Wall washing device, control method for wall washing device, controller, and wall washing vehicle

Abstract

A control method for a wall washing device comprises: detecting a first measurement value of a distance between a brush (3) and a wall surface by means of brush ranging sensors (51, 52); and comparing the first measurement value with a first upper limit value and a second lower limit value according to the first upper limit value and a first lower limit value of a range of the distance between the brush (3) in normal operation and the wall surface, and controlling a moving platform (4) according to the comparing result. Also provided are a controller for implementing the control method, a wall washing device, and a wall washing vehicle comprising the wall washing device.

Description

technical field [0001] The present invention relates to the field of special vehicles, in particular to a control method for a wall washer, a controller for realizing the control method, a wall washer including the controller, and a wall washer. Background technique [0002] The wall washing vehicle is a special vehicle used for wall cleaning, especially suitable for cleaning the walls of expressway tunnels, river-crossing tunnels and road noise screens. [0003] The wall washing vehicle includes a wall washing device, the wall washing device is arranged on the sub-frame, and the sub-frame is arranged on the chassis of the car. The wall washing device usually includes scrubbing, a scrubbing frame, a scrubbing arm, a swivel seat, a control device and a water supply device for controlling the movement of the scrubbing arm. Wherein, the scrubbing arm is installed on the slewing seat, and the control device is connected with the scrubbing arm to control the stretching and pitch...

AI Technical Summary

Problems solved by technology

The driver can judge the distance between the wall washer and the wall through the detection structure of the sensor, so as to avoid the distance between the wall washer and the wall being too close or too far to exceed the adjustment range of the telescoping or pitching of the scrubbing arm. As a result, the scrubbing cannot maintain the correct posture

[0006] However, the above-mentioned wall washing device judges the distance between the wall surface and the scrubbing by manual visual inspection. This operation mode is greatly affected by human factors and has great uncertainty, and the operator's sense of responsibility and skilled operation degree, etc. may affect the cleaning work

[0007] The sensor used to detect the distance between the wall washer and the wall, its detection results are often affected by environmental factors such as the state of the wall, cleaning water mist and wind speed, resulting in distortion of the detection data

Moreover, the sensor is relatively far away from the washing distance in the longitudinal direction of the wall washing vehicle. When the wall washing vehicle drives to a curve, it often leads to a large deviation between the measurement result and the actual distance, and cannot be used to guide the cleaning operation.

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