is determined to be absent, automatically entering the next step.
As shown in FIG. 2, S2Obstacle recognition
Identifying the surface of a road, judging whether an obstacle exists on the road, entering an obstacle avoidance strategy when judging that the obstacle exists, wherein the obstacle avoidance strategy comprises the following steps,
S2-1identifying the motion state of the obstacle;
S2-2and when the motor sweeper is identified as the moving obstacle, the electric sweeper enters an emergency braking state to avoid collision. When the vehicle is emergently braked, the central control system can start the barrier alarm to remind the other side of avoiding, and the accident can be effectively reduced.
S2-3And when the obstacle is identified as a fixed obstacle, the obstacle is bypassed by virtue of a radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive through the obstacle by virtue of a radar signal, the driving path is automatically reset, the original path is returned again, and the automatic operation of driving is continued.
And when the electric sweeper is judged to be free of obstacles, the electric sweeper continuously and automatically runs according to the current state. The detection and type judgment of the obstacles are mainly completed through the matching of a radar monitoring system and a central control system, and the steps are infinitely repeated and circulated in the automatic operation process of the electric sweeper, and real-time feedback is performed.
When the obstacle is judged to be a moving obstacle, the radar monitoring system or the positioning system on the electric sweeper is matched with the traveling speed of the obstacle to judge the distance change speed between the obstacle and the obstacle to determine, if the distance change speed is in a fixed ratio with the speed, the obstacle can be judged to be a non-moving type, and if the distance change speed is not in a fixed ratio with the speed, the obstacle is judged to be a moving type.
S3Garbage identification
S3-1The electric sweeper identifies the size of the road garbage in real time in the advancing process, compares a numerical value formed by identification with a set garbage size standard value, controls the front door of a sucker of the electric sweeper to be opened when the garbage size value identified in real time is larger than the set garbage size standard value, increases suction force to enable the garbage to enter smoothly, and otherwise, continues automatic operation according to the current state, wherein the size of the garbage refers to the size of the outer contour of a single garbage, can acquire garbage information by means of a camera system or a scanning system on the electric sweeper, and transmits the garbage information to a central control system of the electric sweeper for data processing and comparison.
S3-2The electric sweeper identifies the density of the road garbage in real time in the advancing process, compares the identified numerical value with the set garbage density standard value, controls the fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is greater than the set garbage density standard value, and otherwise, continues automatic operation according to the current state. The garbage density value refers to the amount of garbage in a unit area, and is obtained by calculating according to the garbage amount information collected by the electric sweeper through the central control system. In the automatic operation process of the electric sweeper, the garbage recognition is infinitely recycled, and real-time feedback is carried out.
S4Dust identification
Collecting the concentration values of the raised dust in a suction cup opening and a dustbin of the electric sweeper in real time, wherein the concentration values of the raised dust can be obtained through raised dust concentration detectors respectively arranged at the suction cup opening and in the dustbin and are compared with preset raised dust concentration standard values, when the concentration values of the raised dust collected in real time at the suction cup opening are larger than the preset raised dust concentration standard values, the electric sweeper is controlled to spray and reduce dust before being started, otherwise, the electric sweeper continues to operate automatically according to the current state, and a normal operation mode is carried out; when the dust concentration value collected in real time in the dustbin is greater than the set dust concentration standard value, the electric sweeper is controlled to start the spraying and dust falling function in the dustbin, and otherwise, automatic operation is continued according to the current state.
As shown in fig. 3, the standard value settings of the monitoring parameters of the basic corollary equipment further include standard value settings of the remaining garbage capacity, the remaining water amount in the water tank and the electric quantity of the battery. The embodiment also comprises the following steps of realizing the real-time detection of the vehicle state and making corresponding information feedback and functional actions.
S5Garbage remaining capacity monitoring
Acquiring residual capacity information in the dustbin in real time, monitoring the residual capacity of the dustbin by using a video system, and controlling the electric sweeper to normally operate by using a central control system before the capacity of the dustbin is full, namely the capacity of the dustbin does not reach full load; when the capacity of the dustbin is full, the electric sweeper is controlled to stop working and return to a garbage station for garbage transfer treatment, and alarm information and the like can be generated at the same time.
S6Monitoring of water remaining in water tank
The water quantity value in the water tank on the electric sweeper is acquired in real time through the water level meter in the water tank, whether the water quantity in the water tank is within an operation range allowed value is judged, a detection value of the water level meter is compared with a set water tank internal water allowance standard value, when the acquired real-time water quantity value is smaller than the water tank internal water allowance standard value, automatic operation of the electric sweeper is controlled to stop, and otherwise, automatic operation is continued according to the current state.
S7Monitoring battery power
The battery management system on the electric sweeper monitors the electric quantity of the battery in real time, compares the electric quantity of the battery with a set battery electric quantity standard value, controls the automatic operation of the electric sweeper to stop when the acquired real-time electric quantity of the battery is smaller than the battery electric quantity standard value, only keeps a running function, automatically returns to a charging area to supplement the electric energy, and otherwise, continues the automatic operation according to the current state.
In this example S2Obstacle recognition, S3Garbage recognition, S4Dust identification, S5Garbage remaining capacity monitoring, S6Monitoring water residual in water tank and S7The battery electric quantity monitoring is synchronously and circularly implemented in real time in the automatic operation process of the electric sweeper and carries out real-time feedback, and the unmanned operation function of the automatic operation electric sweeper is realized through the cyclic monitoring of the method and the continuous reciprocating of signals and instructions.
According to the invention, data setting and operation area setting during the starting of the electric sweeper are completed through starting self-checking, so that the electric sweeper can complete automatic sweeping tasks in different operation environments, barrier identification is used for ensuring the safe and stable operation of the electric sweeper, the sweeping task in the set area can be completed to the maximum extent, the operation intensity of the electric sweeper can be adjusted through garbage identification, the operation intensity is matched with a water surplus monitoring step in a water tank, the sweeping effect is ensured, battery electric quantity monitoring is used for detecting the electric quantity of the electric sweeper in real time, so that the electric sweeper can automatically return to a charging area to supplement electric energy in time, and the automatic operation of the electric sweeper is more intelligent and efficient.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (5)
1. A control method for an automatic operation electric sweeper is used for controlling the automatic operation of the automatic operation electric sweeper and is characterized in that: comprises the following steps of (a) carrying out,
S1start-up self-test
S1-1Starting the electric sweeper to drive the roadSetting standard values of the size, density and dust concentration of the surface garbage and the monitoring parameters of basic corollary equipment;
S1-2selecting an operation area map or importing a new operation area map to finish the operation area selection;
S1-3the vehicle state of the electric sweeper before operation is automatically detected, and whether the vehicle has a fault is judged according to an automatic detection result;
when the fault is determined, automatic fault analysis is carried out, maintenance personnel are informed to carry out maintenance, and the restarting is carried out after the maintenance is finished;
when no fault is judged, automatically entering the next step;
S2obstacle recognition
Identifying the road surface, judging whether an obstacle exists on the road, and entering an obstacle avoidance strategy when the obstacle exists; when the electric sweeper is judged to be free of obstacles, the electric sweeper continues to automatically run according to the current state;
S3garbage recognition
S3-1The method comprises the steps that the size of road garbage is identified in real time in the advancing process of the electric sweeper, a numerical value formed by identification is compared with a set garbage size standard value, when the garbage size value identified in real time is larger than the set garbage size standard value, a front door of a sucker of the electric sweeper is controlled to be opened, suction force is increased, the garbage enters smoothly, and otherwise, automatic operation is continued according to the current state;
S3-2the electric sweeper identifies the density of the road garbage in real time in the advancing process, compares a numerical value formed by identification with a set garbage density standard value, controls a fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is larger than the set garbage density standard value, and otherwise, continues automatic operation according to the current state;
S4dust identification
Collecting the concentration values of the dust in a suction cup opening and a dustbin of the electric sweeper in real time, comparing the concentration values with a preset dust concentration standard value, controlling the electric sweeper to perform a spraying dust-settling function before starting when the concentration value of the dust collected in real time at the suction cup opening is larger than the preset dust concentration standard value, and otherwise, continuing automatic operation according to the current state; when the dust concentration value collected in real time in the dustbin is greater than the set dust concentration standard value, the electric sweeper is controlled to start the spraying and dust falling function in the dustbin, and otherwise, automatic operation is continued according to the current state.
2. The control method for the automatic working electric sweeper according to claim 1, characterized in that: the standard value setting of basic corollary equipment monitoring parameter still includes the standard value setting of rubbish residual capacity, the surplus of water in the water tank and battery power.
3. The control method for the automatic working electric sweeper according to claim 2, characterized in that: the method also comprises the following steps of,
S5garbage remaining capacity monitoring
Acquiring residual capacity information in the dustbin in real time, and controlling the electric sweeper to normally operate before the dustbin is fully loaded; when the capacity of the dustbin is full, controlling the electric sweeper to stop working;
S6monitoring of water remaining in water tank
The method comprises the steps of acquiring a water quantity value in a water tank on the electric sweeper in real time, comparing the water quantity value with a set water tank residual standard value, controlling the electric sweeper to stop automatic operation when the acquired real-time water quantity value is smaller than the water tank residual standard value, and otherwise, continuing automatic operation according to the current state;
S7monitoring battery power
And when the acquired real-time battery electric quantity is smaller than the battery electric quantity standard value, controlling the automatic operation of the electric sweeper to stop, only keeping the running function, automatically returning to a charging area to supplement the electric energy, and otherwise, continuing the automatic operation according to the current state.
4. The control method for the automatically working electric sweeper according to claim 1 or 3, characterized in that: the obstacle avoidance strategy comprises the steps of,
S2-1identifying the motion state of the obstacle;
S2-2when the motor sweeper is identified as the moving obstacle, the electric sweeper enters an emergency braking state;
S2-3and when the obstacle is identified as a fixed obstacle, the obstacle is bypassed by virtue of a radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive through the obstacle by virtue of a radar signal, the driving path is automatically reset, the original path is returned again, and the automatic operation of driving is continued.
5. The control method for the automatically working electric sweeper according to claim 3, characterized in that: said S2Obstacle recognition, S3Garbage recognition, S4Dust identification, S5Garbage remaining capacity monitoring, S6Monitoring water residual in water tank and S7The battery electric quantity monitoring is synchronously and circularly implemented in real time in the automatic operation process of the electric sweeper.
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| CN117309023A (en) * | 2023-09-28 | 2023-12-29 | 宁波市海曙雪利曼电子仪表有限公司 | Comprehensive detection method for automobile instrument |
| GB2623744A (en) * | 2022-10-17 | 2024-05-01 | Bucher Municipal Ltd | A road cleaning vehicle |
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| CN117309023A (en) * | 2023-09-28 | 2023-12-29 | 宁波市海曙雪利曼电子仪表有限公司 | Comprehensive detection method for automobile instrument |
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| CN114089769B (en) | 2023-12-29 |
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