CN117344674A

CN117344674A - Control method of cleaning system, cleaning system and cleaning vehicle

Info

Publication number: CN117344674A
Application number: CN202311474729.8A
Authority: CN
Inventors: 阮晓鹏; 张良军; 颜祯; 刘启才; 刘明山
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2023-11-07
Filing date: 2023-11-07
Publication date: 2024-01-05

Abstract

The invention discloses a control method of a cleaning system, the cleaning system and a cleaning vehicle, wherein the cleaning system comprises a liquid supply assembly, a gas supply assembly, a pipeline assembly and a working assembly, the pipeline assembly is respectively connected with the liquid supply assembly, the gas supply assembly and the working assembly, and the control method comprises the following steps: determining a pipeline target parameter of the pipeline assembly when the operation assembly starts to work, wherein the pipeline target parameter comprises at least one of pipeline target pressure P and pipeline target flow F; determining an air supply parameter of an air supply assembly, wherein the air supply parameter is determined according to a pipeline temperature T1 and a pipeline target parameter, and the air supply parameter comprises at least one of air supply pressure P2 and air supply flow F2; the air supply assembly is controlled to supply air with air supply parameters. According to the control method of the cleaning system, the air supply parameters can be determined through the pipeline target parameters, the method for automatically adjusting the air supply parameters of the air supply assembly is provided, automatic control of the cleaning system is achieved, and the working efficiency and accuracy are improved.

Description

Control method of cleaning system, cleaning system and cleaning vehicle

Technical Field

The invention relates to the technical field of sanitation cleaning, in particular to a control method of a cleaning system, the cleaning system and a cleaning vehicle.

Background

In order to ensure the operation effect, the existing cleaning vehicle generally adopts a high-flow low-pressure pump, and drives low-pressure operation nozzles (such as opposite flushing, duckbilled, sprinkling and the like) of different types to operate through pipelines and valves. The operation effect of the scheme can meet the operation requirement, but the water consumption is larger. Because of the lack of water resources, the price of ton water is increased year by year, so that the environmental sanitation operation cost is high, and the environmental sanitation cleaning water sprinkling operation consumes a large amount of water resources, which is not beneficial to environmental protection.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent.

Therefore, one purpose of the invention is to provide a cleaning system, which mainly adopts the principle that a small-flow water pump is utilized to introduce gas with certain pressure into a low-pressure pipeline, the gas is mixed with cleaning liquid through a mixer and then is sprayed out, namely, a part of cleaning liquid is replaced by the gas, so that the aim of saving water is achieved. Meanwhile, the control method of the cleaning system is provided, and the air supply parameters of the air supply assembly are automatically adjusted through the controller, so that the automatic control of the cleaning system is realized, and the working efficiency and the accuracy are improved.

According to the control method of the cleaning system in the embodiment of the invention, the cleaning system comprises a liquid supply assembly, a gas supply assembly, a pipeline assembly and a working assembly, wherein the pipeline assembly is respectively connected with the liquid supply assembly, the gas supply assembly and the working assembly, and the control method comprises the following steps: determining a pipeline target parameter of the pipeline assembly when the operation assembly starts to work, wherein the pipeline target parameter comprises at least one of pipeline target pressure P and pipeline target flow F; determining an air supply parameter of the air supply assembly, wherein the air supply parameter is determined according to the pipeline temperature T1 and the pipeline target parameter, and the air supply parameter comprises at least one of air supply pressure P2 and air supply flow F2; and controlling the air supply assembly to supply air according to the air supply parameters.

According to the control method of the cleaning system, the controller can determine the air supply parameter of the air supply assembly through the pipeline target parameter, automatically adjust the air supply assembly to supply air to the cleaning system, automatically control the cleaning system, save time of manual calculation and adjustment, and improve working efficiency and accuracy. In addition, the cleaning device can flexibly adjust according to cleaning requirements and conditions of different operation components, so that air supply is more accurate and stable.

In addition, the control method of the cleaning system according to the above embodiment of the present invention may further have the following additional technical features:

optionally, the determining the air supply parameter of the air supply assembly further includes determining a pipeline temperature T1 and a target air saturation α of the pipeline assembly, and the air supply parameter is determined according to the pipeline temperature T1, the pipeline target parameter and the target air saturation α.

Optionally, the line target parameters include a line target pressure P and a line target flow rate F, where the line target flow rate F, the line target pressure P, the line temperature T1, the target gas saturation α, and the supply gas pressure F2 satisfy: f2 =αf×s=αf×γp×t1, where γ is a temperature compensation coefficient when the pressure is unchanged and the temperature is changed.

Optionally, the line target parameter includes a line target pressure P, and the line target pressure P and the supply pressure P2 satisfy: p2=βp, where β >1.

Optionally, the air supply pressure P2 is adjusted according to the current pipeline pressure P1 of the pipeline assembly, and the air supply pressure P2 and the current pipeline pressure P1 satisfy: p2=βp1, where β >1.

Optionally, after controlling the air supply assembly to supply air with the air supply parameter, the method further comprises: determining a line current parameter of the line assembly, the line current parameter comprising at least one of a line current flow F1 and a line current pressure P1; determining a liquid supply parameter of the liquid supply assembly, wherein the liquid supply parameter is determined according to the current parameter of the pipeline, and the liquid supply parameter comprises at least one of liquid supply pressure and liquid supply flow; and controlling the liquid supply assembly to supply liquid according to the liquid supply parameters.

Optionally, the liquid supply parameter includes a liquid supply pressure, the current pipeline parameter includes a current pipeline pressure P1, the liquid supply assembly includes a water pump and a power source connected with the water pump, and the control method includes: if the current pressure P1 of the pipeline is smaller than the target pressure P of the pipeline and the difference value is smaller than a first threshold value, the rotating speed of the power source is increased; and if the current pressure P1 of the pipeline is larger than the target pressure P of the pipeline and the difference value is larger than a second threshold value, reducing the rotating speed of the power source.

Optionally, the pipeline assembly includes a first mixer, the first mixer is respectively connected with the liquid supply assembly, the gas supply assembly and the operation assembly, and the pipeline temperature T1 and the pipeline target parameter are fluid parameters in an upstream pipeline of the first mixer.

Optionally, the pipeline assembly includes a first mixer and a second mixer, the second mixer is respectively connected with the liquid supply assembly, the gas supply assembly and the first mixer, the first mixer is respectively connected with the second mixer, the gas supply assembly and the operation assembly, and the pipeline temperature T1 and the pipeline target parameter are fluid parameters in a pipeline between the first mixer and the second mixer.

Optionally, the cleaning system further includes an unloading assembly, the unloading assembly being connected to the pipeline assembly, the control method further includes: before the operation assembly starts to work, a switching valve of the unloading assembly is controlled to be opened; or after the working assembly starts to work, the on-off valve of the unloading assembly is controlled to be closed; or when the operation assembly stops operation, the on-off valve of the unloading assembly is controlled to be opened, and then the on-off valve of the operation assembly is controlled to be closed.

According to the cleaning system in the embodiment of the invention, the cleaning system comprises a liquid supply assembly, a gas supply assembly, a pipeline assembly, a working assembly and a control assembly, wherein the liquid supply assembly is used for supplying liquid; the air supply assembly is used for supplying air; the pipeline component is respectively connected with the liquid supply component and the gas supply component, and is used for mixing gas and liquid; the operation component is connected with the pipeline component and is used for spraying a cleaning medium; the control assembly is configured to perform the steps of the control method according to any of the above.

According to the cleaning system provided by the embodiment of the invention, the gas is flushed into the cleaning liquid and mixed, and after the gas-liquid mixture is sprayed out, the pressure is reduced to normal pressure, so that the gas dissolved in the cleaning liquid can rapidly escape; the air bubbles can be escaped when the gas-liquid mixture impacts the ground at a high speed to clean the ground, so that the cleaning effect is improved. In addition, because a certain amount of gas is mixed in the cleaning liquid, the gas in the pipeline occupies a certain space in the supersaturated state, a relatively small low-pressure pump can be used for driving the waterway system, the consumption of the cleaning liquid can be reduced, and the purposes of saving water and energy are achieved.

Optionally, the pipeline assembly comprises a first mixer and a first valve group, and the first mixer is connected with the working assembly; the first valve group is respectively connected with the liquid supply assembly, the gas supply assembly and the pipeline assembly, and is configured to adjust on-off between the liquid supply assembly and the pipeline assembly and/or between the gas supply assembly and the pipeline assembly.

Optionally, the working components include a plurality of first mixers, the plurality of first mixers respectively correspond to the plurality of working components, and the first mixers are connected to the corresponding working components.

Optionally, the pipeline assembly further comprises a premixing assembly, and the premixing assembly is respectively connected with the liquid supply assembly, the gas supply assembly and the first mixer.

Optionally, the premixing assembly includes a second mixer and a second valve train, the second mixer being connected to the first mixer; the second valve group comprises a third valve and a fourth valve, the third valve is connected between the air supply assembly and the second mixer, the fourth valve is connected between the liquid supply assembly and the first mixer, and the fourth valve is connected with the second mixer in parallel.

Optionally, the control assembly includes a first sensor configured to detect pressure, flow and/or temperature upstream of the piping assembly, a second sensor configured to detect and adjust pressure and/or flow at the outlet of the gas supply assembly, and a controller in signal communication with the first sensor, the second sensor, and the liquid supply assembly, respectively.

The cleaning vehicle comprises a vehicle body and the cleaning system, wherein the cleaning system is installed on the vehicle body.

According to the cleaning vehicle disclosed by the embodiment of the invention, different gases can be respectively used for cleaning operations under different working conditions in the form of dissolving in water and mixing with water by being provided with and installed with the cleaning system, so that the aim of saving water and energy is fulfilled, and the efficient and flexible cleaning process can be realized by automatically controlling and adjusting the supply of cleaning liquid and gas.

Drawings

FIG. 1 is a flow chart of a control method of a cleaning system according to some embodiments of the invention.

FIG. 2 is a flow chart of a control method of the cleaning system according to other embodiments of the present invention.

Fig. 3 is a schematic diagram of the operation of a cleaning system in accordance with some embodiments of the invention.

Fig. 4 is a partial front view of a cleaning vehicle in accordance with some embodiments of the invention.

Fig. 5 is a partial top view of a cleaning vehicle in accordance with some embodiments of the invention.

Fig. 6 is a schematic view of a portion a of a cleaning vehicle in accordance with some embodiments of the invention.

Fig. 7 is a partial top view of a cleaning vehicle in accordance with some embodiments of the invention.

Fig. 8 is a schematic view of a portion B of a cleaning vehicle in accordance with some embodiments of the invention.

Reference numerals: the cleaning system 100, the liquid supply assembly 110, the gas supply assembly 120, the pipeline assembly 130, the operation assembly 140, the premixing assembly 150, the control assembly 160, the first mixer 131, the first valve group 132, the first valve 133, the second valve 134, the left duckbill 140a, the right duckbill 140b, the left side opposite flushing 140c, the right side opposite flushing 140d, the left rear sprinkler 140e, the right rear sprinkler 140f, the other operation assembly 140g, the second mixer 151, the third valve 153, the fourth valve 154, the gas inlet 155, the liquid inlet 156, the gas source 121, the fifth valve 122, the water tank outlet 111, the water pump 112, the power source 113, the water tank inlet pipe 114, the first sensor 161, the first temperature sensor 161a, the first pressure sensor 161b, the first flow sensor 161c, the second sensor 162a, the second flow sensor 162b, the controller 163, the PLC controller 163a, the power source controller 163b, the unloading valve 170, the rear water cannon 140h, the left side opposite flushing mixer 131a, the right side opposite flushing 131b, the left side opposite flushing 131d, the right side mixer 131.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is correspondingly changed. Furthermore, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, descriptions such as those related to "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

The present application provides a control method of a cleaning system, a cleaning system and a cleaning vehicle, and the detailed description is given below. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

In the following, embodiments of the present invention will be described in detail, according to the cleaning system 100 in the embodiments of the present invention, the cleaning system 100 includes a liquid supply assembly 110, a gas supply assembly 120, a pipeline assembly 130 and a working assembly 140, the liquid supply assembly 110 and the gas supply assembly 120 respectively supply cleaning liquid and gas to the cleaning system 100, an inlet of the pipeline assembly 130 is respectively connected to the liquid supply assembly 110 and the gas supply assembly 120, an outlet of the pipeline assembly 130 is connected to the working assembly 140, and a control principle of the cleaning system 100 is that a controller can trigger a control flow according to a start signal of the working assembly 140, please refer to fig. 1, in the flow, the controller can determine a gas supply parameter according to a preset algorithm and logic according to a target parameter in the pipeline, and send corresponding signals to the gas supply assembly 120 to achieve a required gas supply pressure and a required gas supply flow. Referring to fig. 3, the dashed line in fig. 3 represents the control flow triggered by the controller, the solid arrow represents the flow direction of the liquid in the cleaning system 100, and the open arrow represents the flow direction of the gas in the cleaning system 100.

Referring to fig. 1, a control method of a cleaning system may include:

when the operation assembly 140 starts to operate, the controller drives the liquid supply assembly 110 to operate, and supplies liquid to the operation assembly 140 through the pipeline assembly 130. A line target parameter is determined, the line target parameter including at least one of a line target pressure P and a line target flow F. The target parameters of the pipeline are set according to the condition of the operation road surface and the operation performance parameters of the whole vehicle, and can be preset parameters of the cleaning system 100, parameters input by a user, control parameters issued by a cloud, and the like; when there are a plurality of working modules 140, the pipeline target parameter may also be set according to the working module 140 actually working for when different working modules 140 are working.

After the line target pressure P and the line target flow rate F are determined, the air supply parameter of the air supply assembly 120 may be determined according to the line target parameter, the air supply parameter including at least one of the air supply pressure P2 and the air supply flow rate F2. For example, the air supply parameter may include an air supply pressure P2, and the air supply pressure P2 may be determined according to the line target pressure P; the supply pressure P2 may also be determined from the line target flow F; the supply air pressure P2 and the like may also be determined from the line target pressure P and the line target flow rate F. In addition, the air supply parameter may include an air supply flow rate F2, and the air supply flow rate F2 may be determined according to the line target pressure P; the air supply flow F2 can also be determined according to the pipeline target flow F; the supply air flow rate F2 and the like may also be determined from the line target pressure P and the line target flow rate F.

The controller controls the air supply assembly 120 to supply air to the cleaning system 100 according to the air supply parameters, so that a proper amount of air can be dissolved in the pipeline assembly 130, the cleaning efficiency of the operation assembly 140 can be increased, the consumed water amount can be reduced, and a better cleaning effect can be achieved by determining the air supply parameters.

According to the control method of the cleaning system in the embodiment of the invention, the controller can determine the air supply parameter of the air supply assembly 120 through the pipeline target parameter, automatically adjust the air supply of the air supply assembly 120 to the cleaning system 100, realize the automatic control of the cleaning system 100, save the time of manual calculation and adjustment, and improve the working efficiency and the accuracy. In addition, the cleaning device can flexibly adjust according to the cleaning requirements and conditions of different operation assemblies 140, so that the air supply is more accurate and stable.

In some embodiments, referring to FIG. 2, determining the air supply parameters of the air supply assembly 120 further includes determining a line temperature T1 and a target air saturation α of the line assembly 130, the air supply parameters being determined based on the line target parameters, the line temperature T1, and the target air saturation α. Specifically, the gas has certain solubility in the liquid, the solubility changes along with the pressure and the temperature, the content of the gas in the liquid can be controlled by controlling the pressure and the air inflow of the liquid, and a gas-liquid mixture in various states is formed. The target gas may be any non-toxic and harmless gas or gases suitable for the present cleaning system 100, including but not limited to air, carbon dioxide, or mixtures thereof, and the like. The gas-liquid mixture may be a mixture of a plurality of gases and liquids, for example, air and carbon dioxide dissolved in water in a certain ratio. When the solubility of the target gas dissolved in the cleaning liquid is less than or equal to that of the target gas, an unsaturated and saturated gas-liquid mixture can be formed, and the saturation degree alpha epsilon (0, 1) of the target gas is at the moment; when the target gas dissolved in the cleaning liquid is greater than its solubility, a supersaturated gas-liquid mixture may be formed, at which point the target gas saturation degree a e (1, +++) in a specific control method, the controller needs to collect and process the temperature, pressure, etc. data in the pipeline, the target gas saturation α is determined according to the solubility of the target gas at the corresponding temperature and pressure, and the gas supply assembly 120 is controlled to provide accurate gas supply meeting the cleaning task requirements through the pipeline temperature T1, the pipeline target parameter and the target gas saturation α, so as to meet the cleaning requirements of the working assembly 140.

In some embodiments, the target gas saturation α of the conduit assembly 130 may be set to a fixed value, such as setting the target gas saturation α to 1, i.e., the target gas dissolved in the cleaning fluid is equal to its solubility, forming a saturated gas-liquid mixture. At this time, the air supply parameter may be determined according to the line temperature T1 and the line target parameter. Of course, the target gas saturation α of the pipeline assembly 130 may be set to other constant values, such as 0.5, 0.8, 1.2, 1.5, etc., which the present invention is not limited to.

In some embodiments, the line target parameters include a line target pressure P and a line target flow rate F, the line target pressure P, the line temperature T1, the target gas saturation α, and the supply gas pressure F2 satisfy: f2 =αf×s=αf×γp×t1, where γ is a temperature compensation coefficient when the pressure is unchanged and the temperature is changed. Specifically, at a certain pressure P, the solubility of a certain gas in the cleaning liquid is a constant value at a certain temperature T1, S represents the amount of the gas which can be dissolved per unit volume of the cleaning liquid (liter), S is related to the pressure P and the temperature T1, and when the pressure is constant, if the temperature is changed, S is also changed, γ is a temperature compensation coefficient when the pressure is constant and the temperature is changed, and is also a correlation coefficient between S and the pressure P and the temperature T1, and the relationship between S and the pressure P and the temperature T1 conforms to the following formula: s=γp×t1, γ=s/(p×t1), taking carbon dioxide dissolved in water as an example, when the pressure P corresponding to the target pressure of the pipeline is 10MPa and the temperature T1 is 10 ℃, the solubility of carbon dioxide in water is 38.39, and the value of the temperature compensation coefficient γ is γ=38.39/(10×10) = 0.03839. The controller calculates corresponding gamma values according to the solubilities of different gases at different temperatures and different pressures, respectively, and stores the gamma values for real-time calling according to specific working conditions when the cleaning system 100 works. Under a specific working condition, the target gas saturation α, the temperature compensation coefficient γ, the pipeline target flow F, the pipeline target pressure P, and the pipeline temperature T1 are all known, and the value of F2 can be calculated according to the above formula f2=αf=αf×γp×t1. Taking an example of 18T cleaning vehicle and carbon dioxide dissolved in water, setting a pipeline target flow of 100L/min and a pipeline target pressure value of 1.1mpa, setting gamma of 0.3555 when the temperature is near normal temperature and 20 ℃, if the carbon dioxide forms an unsaturated gas-water mixture in water, setting a target gas saturation alpha=0.05, and setting a target gas saturation alpha=αFγPxT1=0.05×100×0.355×1.1×20×39.05L/min according to a formula F2=αFγPx1×0.05. Because of the high solubility of carbon dioxide in water, air is used for dissolving in the cleaning liquid in practical application, and carbon dioxide is considered to be added under certain special working conditions, such as cleaning of city psoriasis which is difficult to treat, depositing dirt on a telegraph pole, and the like, and the water consumption is small.

In some embodiments, the line target parameters include a line target pressure P, the line target pressure P and the supply pressure P2 satisfying: p2=βp, where β >1. Specifically, β is the gas distribution pressure coefficient, because the gas path has pressure loss in the pipeline leading to the gas inlet of the water pipe, the value of β is determined according to the actual pipeline arrangement, and if the value of β is greater than 1, the gas supply pressure P2 is greater than the pipeline target pressure P, so that the gas pressure at the gas inlet is ensured to be greater than the water pressure, and the gas can be normally mixed into the cleaning liquid without being propped against the gas source 121.

In some embodiments, the supply pressure P2 is adjusted according to the line current pressure P1 of the line assembly 130, and the supply pressure P2 and the line current pressure P1 satisfy: p2=βp1, where β >1. Specifically, after the air supply assembly 120 is started, the temperature T1, the pressure P1, or the flow rate F1 in the pipeline of the pipeline assembly 130 is detected; when the pressure P1 or the flow rate F1 in the pipeline of the pipeline assembly 130 reaches the preset target parameter, the air supply parameter of the air supply assembly 120 can be determined according to the pipeline temperature T1 and the pipeline target parameter, that is, when the pressure P1 or the flow rate F1 in the pipeline of the pipeline assembly 130 is equal to the pipeline target pressure P or the pipeline target flow rate F, the air supply assembly can also be adjusted according to the pipeline temperature T1 and the current pressure P1 or the current flow rate F1 in the pipeline. In combination with the foregoing embodiment, β is the gas distribution pressure coefficient, and because the gas path has pressure loss in the pipeline leading to the gas inlet of the water pipe, in order to enable the gas to be mixed into the cleaning liquid normally, the gas pressure at the gas inlet needs to be greater than the water pressure, so the value of β is greater than 1, and the gas supply pressure P2 is greater than the current pressure P1 of the pipeline.

Preferably, in some embodiments, the gas distribution pressure coefficient βε [1,2], if the value of β is too small, may result in insufficient gas pressure at the inlet, such that the gas may not be adequately mixed into the cleaning fluid. If the beta value is too large, the gas pressure at the inlet may be too high, thereby exceeding the pressure range that the system can withstand and affecting the normal operation of the cleaning system 100.

In some embodiments, after controlling the air supply assembly 120 to supply air with the air supply parameters, further comprising: determining a line current parameter of the line assembly 130, the line current parameter including at least one of a line current flow rate F1 and a line current pressure P1; determining a liquid supply parameter of the liquid supply assembly 110, wherein the liquid supply parameter is determined according to the current parameter of the pipeline, and the liquid supply parameter comprises at least one of liquid supply pressure and liquid supply flow; the liquid supply assembly 110 is controlled to supply liquid with liquid parameters. Specifically, after the air supply parameter is used for supplying air, the air supply parameter is also required to be determined for supplying the liquid, the air supply parameter is determined according to the current pipeline parameter, the current pipeline parameter refers to the flow rate and the pressure in the pipeline, and at least one of the current pipeline flow rate F1 and the current pipeline pressure P1 is determined. These parameters may be measured and monitored by sensors or flow meters, pressure gauges, etc. After determining the fluid supply parameters based on the current parameters of the tubing, the fluid supply assembly 110 is controlled accordingly to supply fluid to the tubing assembly 130 at a specific pressure and flow rate. The liquid supply assembly 110 may include, but is not limited to, pumps, valves, flow regulators, etc., by adjusting its operating parameters to achieve the desired liquid supply conditions.

In some embodiments, the fluid supply parameter comprises a fluid supply pressure, the line current parameter comprises a line current pressure P1, the fluid supply assembly 110 comprises a water pump 112 and a power source 113 coupled to the water pump 112, and the control method comprises: if the current pressure P1 of the pipeline is smaller than the target pressure P of the pipeline and the difference value is smaller than the first threshold value, the rotating speed of the power source 113 is increased; if the line current pressure P1 is greater than the line target pressure P and the difference is greater than the second threshold, the rotational speed of the power source 113 is reduced. Specifically, the water pump 112 of the liquid supply assembly 110 delivers the cleaning liquid to the pipe assembly 130 at a specific rotational speed, and the power source 113 connected to the water pump 112 provides a power source required for the water pump 112, while also adjusting the operation state and rotational speed of the water pump 112. The current pressure P1 of the pipeline is obtained through measurement, the current pressure P is compared with the target pressure P of the pipeline, a difference value is calculated, and the difference value is controlled between a first threshold value and a second threshold value range. If the difference is smaller than the first threshold, the rotation speed of the power source 113 needs to be properly increased to increase the supply pressure of the water pump 112, so that the current pressure P1 of the pipeline is gradually increased to approach the target pressure P of the pipeline; if the difference value is larger than or equal to the first threshold value and smaller than or equal to the second threshold value, the original supply pressure and the original rotating speed are maintained unchanged; if the difference is greater than the second threshold, indicating that the supply is too much, it is necessary to appropriately decrease the rotation speed of the power source 113, and decrease the supply pressure of the water pump 112, so that the current pressure P1 of the pipeline gradually decreases to approach the target pressure P of the pipeline.

In some embodiments, the conduit assembly 130 includes a first mixer 131, the first mixer 131 being coupled to the liquid supply assembly 110, the gas supply assembly 120, and the service assembly 140, respectively, with the conduit temperature T1 and the conduit target parameter being fluid parameters in the conduit upstream of the first mixer 131. Specifically, the inlet of the first mixer 131 is connected to the outlet of the liquid supply assembly 110 and the outlet of the gas supply assembly 120, respectively, the outlet of the first mixer 131 is connected to the inlet of the working assembly 140, and the cleaning liquid and the gas enter the first mixer 131 from the liquid supply assembly 110 and the gas supply assembly 120, respectively, to be mixed. The pipeline temperature T1 is related to the solubility of the target gas in the cleaning solution during gas-liquid mixing, and the pipeline target parameters are fluid parameters in the pipeline before entering the first mixer 131, including target working pressure P and target working flow F, and the target parameters affect the low-pressure working performance and must reach a set value, and can be adjusted by adjusting the rotating speed of the motor.

In some embodiments, the pipeline assembly 130 further includes a second mixer 151, the second mixer 151 being connected to the liquid supply assembly 110, the gas supply assembly 120, and the first mixer 131, respectively, the first mixer 131 being connected to the second mixer 151, the gas supply assembly 120, and the working assembly 140, respectively, and the pipeline temperature T1 and the pipeline target parameter being fluid parameters in the pipeline between the first mixer 131 and the second mixer 151. Specifically, the second mixer 151 is used for premixing, and for the gas having low solubility in the cleaning liquid, by providing a second mixer 151 for premixing before the first mixer 131, the inlet of the second mixer 151 is connected to the liquid supply assembly 110 and the gas supply assembly 120, respectively, and the outlet is connected to the inlet of the first mixer 131. The line temperature T1 and the line target parameter measured by the sensor are fluid parameters in the line between the first mixer 131 and the second mixer 151, which affect the low pressure operation performance of the cleaning system 100, and the set value is required to be reached, and the set value can be adjusted by adjusting the rotation speed of the motor.

In some embodiments, the cleaning system 100 further includes an unloading assembly coupled to the conduit assembly 130, the control method further comprising: before the work module 140 begins to work, a switch valve of the control unloading module is opened; or, after the working module 140 starts to work, the on-off valve of the unloading module is controlled to be closed; or, when the working module 140 stops working, the on-off valve of the unloading module is controlled to be opened first, and then the on-off valve of the working module 140 is controlled to be closed. Specifically, the unloading assembly can be used for controlling the flow direction and the pressure of the fluid, and before the working assembly 140 begins to work, the on-off valve of the unloading assembly is controlled to be opened, so that the residual fluid in the pipeline can be ensured to be discharged in time, and the interference to the subsequent work is avoided; after the working assembly 140 begins to work, the on-off valve of the unloading assembly is controlled to be closed, fluid is prevented from passing through the unloading assembly, and the fluid can be led to the working assembly 140 to perform corresponding work; when the operation assembly 140 stops operating, the on-off valve of the unloading assembly is controlled to be opened, and then the on-off valve of the operation assembly 140 is controlled to be closed, so that liquid in the pipeline can be led to other waterways through the unloading assembly to be unloaded, and the water hammer effect in the pipeline is avoided.

Referring to fig. 3, referring to a cleaning system 100 in an embodiment of the present invention, the cleaning system 100 includes a liquid supply assembly 110, a gas supply assembly 120, a pipeline assembly 130, a working assembly 140, and a control assembly 160, wherein the liquid supply assembly 110 is used for supplying liquid; the air supply assembly 120 is used for supplying air; the pipeline assembly 130 is respectively connected with the liquid supply assembly 110 and the gas supply assembly 120, and the pipeline assembly 130 is used for mixing gas and liquid; the operation assembly 140 is connected with the pipeline assembly 130 and is used for spraying the cleaning medium; the control assembly 160 is configured to perform the steps of the control method according to any of the above.

Specifically, the outlets of the liquid supply assembly 110 and the gas supply assembly 120 are respectively connected to the inlet of the pipeline assembly 130, the cleaning liquid and the gas are mixed after entering the pipeline assembly 130, part of the gas is dissolved or mixed in the cleaning liquid to form gas-liquid mixtures in various states such as unsaturated state, saturated state and supersaturated state, the outlet of the pipeline assembly 130 is connected to the working assembly 140, and when the working assembly 140 starts to work, the gas-liquid mixture in the pipeline assembly 130 is sprayed from the working assembly 140 to the surface to be cleaned as a cleaning medium. During the cleaning process, the control assembly 160 controls the liquid supply parameters of the liquid supply assembly 110 and the air supply parameters of the air supply assembly 120 so that the cleaning system 100 can operate at a preset target operating pressure or target operating flow. The cleaning liquid may be one or more of any non-toxic and harmless liquid suitable for cleaning, including but not limited to cleaning water, dilute washing liquid, or mixtures thereof, and the like. The cleaning liquid may be a normal temperature cleaning liquid or a high temperature cleaning liquid. The gas may also be one or more of any non-toxic and harmless gas suitable for the present cleaning system 100, including but not limited to air, carbon dioxide, or mixtures thereof, and the like. The gas-liquid mixture may be a mixture of a plurality of gases and liquids, for example, air and carbon dioxide dissolved in water in a certain ratio.

According to the cleaning system 100 of the embodiment of the present invention, by injecting and mixing the gas into the cleaning liquid, after the gas-liquid mixture is ejected, the gas dissolved in the cleaning liquid rapidly escapes due to the pressure being reduced to the normal pressure; the air bubbles can be escaped when the gas-liquid mixture impacts the ground at a high speed to clean the ground, so that the cleaning effect is improved. In addition, because a certain amount of gas is mixed in the cleaning liquid, the gas in the pipeline occupies a certain space in the supersaturated state, a relatively small low-pressure pump can be used for driving the waterway system, the consumption of the cleaning liquid can be reduced, and the purposes of saving water and energy are achieved.

During use of the cleaning system 100 of the present invention, cleaning fluid may be provided through the fluid supply assembly 110 and liquid medium may be delivered from the working assembly 140 after passing through the tubing assembly 130; gas may also be supplied through gas supply assembly 120 and gaseous medium may be sent from service assembly 140 after passing through conduit assembly 130; cleaning fluid may also be provided through fluid supply assembly 110, supplied through air supply assembly 120, and after mixing through tubing assembly 130, the gas-liquid mixture medium is delivered from work assembly 140.

In some embodiments, referring to fig. 3, the pipeline assembly 130 includes a first mixer 131 and a first valve group 132, the first mixer 131 being connected to the working assembly 140; the first valve group 132 is connected to the liquid supply assembly 110, the gas supply assembly 120, and the pipe assembly 130, respectively, and the first valve group 132 is configured to adjust on/off between the liquid supply assembly 110 and the pipe assembly 130, and/or between the gas supply assembly 120 and the pipe assembly 130. Specifically, the pipe assembly 130 is used for mixing the cleaning solution and the gas, referring to fig. 8, the first mixer 131 is provided with an air inlet 155 and an air inlet 156, and the first valve set 132 is used for controlling on-off of the air inlet 155 and the air inlet 156 respectively. In the gas-liquid mixing process, the flow of the cleaning liquid and the gas into the first mixer 131 can be controlled by controlling the first valve group 132 to adjust the connection state between the liquid supply assembly 110 and the gas supply assembly 120 and the pipe assembly 130, thereby flexibly adjusting the supply amount and the ratio of the cleaning liquid and the gas to meet specific cleaning requirements. For example, opening the first valve group 132, a passage between the liquid supply assembly 110 and the conduit assembly 130 and/or between the gas supply assembly 120 and the conduit assembly 130 is opened, and cleaning liquid and/or gas may enter the conduit assembly 130; the first valve group 132 is closed, and the passage between the liquid supply assembly 110 and the pipe assembly 130 and/or between the gas supply assembly 120 and the pipe assembly 130 is opened, so that the cleaning liquid and the gas cannot enter the pipe assembly 130, thus controlling the supply of the cleaning liquid and the gas. The first mixer 131 may be a static mixer, a dynamic mixer, or any device capable of mixing gas and liquid.

In some embodiments, referring to fig. 3, the first valve set 132 includes a first valve 133 and a second valve 134, the first valve 133 being connected between the gas supply assembly 120 and the first mixer 131, and the second valve 134 being connected between the liquid supply assembly 110 and the first mixer 131. Specifically, a first valve 133 is provided in a passage where the first mixer 131 and the gas supply assembly 120 are connected, one end of the first valve 133 is connected to an outlet of the gas supply assembly 120, and the other end is connected to an inlet of the first mixer 131, and a flow of gas is controlled by controlling opening and closing of the first valve 133, thereby controlling and regulating a supply of gas. Similarly, a second valve 134 is provided in a passage connecting the first mixer 131 and the liquid supply assembly 110, one end of the second valve 134 is connected to an outlet of the liquid supply assembly 110, and the other end is connected to an inlet of the first mixer 131, and a flow of the cleaning liquid is controlled by controlling opening and closing of the second valve 134, thereby controlling and adjusting a supply of the cleaning liquid.

In some embodiments, referring to fig. 3, the working elements 140 include a plurality of pipe elements 130, the pipe elements 130 include a plurality of pipe elements 130 respectively corresponding to the working elements 140, and the pipe elements 130 are connected to the corresponding working elements 140. Specifically, the task modules 140 of the washing system 100 may include a plurality of, for example, left duckbill 140a, right duckbill 140b, left offset 140c, right offset 140d, left back spray 140e, right back spray 140f, other task modules 140g, and the like. The inlet of each of the plurality of task modules 140 is coupled to the outlet of a corresponding one of the plurality of pipeline modules 130 such that a plurality of task modules 140 can simultaneously perform a cleaning operation, each of the plurality of task modules 140 can receive the cleaning medium from a corresponding one of the plurality of pipeline modules 130 and apply it to a cleaning target by spraying. By coupling a plurality of piping assemblies 130 and a corresponding plurality of work assemblies 140, cleaning efficiency and system flexibility may be improved.

In some embodiments, referring to fig. 3, a plurality of pipe assemblies 130 are respectively connected to the gas supply assembly 120, and more particularly, a plurality of first mixing devices 130 are connected in parallel with each other, each pipe assembly 130 may receive a gas supply from the gas supply assembly 120, and in case of the parallel connection, the plurality of pipe assemblies 130 may simultaneously receive the same gas supply and mix it to the corresponding operation assembly 140 for cleaning.

In some embodiments, referring to fig. 3, a plurality of pipeline assemblies 130 are respectively connected to the liquid supply assemblies 110, specifically, a plurality of first mixing devices 130 are connected in parallel to each other, and each pipeline assembly 130 can simultaneously receive the supply of the cleaning liquid from the liquid supply assemblies 110, so that each pipeline assembly 130 has the same liquid supply, and can mix the same into the corresponding working assembly 140 for cleaning.

By connecting the plurality of pipeline assemblies 130 with the corresponding air supply assemblies 120 or liquid supply assemblies 110 respectively, multipath air supply or liquid supply can be realized, and the cleaning tasks of the plurality of operation assemblies 140 can be simultaneously carried out, so that the cleaning efficiency and the flexibility can be improved, and the cleaning device can be used for working conditions requiring the simultaneous treatment of the plurality of operation assemblies 140.

In some embodiments, referring to FIG. 3, and in some embodiments, referring to FIG. 1, the cleaning system 100 further includes a premixing assembly 150, the premixing assembly 150 being coupled to the liquid supply assembly 110, the gas supply assembly 120, and the conduit assembly 130, respectively. Specifically, the inlet of the premixing assembly 150 is connected to the liquid supply assembly 110 and the gas supply assembly 120, respectively, the outlet is connected to the pipeline assembly 130, and the premixing assembly 150 is used for primarily mixing gas and liquid with the cleaning liquid before entering the pipeline assembly 130, and delivering the mixed gas and liquid to the pipeline assembly 130. After the primary gas-liquid mixing of the cleaning solution and the gas in the premixing component 150, an unsaturated gas-liquid mixed solution is obtained, the unsaturated gas-liquid mixed solution is continuously introduced into the pipeline component 130 and the gas is continuously filled into the pipeline component 130, so that the gas and the unsaturated gas-liquid mixed solution are further fully mixed in the pipeline component 130.

Of course, the cleaning system 100 may not include the pre-mixing assembly 150, and in some embodiments, the pre-mixing assembly 150 may be omitted for reducing cost and facilitating implementation, and gas-liquid mixing of the gas with high solubility in water, such as carbon dioxide, in the pipeline assembly 130 may also achieve the purposes of reducing water consumption for cleaning vehicle operation per unit time, prolonging operation time of single tank of water, reducing energy consumption for daily water supply loss, reducing operation cost, and protecting environment.

In some embodiments, referring to FIG. 3, the premixing assembly 150 includes a second mixer 151 and a second valve train, the second mixer 151 being connected to the piping assembly 130; the second valve group includes a third valve 153 and a fourth valve 154, the third valve 153 is connected between the gas supply assembly 120 and the second mixer 151, the fourth valve 154 is connected between the liquid supply assembly 110 and the pipe assembly 130, and the fourth valve 154 is connected in parallel with the second mixer 151. Specifically, the outlet of the second mixer 151 is connected to the pipe assembly 130, and the inlet is connected to the third valve 153 and the liquid supply assembly 110, respectively; one end of the third valve 153 is connected with the outlet of the air supply assembly 120, and the other end is connected with the inlet of the second mixer 151; one end of the fourth valve 154 is connected to the outlet of the liquid supply assembly 110, the other end is connected to the inlet of the second mixer 151, and the fourth valve 154 is connected in parallel with the second mixer 151. The second mixer 151 is connected to the pipe assembly 130 such that the cleaning fluid and the gas may be transferred to the pipe assembly 130 after being mixed by the premixing assembly 150. The third valve 153 is connected between the gas supply assembly 120 and the second mixer 151, and the supply of the gas to the second mixer 151 can be controlled by controlling the opening and closing of the third valve 153. The fourth valve 154 is connected between the liquid supply assembly 110 and the pipe assembly 130, and the supply of the cleaning liquid from the liquid supply assembly 110 can be controlled by controlling the opening and closing of the fourth valve 154. The fourth valve 154 is connected in parallel with the second mixer 151, and the cleaning fluid of the fluid supply assembly 110 can directly flow from the opened fourth valve 154 to the pipeline assembly 130 without passing through the second mixer 151, so as to provide more flexible control for mixing the cleaning media, thereby meeting the cleaning requirements under more conditions. The second mixer 151 may be a static mixer, a dynamic mixer, or any device capable of mixing gas and liquid.

The first mixer 131 may include a tank and an air inlet pipe, referring to fig. 8, two ends of the tank are respectively provided with an inlet and a mixing outlet, the inlet is divided into an air inlet 155 and a liquid inlet 156, the air inlet pipe is provided on the tank and is arranged near the air inlet 155, one end of the air inlet pipe is connected to the air inlet 155 of the tank, and the other end is used for air inlet. The structure of the second mixer 151 may be the same as or similar to that of the first mixer 131, and other mixing structures in the related art may be employed.

In some embodiments, referring to fig. 3, the air supply assembly 120 includes an air source 121 and a fifth valve 122 connected to the air source 121, the fifth valve 122 being connected between the air source 121 and the conduit assembly 130; the liquid supply assembly 110 comprises a water pump 112, the water pump 112 is connected between a water tank water outlet pipe 111 and the pipeline assembly 130, and the water tank water outlet pipe 111 is connected with a water storage container. Specifically, the gas source 121 supplies gas to the manifold assembly 130 through the fifth valve 122, and the flow of gas may be regulated by controlling the opening and closing of the fifth valve 122 to meet the gas supply required during the cleaning process. A water pump 112 in the liquid supply assembly 110 pumps cleaning liquid from a water tank outlet pipe 111 connected to the water storage container to the pipe assembly 130. The supply amount of the cleaning liquid can be controlled by controlling the start and stop of the water pump 112 and the flow rate adjustment through the power source 113 so as to meet the liquid supply required in the cleaning process. The power source 113 may be an electric motor, an on-board gearbox power, a hydraulic motor drive, etc., and the water pump 112 may be various types of pumps including, but not limited to, a centrifugal pump.

In some embodiments, referring to fig. 3, the control assembly 160 includes a first sensor 161, a second sensor 162, and a controller 163, the first sensor 161 configured to detect pressure, flow, and/or temperature upstream of the manifold assembly 130, the second sensor 162 configured to detect and regulate pressure and/or flow at the outlet of the gas supply assembly 120, and the controller 163 in signal communication with the first sensor 161, the second sensor 162, and the liquid supply assembly 110, respectively. Specifically, a first sensor 161 is installed upstream of the line assembly 130 for real-time feedback of sensed data of pressure, flow, and/or temperature parameters within the main line of the washing system 100. These data can be used to calculate and regulate the exhaust gas amount and exhaust gas pressure of the gas source 121, so as to realize automatic control of the gas distribution flow and gas distribution pressure of the gas source 121. A second sensor 162 is disposed at the outlet of the air supply assembly 120 for monitoring and adjusting the pressure and/or flow at the outlet of the air supply assembly 120. By detecting these parameters and interacting with the controller 163, precise regulation and control of the air supply assembly 120 may be achieved. The controller 163 is in signal communication with the first sensor 161, the second sensor 162, and the fluid supply assembly 110, receives data from the sensors, can implement algorithm and logic control based on the real-time data provided by the sensors, and can control and regulate the cleaning system 100 to meet desired pressure and/or flow parameters during the cleaning process. By the combination of the above sensors and the controller 163, the cleaning system 100 can be automatically monitored and controlled, ensuring the stability and efficiency of the cleaning process.

In some embodiments, the cleaning system 100 is further provided with an unloading assembly comprising an unloading valve 170, the unloading valve 170 being connected to the pitcher inlet pipe 114, the pitcher inlet pipe 114 being connected to the water storage container. The unloading line may be opened before the cleaning system 100 is completely shut down to introduce the liquid in the line assembly 130 into a water reservoir connected to the water inlet line 114 of the water tank to facilitate pressure relief of the cleaning system 100 and to avoid or mitigate the water hammer effect. Of course, in some embodiments applied to an oil vehicle, no unloader line may be provided.

According to the cleaning vehicle in the embodiment of the present invention, the cleaning vehicle includes the vehicle body 180 and the cleaning system 100 of any one of the above, and the cleaning system 100 is mounted on the vehicle body 180. Referring to fig. 4-8, the vehicle body 180 generally includes a chassis, and may be configured according to different requirements to support the normal operation of the cleaning system 100 and to accommodate different cleaning tasks. Through being equipped with and installing cleaning system 100, the washing vehicle can be used for the cleaning operation of different operating modes respectively with different gases through dissolving in water and mixing with water, reaches water conservation energy-conserving purpose to through automatic control and regulation washing liquid and gaseous supply, can realize the efficient and nimble cleaning process.

A control method of the washing system 100, and the washing vehicle according to some embodiments of the present invention are described below with reference to the accompanying drawings.

Example 1

Referring to fig. 3, the cleaning system 100 of the cleaning vehicle includes a gas source 121, a water pump 112, a power source 113, a first temperature sensor 161a, a first pressure sensor 161b, a first flow sensor 161c, a second pressure sensor 162a, a second flow sensor 162b, a PLC controller 163a, a power source controller 163b, a first valve 133, a second valve 134, a third valve 153, a fourth valve 154, a fifth valve 122, a left duckbill 140a, a right duckbill 140b, a left hedging 140c, a right hedging 140d, a left rear shower 140e, a right rear shower, an unloading valve 170, a left duckbill gas-liquid mixer 131a, a right duckbill gas-liquid mixer 131b, a left hedging gas-liquid mixer 131c, a right hedging gas-liquid mixer 131d, a left rear shower gas-liquid mixer 131e, a right rear shower gas-liquid mixer 131f, a second mixer 151, and the like.

During cleaning operation, the gas-liquid mixture sprayed under different working conditions has three states, namely unsaturated state, saturated state and supersaturated state. When the dissolved gas in the cleaning liquid is less than the solubility of the gas, an unsaturated gas-liquid mixture can be formed; when the dissolved gas in the cleaning liquid is equal to the solubility of the gas, a saturated gas-liquid mixed solution can be formed; and after the gas-water solution reaches the saturated solubility, ventilation is carried out in the pipeline, and the obtained gas-liquid mixture is supersaturated gas-liquid mixture. Taking air and carbon dioxide as examples, under certain temperature conditions, the solubility of air and carbon dioxide in water increases with increasing pressure; under certain pressure conditions, the solubility of air and carbon dioxide in water decreases with increasing temperature. The air solubility is smaller, and in the process of spraying the air-water mixed solution, the air bubbles are less, so that the floor cleaning effect is limited. The solubility of carbon dioxide in water is large, and the cleaning effect can be very good when the cleaning operation is in an unsaturated state, but the cleaning operation is limited by the excessive gas consumption.

Taking the operation of air and water to perform supersaturated gas-liquid mixing and cleaning vehicle left 140c and right hedging 140d as examples, the working process is as follows: the standby state opens the unloading valve 170 and the other valves are all in the closed state. Given the target operating pressure P and the flow rate F, the target operating pressure P and the flow rate F refer to a target pressure value and a target flow rate value in the main pipe downstream of the second mixer 151 during low-pressure operation, which affect the low-pressure operation performance, and must reach a set target value, and can be adjusted by adjusting the rotation speed of the motor. After starting the operation, the PLC controller 163a gives an instruction, and the motor controller drives the motor to start rotating from rest, and simultaneously opens the second valve 134 connected to the left and right opposite-impact valves 140c and 140d, respectively, and closes the unloading valve 170. Starting the air source 121, monitoring the pressure value P2 of the second pressure sensor 162a, and when the preset air pressure is reached, calculating and determining the values of the air distribution flow F2 and the air distribution pressure P2 of the air source 121 according to the temperature value T1 detected by the first temperature sensor 161a, the target working pressure P and the flow F by using the following formula:

f2 The method comprises the steps of (a) calculating gas quantity in unsaturated state and saturated state for unsaturated solution and alpha E (0, 1), calculating gas quantity in supersaturated state for supersaturated solution, and calculating corresponding gamma value by a controller according to solubility of different gases in different temperatures and different pressures according to specific working conditions when the cleaning system works.

P2=βp1, β > 1, β is the gas distribution pressure coefficient, and because the gas path has pressure loss in the pipeline leading to the gas inlet of the water pipe, the value β is selected according to the actual pipeline arrangement, the gas pressure at the gas inlet is required to be ensured to be greater than or equal to the water pressure, the gas is required to be ensured to be normally mixed into the water, and the gas is not propped against the gas source 121; the flow sensor F1, the pressure sensor P1, and the temperature sensor T1 are measured values of the first flow sensor 161c, the first pressure sensor 161b, and the first temperature sensor 161a, respectively.

After the gas is added, the gas-liquid mixer starts to act, the flow value F1 and the pressure value P1 on the main pipeline downstream of the second mixer 151 fluctuate, and when the flow value F1 and the pressure value P1 are stable, the motor rotation speed is regulated, so that the P1 and F1 values reach the target working pressure P and the flow F.

When the water temperature T1 changes to reach a certain threshold value, the numerical values of the distribution flow F2 and the distribution pressure P2 are calculated and adjusted according to the formula. If the temperature of the water is hot in summer and the temperature of the water is increased more, the air solubility is greatly reduced, the atomization degree of the nozzle outlet is easily increased, the cleaning effect is poor, and the amount of the mixed gas is required to be reduced at the moment. The adjusting method of the air distribution flow F2 and the air distribution pressure P2 of the air source 121 is as follows: assuming that the air compressor is used for providing compressed gas (such as air, carbon dioxide and the like), the air compressor firstly has a preset distribution pressure and distribution flow value. The compressor is provided with a motor with adjustable rotating speed, an electric control pressure regulating valve (with unloading function) and an electric control flow regulating valve; the unit time exhaust amount of the air pressure can be adjusted by adjusting the rotating speed of the motor of the air compressor; the storage pressure of the storage tank of the air compressor can be controlled by adjusting the rotating speed of the motor and the pressure regulating valve, so that the value of the air outlet pressure is controlled; by adjusting the flow valve, the amount of gas that can be discharged per minute can be adjusted. After the numerical values of the required air distribution flow F2 and the air distribution pressure P2 are calculated and determined, a command is sent through the PLC 163a to control the air compressor, and the motor rotating speed, the pressure regulating valve and the flow valve are regulated in a combined mode according to the current pressure and the current flow value of the air storage tank of the air compressor, so that the air distribution flow F2 and the air distribution pressure P2 reach target values. If the output pressure of the air compressor is more than or equal to the calculated required air distribution pressure value, and the output flow value is consistent with the target air distribution flow value, the unloading valve 170 is opened to unload, so that the air storage pressure of the air compressor is reduced to the required pressure value; if the output pressure of the air compressor is more than or equal to the calculated required distribution pressure value and the output flow value is more than the target distribution flow value, opening the unloading valve 170 to unload, reducing the air storage pressure of the air compressor to the required pressure value, and regulating the flow control valve to reduce the flow; if the output pressure of the air compressor is more than or equal to the calculated required distribution pressure value and the output flow value is less than the target distribution flow value, opening the unloading valve 170 to unload, reducing the air storage pressure of the air compressor to the required pressure value, and regulating the flow control valve to increase the flow; if the output pressure of the air compressor is smaller than the calculated required distribution pressure value, and the output flow value is larger than or equal to the target distribution flow value, regulating the flow control valve to reduce the flow to the target flow; increasing the rotating speed of a motor, and adjusting the pressure regulating valve to increase the pressure to a target value; if the output pressure of the air compressor is smaller than the calculated required distribution pressure value, the output flow value is smaller than the target distribution flow value, the rotating speed of the motor is increased, the pressure of the pressure regulating valve is regulated to be increased to a target value, and the flow control valve is regulated to increase the flow to the target flow.

When the operation needs to be stopped, the unloading valve 170 is opened, the second valves 134 of the left and right opposite punches 140c and 140d are closed, the motor is stopped, the air source 121 is closed, the fifth and third valves 122 and 153 are closed when the air distribution pressure P2 of the air source 121 is zero, and finally the first valves 133 of the left and right opposite punches 140c and 140d are closed.

Example two

In particular, the operation of the left hedging 140c and the right hedging 140d of the cleaning vehicle is exemplified by the saturated gas-liquid mixing of carbon dioxide and water at the temperature of 18t and 20 ℃, and the operation process is approximately the same as that of the supersaturated gas-liquid mixing of air and water, except that the carbon dioxide has higher solubility, and the requirement of cleaning operation can be met by performing one-time gas-liquid mixing. The specific process is as follows: the standby state opens the unloading valve 170 and the other valves are all in the closed state. Given a target operating pressure P of 1.1mpa, the target operating flow F is 100L/min. After starting the operation, the PLC controller 163a gives an instruction, and the motor controller drives the motor to start rotating from rest, and simultaneously opens the second valve 134 connected to the left and right opposite-impact valves 140c and 140d, respectively, and closes the unloading valve 170. Starting the air source 121, monitoring the pressure value P2 of the second pressure sensor 162a, and when the preset air pressure is reached, calculating and determining the values of the air distribution flow F2 and the air distribution pressure P2 of the air source 121 according to the temperature value T1 detected by the first temperature sensor 161a, the target working pressure P and the flow F by using the following formula:

F2 αfγpt1=0.05100×0.355×1.120×39.05l/min, where α is the target gas saturation of carbon dioxide in the unsaturated state with a value of 0.05; f is the target working flow rate of 100L/min, gamma is the temperature compensation coefficient of 0.355 which is called by the controller, P is the target working pressure of 1.1mpa, and T1 is the gas-liquid mixing temperature of 20 ℃.

P2=βp1, β > 1, β is the valve pressure coefficient, and p2=1.5×1.1=1.65 mpa when P1 reaches the target working pressure and β takes a value of 1.5.

The fourth valve 154 and the second valve 134 of the left and right opposite punches 140c, 140d are opened, and the fifth valve 122 is opened to fill with gas. After the gas is added, the gas-liquid mixer starts to act, the flow value F1 and the pressure value P1 on the main pipeline downstream of the second mixer 151 fluctuate, and when the flow value F1 and the pressure value P1 are stable, the motor rotation speed is regulated, so that the P1 and F1 values reach the target working pressure P and the flow F.

When the operation is stopped, the unloading valve 170 is opened, the second valves 134 of the left and right opposite-flushing valves 140c and 140d are closed, the motor is stopped, the air source 121 is closed, when the air distribution pressure P2 of the air source 121 is zero, the fifth valve 122 and the third valve 153 are closed, the first valves 133 of the left and right opposite-flushing valves 140c and 140d are closed, and finally the fourth valve 154 is closed.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The foregoing is merely illustrative of specific embodiments of the present application, it should be understood that the above examples are illustrative and not to be construed as limiting the invention, and the scope of the present application is not limited thereto, but rather is intended to be included within the scope of patent protection of the present application by direct/indirect application to other related arts under the application concept of the present application, using equivalent structural transformations or substitutions made by the present specification and the accompanying drawings. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method of a cleaning system, the cleaning system including a liquid supply assembly, a gas supply assembly, a pipeline assembly, and a working assembly, the pipeline assembly respectively connecting the liquid supply assembly, the gas supply assembly, and the working assembly, the control method comprising:

determining a pipeline target parameter of the pipeline assembly when the operation assembly starts to work, wherein the pipeline target parameter comprises at least one of pipeline target pressure P and pipeline target flow F;

determining an air supply parameter of the air supply assembly, wherein the air supply parameter is determined according to the pipeline target parameter, and the air supply parameter comprises at least one of air supply pressure P2 and air supply flow F2;

and controlling the air supply assembly to supply air according to the air supply parameters.

2. The method of claim 1, wherein the determining the air supply parameters of the air supply assembly further comprises:

and determining a pipeline temperature T1 and a target gas saturation alpha of the pipeline assembly, wherein the gas supply parameter is determined according to the pipeline temperature T1, the pipeline target parameter and the target gas saturation alpha.

3. The control method of the purge system according to claim 2, wherein the line target parameters include a line target pressure P and a line target flow rate F, the line target pressure P, the line temperature T1, the target gas saturation α, and the supply gas pressure F2 satisfy: f2 =αf×s=αf×γp×t1, where γ is a temperature compensation coefficient when the pressure is unchanged and the temperature is changed.

4. The control method of a purge system according to claim 1, wherein the line target parameter includes a line target pressure P, the line target pressure P and the supply gas pressure P2 satisfy: p2=βp, wherein β >1;

or, the air supply pressure P2 is adjusted according to the current pipeline pressure P1 of the pipeline assembly, and the air supply pressure P2 and the current pipeline pressure P1 satisfy: p2=βp1, where β >1.

5. The control method of the cleaning system according to claim 1, characterized by further comprising, after controlling the air supply assembly to supply air with the air supply parameter:

determining a line current parameter of the line assembly, the line current parameter comprising at least one of a line current flow F1 and a line current pressure P1;

determining a liquid supply parameter of the liquid supply assembly, wherein the liquid supply parameter is determined according to the current parameter of the pipeline, and the liquid supply parameter comprises at least one of liquid supply pressure and liquid supply flow;

and controlling the liquid supply assembly to supply liquid according to the liquid supply parameters.

6. The control method of a cleaning system according to claim 5, wherein the liquid supply parameter includes a liquid supply pressure, the current pipeline parameter includes a current pipeline pressure P1, the liquid supply assembly includes a water pump and a power source connected to the water pump, the control method includes:

If the current pressure P1 of the pipeline is smaller than the target pressure P of the pipeline and the difference value is smaller than a first threshold value, the rotating speed of the power source is increased;

and if the current pressure P1 of the pipeline is larger than the target pressure P of the pipeline and the difference value is larger than a second threshold value, reducing the rotating speed of the power source.

7. The method of claim 1, wherein the piping assembly includes a first mixer connected to the liquid supply assembly, the gas supply assembly, and the working assembly, respectively, the piping temperature T1 and the piping target parameter being fluid parameters in a piping upstream of the first mixer;

or, the pipeline assembly comprises a first mixer and a second mixer, the second mixer is respectively connected with the liquid supply assembly, the gas supply assembly and the first mixer, the first mixer is respectively connected with the second mixer, the gas supply assembly and the operation assembly, and the pipeline temperature T1 and the pipeline target parameter are fluid parameters in a pipeline between the first mixer and the second mixer.

8. The method of claim 1, further comprising an unloading assembly coupled to the piping assembly, the method further comprising:

Before the operation assembly starts to work, a switching valve of the unloading assembly is controlled to be opened; or after the working assembly starts to work, the on-off valve of the unloading assembly is controlled to be closed; or when the operation assembly stops operation, the on-off valve of the unloading assembly is controlled to be opened, and then the on-off valve of the operation assembly is controlled to be closed.

9. A cleaning system (100), comprising:

-a liquid supply assembly (110), the liquid supply assembly (110) being for supplying liquid;

a gas supply assembly (120), the gas supply assembly (120) for supplying gas;

a pipeline assembly (130), wherein the pipeline assembly (130) is respectively connected with the liquid supply assembly (110) and the gas supply assembly (120), and the pipeline assembly (130) is used for mixing gas and liquid;

-a working assembly (140), said working assembly (140) being connected to said piping assembly (130) for spraying a cleaning medium;

a control assembly (160), the control assembly (160) being configured to perform the steps of the control method according to any one of claims 1-8.

10. The cleaning system (100) of claim 9, wherein the conduit assembly (130) comprises:

-a first mixer (131), the first mixer (131) being connected to the working assembly (140);

-a first valve group (132), the first valve group (132) being connected to the liquid supply assembly (110), the gas supply assembly (120) and the pipe assembly (130), respectively, the first valve group (132) being configured to regulate the on-off between the liquid supply assembly (110) and the pipe assembly (130) and/or between the gas supply assembly (120) and the pipe assembly (130).

11. The cleaning system (100) of claim 10, wherein the working assembly (140) includes a plurality, the first mixer (131) includes a plurality, the plurality of first mixers (131) respectively correspond to the plurality of working assemblies (140), and the first mixers (131) are connected to the corresponding working assemblies (140).

12. The cleaning system (100) of claim 10, wherein the conduit assembly (130) further comprises:

-a premixing assembly (150), the premixing assembly (150) being connected to the liquid supply assembly (110), the gas supply assembly (120) and the first mixer (131), respectively.

13. The washing system (100) of claim 12, wherein the pre-mixing assembly (150) comprises:

-a second mixer (151), the second mixer (151) being connected to the first mixer (131);

The second valve group comprises a third valve (153) and a fourth valve (154), the third valve (153) is connected between the air supply assembly (120) and the second mixer (151), the fourth valve (154) is connected between the liquid supply assembly (110) and the first mixer (131), and the fourth valve (154) is connected with the second mixer (151) in parallel.

14. The cleaning system (100) of claim 9, wherein the control assembly (160) includes a first sensor (161), a second sensor (162), and a controller (163), the first sensor (161) configured to detect pressure, flow, and/or temperature of the conduit assembly (130), the second sensor (162) configured to detect pressure and/or flow at an outlet of the air supply assembly (120), and the controller (163) in signal communication with the first sensor (161), the second sensor (162), and the liquid supply assembly (110), respectively.

15. A cleaning vehicle, comprising:

a vehicle body (180);

the washing system (100) according to any one of claims 9-14, the washing system (100) being mounted on the vehicle body (180).