A pure suction type cleaning vehicle and a control method, device and storage medium thereof

Abstract

This invention provides a pure suction vacuum truck and its control method, device, and storage medium, relating to the technical field of pure suction vacuum trucks. The control method includes steps S1 to S4. S1: Determine the location of trash in front of the vacuum truck based on images captured by a camera and detection signals from radar. S2: Determine whether the trash location is within the suction area. S3: When the trash location is determined to be within the suction area, obtain the trash distribution in four zones (A, B, C, D) based on the trash location. S4: Based on the trash distribution, move the suction nozzle to one of the five suction stations (A, B, C, D, E) to position the nozzle symmetrically according to the trash distribution. The vacuum truck using this control method can adaptively adjust the position of the suction nozzle in the width direction of the vehicle body according to the distribution of trash on the road, ensuring that trash is sucked up without needing to drastically increase the suction volume, effectively improving the overall energy efficiency of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of pure suction vacuum cleaner technology, and more specifically, to a pure suction vacuum cleaner and its control method, device and storage medium. Background Technology

[0002] A vacuum cleaner truck is a new type of sanitation vehicle used for road cleaning. It is commonly used in arid and water-scarce areas or on highways. Instead of the traditional disc brush cleaning method, it uses a pure negative pressure direct suction principle to collect road debris.

[0003] Vacuum cleaners can effectively remove dust, sand, pebbles, leaves, and household garbage from the road surface, with a cleaning efficiency of over 99%. Currently, vacuum cleaners are equipped with specialized exhaust fans, which generally have high power, resulting in high power consumption.

[0004] Energy loss in the pneumatic transmission system of a vacuum sweeper is a significant factor affecting its working efficiency. Research on the impact of the pneumatic transmission system on cleaning efficiency typically focuses on the suction port. The ground clearance of the suction port is a key factor affecting sweeper efficiency, leading most solutions to adjust it. However, this approach rarely achieves optimal efficiency. Excessively lowering the suction port height reduces its suction range, resulting in wasted fan energy. Furthermore, the uneven road surface during sweeper movement makes controlling ground clearance difficult and fails to adequately handle various complex road conditions.

[0005] In view of this, the applicant hereby submits this application after studying the existing technology. Summary of the Invention

[0006] The present invention provides a pure suction vacuum cleaner vehicle and its control method, device and storage medium to improve at least one of the above-mentioned technical problems.

[0007] First aspect

[0008] This invention provides a pure suction vacuum truck, which includes a vehicle body, a garbage identification device, a vacuuming device, and a control device.

[0009] The vehicle is equipped with a trash can.

[0010] The waste detection device includes a camera and radar mounted on the vehicle body. The camera captures images of the road surface in front of the vehicle. The radar detects debris on the road surface in front of the vehicle. The suction area in front of the vehicle body is divided into four suction zones (A, B, C, and D) along the width of the vehicle.

[0011] The vacuuming device includes a vacuum base disposed at the bottom of the vehicle body, a movable nozzle disposed on the vacuum base, and a lateral telescopic member connecting the vacuum base and the nozzle. The nozzle is connected to the lateral telescopic member of the trash can and is configured to drive the nozzle to move between five vacuuming stations (a, b, c, d, e) arranged along the width direction of the vehicle body.

[0012] Four vacuuming zones, A, B, C, and D, are arranged sequentially along the width of the vehicle body. Vacuuming station a is located between vacuuming zones B and C. Vacuuming station b is located between vacuuming zones A and B. Vacuuming station c is located between vacuuming zones C and D. Vacuuming station d is located in the middle of vacuuming zone B. Vacuuming station e is located in the middle of vacuuming zone C.

[0013] The control device is electrically connected to the camera, radar, and lateral telescopic component. The control device includes a processor and a memory. The processor is configured to execute a computer program stored in the memory to perform steps S1 to S4.

[0014] S1. Determine the location of the garbage in front of the vacuum truck based on the footage captured by the camera and the detection signal from the radar.

[0015] S2. Determine whether the garbage is located within the vacuuming area.

[0016] S3. When it is determined that the garbage location is within the dust collection area, obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location.

[0017] S4. Based on the distribution of the waste, move the suction nozzle to one of the five vacuuming stations (abcde) to position the nozzle symmetrically according to the waste distribution.

[0018] The second aspect

[0019] This invention provides a control method for a pure suction vacuum cleaner, which includes steps S1 to S4.

[0020] S1. Determine the location of the garbage in front of the vacuum truck based on the footage captured by the camera and the detection signal from the radar.

[0021] S2. Determine whether the garbage is located within the vacuuming area.

[0022] S3. When it is determined that the garbage location is within the dust collection area, obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location.

[0023] S4. Based on the distribution of the waste, move the suction nozzle to one of the five vacuuming stations (abcde) to position the nozzle symmetrically according to the waste distribution.

[0024] Third aspect

[0025] This invention provides a control device for a pure suction vacuum cleaner cart, comprising:

[0026] The garbage location detection module is used to determine the location of garbage in front of the vacuum truck based on images captured by the camera and detection signals from the radar.

[0027] The first distribution judgment module is used to determine whether the garbage location is within the dust collection area.

[0028] The second distribution judgment module is used to obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location when the garbage location is determined to be within the dust collection area.

[0029] The nozzle position adjustment module is used to move the nozzle to one of the five vacuuming stations (abcde) according to the distribution of waste, so that the nozzle is in a symmetrical position according to the distribution of waste.

[0030] Fourth aspect

[0031] This invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the pure suction vacuum cleaner as described in any paragraph of the second aspect.

[0032] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0033] The pure suction vacuum truck of this invention can adaptively adjust the position of the suction nozzle in the width direction of the vehicle body according to the distribution of garbage on the road, thereby ensuring that the garbage on the road is sucked up without simply increasing the suction volume, effectively improving the energy efficiency of the whole vehicle, which has great practical significance. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a side view of a pure suction vacuum cleaner truck.

[0036] Figure 2 This is a diagram showing the location of the suction nozzle and the cleaning range of the vacuum cleaner.

[0037] Figure 3 It is an isometric drawing of a vacuum cleaner.

[0038] Figure 4 This is a bottom view of the vacuum cleaner.

[0039] Figure 5 This is a flowchart illustrating the control method.

[0040] Figure 6 This is a schematic diagram of the control device.

[0041] The markings in the diagram are: 1-Camera, 2-Radar, 3-Exhaust fan, 4-Motor, 5-Trash can, 6-Vacuum holder, 7-Horizontal telescopic component, 8-Wind speed sensor, 9-Nose. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0043] Example 1

[0044] Please see Figures 1 to 5 The first embodiment of the present invention provides a pure suction vacuum truck, which includes a vehicle body with a garbage bin 5, a garbage identification device, a vacuuming device and a control device.

[0045] The waste identification device includes a camera 1 and a radar 2 mounted on the vehicle body. Camera 1 captures images of the road surface in front of the vehicle. Radar 2 detects waste on the road surface in front of the vehicle. The vacuuming area in front of the vehicle body is divided into four vacuuming zones (A, B, C, and D) along the width of the vehicle.

[0046] The vacuuming device includes a vacuum seat 6 disposed at the bottom of the vehicle body, a movable nozzle 9 disposed at the vacuum seat 6, and a lateral telescopic member 7 connecting the vacuum seat 6 and the nozzle 9. The nozzle 9 is connected to the lateral telescopic member 7 of the trash can 5 and is configured to drive the nozzle 9 to move between five vacuuming stations (a, b, c, d, e) arranged along the width direction of the vehicle body.

[0047] Four vacuuming zones, A, B, C, and D, are arranged sequentially along the width of the vehicle body. Vacuuming station a is located between vacuuming zones B and C. Vacuuming station b is located between vacuuming zones A and B. Vacuuming station c is located between vacuuming zones C and D. Vacuuming station d is located in the middle of vacuuming zone B. Vacuuming station e is located in the middle of vacuuming zone C.

[0048] Specifically, the suction nozzle 9 of the pure suction vacuum truck in this embodiment of the invention can move in the width direction of the truck, thereby adjusting according to the distribution of garbage and greatly improving the garbage adsorption efficiency.

[0049] Preferably, camera 1 is installed in the middle of the control panel in the cab of the sweeper truck, and radar 2 is installed on the roof of the cab.

[0050] like Figure 1 As shown, based on the above embodiments, in an optional embodiment of the present invention, the vacuuming device further includes a wind speed sensor 8 disposed on the suction nozzle 9, an exhaust fan 3 connected to the dustbin 5, and a motor 4 connected to the exhaust fan 3. The motor 4 and the wind speed sensor 8 are electrically connected to the control device.

[0051] Specifically, the blower extracts gas from the trash can 5, creating a negative pressure, which in turn creates an airflow at the suction nozzle 9 that flows into the trash can 5. The wind speed sensor 8 monitors the airflow velocity at the suction nozzle 9. Preferably, the motor 4 and the blower 3 are connected by a V-belt.

[0052] like Figure 3 As shown, based on the above embodiments, in an optional embodiment of the present invention, the lateral telescopic member 7 is a lateral hydraulic cylinder. The dust collection device also includes a first electromagnetic directional valve engaged with the lateral hydraulic cylinder. The first electromagnetic directional valve is electrically connected to a control device to control the telescopic movement of the lateral hydraulic cylinder.

[0053] Specifically, the vacuuming device also includes a position switch and / or a distance sensor disposed on the vacuum base 6 to detect the position of the suction nozzle 9. In other embodiments, the lateral telescopic member 7 may adopt a structure such as a linear motor 4, and the present invention does not specifically limit it in this regard.

[0054] Preferably, the vacuum cleaner seat 6 is movably mounted on the bottom of the vehicle body via a linkage structure and / or a guide rod structure. The vacuuming device also includes a longitudinal telescopic member engaged between the bottom of the vehicle body and the vacuum cleaner seat 6, which drives the vacuum cleaner seat 6 to move vertically. Furthermore, the vacuum cleaner seat 6 is equipped with wheels capable of rolling on the road surface.

[0055] Specifically, when the vacuum truck is ready to work, the suction nozzle is lowered to maintain a certain ground clearance, and the camera and radar start working. The control device processes the acquired information, obtaining information such as the location, type, and diameter of the garbage on the road. Then, based on this information, it drives the suction nozzle to move and adjusts the motor speed, so that the airflow acts on the garbage under the truck to the greatest extent, greatly improving work efficiency and reducing energy consumption.

[0056] When the cleaning operation is complete, the lateral telescopic component retracts, and the suction hose returns to its starting position. The longitudinal hydraulic cylinder retracts, and the vacuum seat rises. The camera and radar cease operation.

[0057] like Figure 4 As shown, based on the above embodiments, in an optional embodiment of the present invention, the vacuum cleaner base 6 is provided with an open-hole vacuuming device, which further includes a slidable slide plate disposed on the vacuum cleaner base 6; the slide plate and the vacuum cleaner base 6 are sealed and slidably connected; the suction nozzle 9 is located at the open-hole and disposed on the slide plate. When the suction nozzle 9 moves, it moves along with the slide plate, thereby achieving sealed movement on the vacuum cleaner base 6.

[0058] In this embodiment, the control device is electrically connected to the camera, radar, and lateral telescopic member. The control device includes a processor and a memory. The processor is configured to execute a computer program stored in the memory to implement steps S1 to S4.

[0059] S1. Determine the location of the garbage in front of the vacuum truck based on the footage captured by the camera and the detection signal from the radar.

[0060] Specifically, detecting the location of trash in front of a vehicle using cameras and radar is existing technology. For example, it is disclosed in publication number CN111458721A, entitled "A Method, Device, and System for Identifying and Locating Exposed Trash." This invention does not specifically limit this method, nor will it elaborate on its specific implementation.

[0061] S2. Determine whether the garbage is located within the vacuuming area.

[0062] Specifically, such as Figure 2 As shown, the vacuuming area of ​​the vacuum truck is the area covered by the width of the vehicle. In this invention, this area is divided into four equal regions, A, B, C, and D, along the width of the vehicle. First, it is determined whether the trash in front of the vehicle has fallen into the vacuuming area. Only if it has fallen into the vacuuming area is the subsequent step performed to suck it up.

[0063] S3. When it is determined that the garbage location is within the dust collection area, obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location.

[0064] Specifically, the distribution of garbage refers to whether there is garbage in the dust collection area.

[0065] S4. Based on the distribution of the waste, move the suction nozzle to one of the five vacuuming stations (abcde) to position the nozzle symmetrically according to the waste distribution.

[0066] Specifically, in this embodiment of the invention, the position of the suction nozzle is adjusted in real time according to the distribution of garbage in front of the vehicle, so that when the vehicle passes over the garbage, the suction nozzle has a sufficiently strong suction force to suck it away. This effectively solves the problem of insufficient suction force caused by uneven distribution of garbage on the road surface.

[0067] like Figure 2 As shown, based on the above embodiments, in an optional embodiment of the present invention, step S4 specifically includes steps S41 to S47.

[0068] S41. When it is determined that there is debris only in vacuuming areas A and B, control the horizontal telescopic component to drive the nozzle to vacuuming station b.

[0069] S42. When it is determined that there is debris only in vacuuming areas A, B and C, or only in vacuuming areas A and C, control the horizontal telescopic component to drive the nozzle to the vacuuming station d.

[0070] S43. When it is determined that there is debris only in the vacuuming areas C and D, control the horizontal telescopic component to drive the nozzle to the vacuuming station C.

[0071] S44. When it is determined that there is debris only in vacuuming areas B, C and D, or only in vacuuming areas B and D, control the horizontal telescopic component to drive the nozzle to vacuuming station e.

[0072] S45. When it is determined that there is debris only in the vacuuming areas A, C and D, control the horizontal telescopic component to drive the nozzle to the vacuuming station e.

[0073] S46. When it is determined that there is debris only in vacuuming areas A, B and D, control the horizontal telescopic component to drive the nozzle to vacuuming station d.

[0074] S47. When the garbage distribution is determined to be other, control the horizontal telescopic component to drive the suction nozzle to the dust collection station a.

[0075] Specifically, the system identifies the location of litter on the road. Then, it adjusts the suction nozzle position based on this location, ensuring that the nozzle maintains a consistently strong suction force during normal operation. This effectively solves the problem of incomplete cleaning of litter at the suction nozzle due to uneven litter distribution.

[0076] Based on the above embodiments, in an optional embodiment of the present invention, the pure suction vacuum truck further includes a reminder device disposed in the driver's cab. A control device is electrically connected to the reminder device. Preferably, the reminder device is a horn and / or indicator light and / or display screen. Specifically, the control device is also used to implement step S5.

[0077] S5. When it is determined that the garbage is outside the dust collection area, the garbage location control reminder device will remind the driver to drive to the right or to the left.

[0078] Based on the above embodiments, in an optional embodiment of the present invention, step S5 specifically includes steps S51 to S52.

[0079] S51. When it is determined that the garbage is located on the left side of the vacuuming area A, the control reminder device reminds the driver to drive to the left.

[0080] S52. When it is determined that the garbage is located on the right side of the vacuuming area D, the control reminder device reminds the driver to drive to the left.

[0081] Specifically, sometimes there is no trash in front of the vacuum truck, but trash is on its left or right front. In this case, the location of the trash can be indicated to the driver, helping them to spot it promptly and determine whether to move the vehicle to the left or right.

[0082] Based on the above embodiments, in an optional embodiment of the present invention, the control device is further used to implement steps S6 to S9.

[0083] S6. Identify the litter based on the images captured by the camera and obtain the equivalent diameter of the litter. and density .

[0084] Specifically, based on the images captured by the camera, the type of waste and its length in various directions are identified. This is existing technology and will not be elaborated upon here. After identifying the type of waste, its density information can be retrieved from the existing data in the database.

[0085] It should be noted that not all waste is circular in shape, therefore, adjustments to its shape are necessary to compensate for this. In this embodiment, the correction factor is defined as... ,but In the formula, Take the largest diameter of the waste. In the formula, For the surface area of ​​waste A0 is the surface area of ​​a sphere of the same volume.

[0086] S7. Obtain the starting speed of the waste based on the equivalent diameter and density. .

[0087] Specifically, the starting speed is the minimum gas flow rate when the suction nozzle picks up the waste. Based on the above embodiments, in an optional embodiment of the present invention, step S7 specifically includes steps S71 to S73.

[0088] S71. Determine whether the equivalent diameter is greater than 10mm.

[0089] Specifically, the formula for calculating the equivalent diameter of standard spherical waste is: .

[0090] S72. When the equivalent diameter is greater than 10mm, obtain the starting speed of the waste based on the equivalent diameter and density. .in, In the formula, This is an empirical coefficient. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the waste.

[0091] Specifically,

[0092] S73. When the equivalent diameter is less than 10mm, obtain the starting speed of the waste based on the equivalent diameter and density. .in, In the formula, It is a constant. Let Reynolds coefficient be the gas. The diameter of the suction nozzle. The equivalent diameter of the waste. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the identified waste.

[0093] Specifically, the empirical coefficient and constant The calculations used are all existing technologies, and will not be elaborated upon in this invention. In this embodiment, the maximum value among various objects is taken, i.e., m = 1.1215, n = 0.0428. This ensures that the calculated starting speed can pick up any type of garbage under any working condition.

[0094] It's understandable that different types of trash require different suction levels. The required wind speed and pressure are determined by the fan, and the fan speed affects the wind speed and pressure. By using cameras to identify trash on the road, the fan selects the type of trash with the highest required suction for subsequent calculations.

[0095] S8. Obtain the target speed of the motor based on the starting speed.

[0096] Specifically, the fan is driven by a motor, and the suction force of the nozzle is adjusted by controlling the motor. Based on the above embodiments, in an optional embodiment of the present invention, step S8 specifically includes steps S81 to S84.

[0097] S81, based on starting speed Obtain the target wind speed at the nozzle. .in, .

[0098] Specifically, the airflow velocity at the suction nozzle must be slightly greater than the starting speed required to lift the debris, in order to ensure effective suction. In this embodiment, an empirical value of 1.2 times is used to guarantee the suction force. In other embodiments, other empirical values ​​may be used, and this invention does not impose specific limitations on them.

[0099] Preferably, step S80 is included before step S81. S80: Obtain the distance between the garbage and the suction nozzle in the vehicle width direction, query the pre-stored suction force distribution of the suction nozzle based on the distance, and update the starting speed accordingly. The suction force distribution of the suction nozzle refers to the pre-measured suction force received by the nozzle at different distances under various suction conditions.

[0100] Specifically, when a vacuum cleaner moves forward, the debris may not be directly in front of the suction nozzle. Therefore, by pre-measuring and storing the suction distribution of the nozzle in memory, the starting speed required at the nozzle to lift the debris from its location can be determined, ensuring that all the debris can be sucked up. This has significant practical implications.

[0101] S82, based on target wind speed Obtain the target air volume of the exhaust fan. .in, In the formula, The target wind speed at the suction nozzle. For the nozzle area, To reduce airflow during transmission, This refers to the air volume of the exhaust fan.

[0102] In this embodiment, In other embodiments, transmission losses can be set according to actual conditions, and the present invention does not impose specific limitations on this. It is understood that if the duct is perfectly straight, the airflow loss is negligible. If the duct has bends, the airflow will be lost by approximately 10% after passing through the bends.

[0103] S83, Based on the target exhaust volume Obtain the target speed of the exhaust fan. .in, In the formula, It is a constant. This refers to the effective force-bearing area of ​​the exhaust fan impeller. The average radius of force application. For the efficiency of the exhaust fan.

[0104] Specifically, a = 159.2. The specific empirical calculation process is existing technology and will not be elaborated here in this invention.

[0105] S84, Based on the target speed of the exhaust fan Obtain the target speed of the motor .in, In the formula, For slip ratio, The diameter of the motor pulley groove. The diameter of the exhaust fan pulley groove. This is the target speed of the motor.

[0106] S9 controls the target speed of the motor output.

[0107] Specifically, when the target motor speed is higher than the current speed, the motor speed needs to be increased to ensure suction. When the target motor speed is lower than the current speed, the motor speed can be appropriately reduced to save energy.

[0108] This invention, based on information such as the distribution, type, and size of litter on the road, adjusts the position and suction power of the suction nozzle to maintain a reasonable motor speed, thereby reducing energy consumption. This avoids situations where small amounts of litter result in consistently high energy consumption, ultimately achieving both good cleaning results and reduced energy consumption, while also enhancing the intelligence of the sweeper.

[0109] The vacuum cleaner is easy to operate and highly intelligent. Based on camera and radar detection of road debris, it can set the starting speed, motor speed, and fan speed for different types, sizes, and locations of debris. The position of the suction nozzle is adjusted via a lateral telescopic component, overcoming the drawback of traditional sweepers that cannot adjust the suction hose in real-time according to road conditions. This ensures the suction nozzle consistently receives ideal airflow speed and static pressure during cleaning, guaranteeing high cleaning efficiency. A wind speed sensor monitors the airflow speed at the suction nozzle, allowing for real-time correction of suction power. Airflow standard values ​​are set to check the ideality of the suction hose position adjustment.

[0110] Example 2

[0111] like Figure 5 As shown, an embodiment of the present invention provides a control method for a pure suction vacuum cleaner, which includes steps S1 to S4.

[0112] S1. Determine the location of the garbage in front of the vacuum truck based on the footage captured by the camera and the detection signal from the radar.

[0113] S2. Determine whether the garbage is located within the vacuuming area.

[0114] S3. When it is determined that the garbage location is within the dust collection area, obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location.

[0115] S4. Based on the distribution of the waste, move the suction nozzle to one of the five vacuuming stations (abcde) to position the nozzle symmetrically according to the waste distribution.

[0116] In an optional embodiment, step S4 specifically includes steps S41 to S47.

[0117] S41. When it is determined that there is debris only in vacuuming areas A and B, control the horizontal telescopic component to drive the nozzle to vacuuming station b.

[0118] S42. When it is determined that there is debris only in vacuuming areas A, B and C, or only in vacuuming areas A and C, control the horizontal telescopic component to drive the nozzle to the vacuuming station d.

[0119] S43. When it is determined that there is debris only in the vacuuming areas C and D, control the horizontal telescopic component to drive the nozzle to the vacuuming station C.

[0120] S44. When it is determined that there is debris only in vacuuming areas B, C and D, or only in vacuuming areas B and D, control the horizontal telescopic component to drive the nozzle to vacuuming station e.

[0121] S45. When it is determined that there is debris only in the vacuuming areas A, C and D, control the horizontal telescopic component to drive the nozzle to the vacuuming station e.

[0122] S46. When it is determined that there is debris only in vacuuming areas A, B and D, control the horizontal telescopic component to drive the nozzle to vacuuming station d.

[0123] S47. When the garbage distribution is determined to be other, control the horizontal telescopic component to drive the suction nozzle to the dust collection station a.

[0124] In an optional embodiment, the control method further includes step S5.

[0125] S5. When it is determined that the garbage is outside the dust collection area, the garbage location control reminder device will remind the driver to drive to the right or to the left.

[0126] In an optional embodiment, step S5 specifically includes steps S51 to S52.

[0127] S51. When it is determined that the garbage is located on the left side of the vacuuming area A, the control reminder device reminds the driver to drive to the left.

[0128] S52. When it is determined that the garbage is located on the right side of the vacuuming area D, the control reminder device reminds the driver to drive to the left.

[0129] In an optional embodiment, the control method further includes steps S6 to S9.

[0130] S6. Identify the litter based on the images captured by the camera and obtain the equivalent diameter of the litter. and density .

[0131] S7. Obtain the starting speed of the waste based on the equivalent diameter and density. .

[0132] S8. Obtain the target speed of the motor based on the starting speed.

[0133] S9 controls the target speed of the motor output.

[0134] In an optional embodiment, step S7 specifically includes steps S71 to S73.

[0135] S71. Determine whether the equivalent diameter is greater than 10mm.

[0136] S72. When the equivalent diameter is greater than 10mm, obtain the starting speed of the waste based on the equivalent diameter and density. .in, In the formula, This is an empirical coefficient. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the waste.

[0137] S73. When the equivalent diameter is less than 10mm, obtain the starting speed of the waste based on the equivalent diameter and density. .in, In the formula, It is a constant. Let Reynolds coefficient be the gas. The diameter of the suction nozzle. The equivalent diameter of the waste. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the identified waste.

[0138] In an optional embodiment, step S8 specifically includes steps S81 to S84.

[0139] S81, based on starting speed Obtain the target wind speed at the nozzle. .in, .

[0140] S82, based on target wind speed Obtain the target air volume of the exhaust fan. .in, In the formula, The target wind speed at the suction nozzle. For the nozzle area, To reduce airflow during transmission, This refers to the air volume of the exhaust fan.

[0141] S83, Based on the target exhaust volume Obtain the target speed of the exhaust fan. .in, In the formula, It is a constant. This refers to the effective force-bearing area of ​​the exhaust fan impeller. The average radius of force application. For the efficiency of the exhaust fan.

[0142] S84, Based on the target speed of the exhaust fan Obtain the target speed of the motor .in, In the formula, For slip ratio, The diameter of the motor pulley groove. The diameter of the exhaust fan pulley groove. This is the target speed of the motor.

[0143] Example 3

[0144] like Figure 6 As shown, an embodiment of the present invention provides a control device for a pure suction vacuum cleaner cart, which includes:

[0145] The garbage location detection module 100 is used to determine the location of garbage in front of the vacuum truck based on the images captured by the camera and the detection signals from the radar.

[0146] The first distribution judgment module 200 is used to determine whether the garbage location is within the dust collection area.

[0147] The second distribution judgment module 300 is used to obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location when it is determined that the garbage location is within the dust collection area.

[0148] The nozzle position adjustment module 400 is used to move the nozzle to one of the five vacuuming stations (abcde) according to the distribution of waste, so that the nozzle is in a symmetrical position according to the distribution of waste.

[0149] In an optional embodiment, the nozzle position adjustment module 400 specifically includes:

[0150] The first distribution judgment unit is used to control the horizontal telescopic component to drive the nozzle to the suction station b when it is determined that there is garbage only in the suction areas A and B.

[0151] The second distribution judgment unit is used to control the horizontal telescopic component to drive the nozzle to the suction station d when it is determined that there is garbage only in suction areas A, B and C, or only in suction areas A and C.

[0152] The third distribution judgment unit is used to control the horizontal telescopic component to drive the nozzle to the suction station c when it is determined that there is garbage only in the suction areas C and D.

[0153] The fourth distribution judgment unit is used to control the horizontal telescopic component to drive the nozzle to the suction station e when it is determined that there is garbage only in suction areas B, C and D, or only in suction areas B and D.

[0154] The fifth distribution judgment unit is used to control the horizontal telescopic component to drive the suction nozzle to the suction station e when it is determined that there is garbage only in the suction areas A, C and D.

[0155] The sixth distribution judgment unit is used to control the horizontal telescopic component to drive the suction nozzle to the suction station d when it is determined that there is garbage only in the suction areas A, B and D.

[0156] The seventh distribution judgment unit is used to control the horizontal telescopic component to drive the suction nozzle to the dust collection station a when the garbage distribution is judged to be other.

[0157] In an optional embodiment, the control device further includes a route reminder module:

[0158] The driving path reminder module is used to remind the driver to drive to the right or left when the garbage is detected to be outside the dust collection area.

[0159] In an optional embodiment, the route reminder module specifically includes:

[0160] The left-hand reminder unit is used to control the reminder device to remind the driver to drive to the left when it is determined that the garbage is located on the left side of the vacuuming area A.

[0161] The right-hand reminder unit is used to control the reminder device to remind the driver to drive to the left when it is determined that the garbage is located on the right side of the dust collection area D.

[0162] In an optional embodiment, the control device further includes:

[0163] The waste information acquisition module is used to identify waste based on images captured by the camera and to obtain the equivalent diameter of the waste. and density .

[0164] The starting speed calculation module is used to obtain the starting speed of the waste based on its equivalent diameter and density. .

[0165] The target speed calculation module is used to obtain the target speed of the motor based on the starting speed.

[0166] The target speed calculation module is used to control the motor to output the target speed.

[0167] In an optional embodiment, the starting speed calculation module specifically includes:

[0168] The waste diameter determination unit is used to determine whether the equivalent diameter is greater than 10mm.

[0169] The first starting speed calculation unit is used to obtain the starting speed of the waste based on the equivalent diameter and density when the equivalent diameter is greater than 10mm. .in, In the formula, This is an empirical coefficient. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the waste.

[0170] The second starting speed calculation unit is used to obtain the starting speed of the waste based on the equivalent diameter and density when the equivalent diameter is less than 10mm. .in, In the formula, It is a constant. Let Reynolds coefficient be the gas. The diameter of the suction nozzle. The equivalent diameter of the waste. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the identified waste.

[0171] In an optional embodiment, the target rotational speed calculation module specifically includes:

[0172] The target wind speed calculation unit is used to calculate the starting speed. Obtain the target wind speed at the nozzle. .in, .

[0173] The target exhaust volume calculation unit is used to calculate the target airflow rate. Obtain the target air volume of the exhaust fan. .in, In the formula, The target wind speed at the suction nozzle. The area of ​​the suction nozzle. To reduce airflow during transmission, This refers to the air volume of the exhaust fan.

[0174] The fan speed calculation unit is used to calculate the target air volume. Obtain the target speed of the exhaust fan .in, In the formula, It is a constant. This refers to the effective force-bearing area of ​​the exhaust fan impeller. The average radius of force application. For the efficiency of the exhaust fan.

[0175] The motor speed calculation unit is used to calculate the target speed of the exhaust fan. Obtain the target speed of the motor .in, In the formula, For slip ratio, The diameter of the motor pulley groove. The diameter of the exhaust fan pulley groove. This is the target speed of the motor.

[0176] Example 4

[0177] This invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the pure suction vacuum cleaner as described in any paragraph of Embodiment 2.

[0178] In the several embodiments provided in this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0179] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0180] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0181] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0182] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0183] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0184] The use of "first" and "second" in the embodiments is merely to distinguish similar objects and does not represent a specific ordering of objects. It is understood that "first" and "second" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate so that the embodiments described herein can be implemented in an order other than those illustrated or described herein.

[0185] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pure suction vacuum cleaner cart, characterized in that, Include: The vehicle body is equipped with a trash can; The waste identification device includes a camera and radar mounted on the vehicle body; the camera is used to capture images of the road surface in front of the vehicle. The radar is used to detect debris on the road in front of the vehicle; the vacuuming area in front of the vehicle body is divided into four vacuuming zones, A, B, C, and D, along the width of the vehicle. The vacuuming device includes a vacuuming base disposed at the bottom of the vehicle body, a movable nozzle disposed at the vacuuming base, and a lateral telescopic member connecting the vacuuming base and the nozzle; the nozzle is connected to a trash can; the lateral telescopic member is configured to drive the nozzle to move between five vacuuming stations abcde arranged along the width of the vehicle body. Four vacuuming zones, A, B, C, and D, are arranged sequentially along the width of the vehicle body; vacuuming station a is located between vacuuming zones B and C; vacuuming station b is located between vacuuming zones A and B; vacuuming station c is located between vacuuming zones C and D; vacuuming station d is located in the middle of vacuuming zone B; and vacuuming station e is located in the middle of vacuuming zone C. A control unit, electrically connected to the camera, radar, and lateral telescopic component; the control unit includes a processor and a memory; the processor is configured to execute a computer program stored in the memory to achieve: The location of the garbage in front of the vacuum truck is determined based on the footage captured by the camera and the detection signals from the radar. Determine if the trash is located within the vacuuming area; When the garbage location is determined to be within the dust collection area, the garbage distribution in the four areas A, B, C, and D is obtained based on the garbage location; Based on the distribution of waste, move the suction nozzle to one of the five vacuuming stations (a, b, c, d, e) to position the nozzle symmetrically within the waste distribution area. The vacuuming device also includes a wind speed sensor configured on the suction nozzle, a blower connected to the dustbin, and a motor connected to the blower; the motor and the wind speed sensor are electrically connected to the control device respectively. The control device is also used for: The system identifies litter based on images captured by cameras and obtains the equivalent diameter of the litter. and density ; The starting speed of the waste is obtained based on its equivalent diameter and density. ; The target speed of the motor is obtained based on the starting speed; Control the motor output to the target speed; The starting speed of the waste is obtained, specifically including: Determine if the equivalent diameter is greater than 10mm; When the equivalent diameter is greater than 10mm, the starting speed of the waste is obtained based on the equivalent diameter and density. ;in, In the formula, This is an empirical coefficient. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the waste; When the equivalent diameter is less than 10mm, the starting speed of the waste is obtained based on the equivalent diameter and density. ;in, In the formula, It is a constant. Let Reynolds coefficient be the gas. The diameter of the suction nozzle. The equivalent diameter of the waste. For the density of garbage, For the density of air, It is the gravitational constant. The equivalent diameter of the identified waste; Obtaining the target speed of the motor specifically includes: Based on starting speed Obtain the target wind speed at the nozzle. ;in, ; Based on the target wind speed Obtain the target air volume of the exhaust fan. ;in, In the formula, The target wind speed at the suction nozzle. The area of ​​the suction nozzle. To reduce airflow during transmission, This refers to the air volume of the exhaust fan; Based on the target exhaust volume Obtain the target speed of the exhaust fan ;in, In the formula, It is a constant. This refers to the effective force-bearing area of ​​the exhaust fan impeller. The average radius of force application. For the efficiency of the exhaust fan; Based on the target speed of the exhaust fan Obtain the target speed of the motor ;in, In the formula, For slip ratio, The diameter of the motor pulley groove. The diameter of the exhaust fan pulley groove. This is the target speed of the motor.

2. The pure suction vacuum cleaner cart according to claim 1, characterized in that, The pure suction vacuum truck also includes a reminder device located in the driver's cab; the control device is electrically connected to the reminder device; The control device is also used for: When the location of the trash is determined to be outside the dust collection area, the reminder device is controlled according to the location of the trash to remind the driver to drive to the right or to the left.

3. The pure suction vacuum cleaner cart according to claim 2, characterized in that, The reminder device is a horn and / or an indicator light and / or a display screen; When the location of the trash is determined to be outside the vacuuming area, the alerting device is controlled according to the location of the trash to remind the driver to drive to the right or left, specifically including: When the system detects that the trash is located to the left of vacuuming area A, it controls the reminder device to remind the driver to move to the left. When the system detects that the trash is located to the right of the vacuuming area D, it controls the reminder device to remind the driver to move to the left. Based on the waste distribution, the suction nozzle is moved to one of the five suction stations (a, b, c, d, e) to position the nozzle symmetrically within the waste distribution. Specifically, this includes: When it is determined that there is trash only in vacuuming areas A and B, the horizontal telescopic component is controlled to drive the suction nozzle to vacuuming station b. When it is determined that there is trash only in vacuuming areas A, B, and C, or only in vacuuming areas A and C, the lateral telescopic component is controlled to drive the nozzle to vacuuming station d. When it is determined that there is trash only in vacuuming areas C and D, the lateral telescopic component is controlled to drive the nozzle to vacuuming station C. When it is determined that there is trash only in vacuuming areas B, C and D, or only in vacuuming areas B and D, the lateral telescopic component is controlled to drive the nozzle to vacuuming station e. When it is determined that there is trash only in vacuuming areas A, C and D, the lateral telescopic component is controlled to drive the nozzle to vacuuming station e. When it is determined that there is trash only in vacuuming areas A, B and D, the lateral telescopic component is controlled to drive the nozzle to vacuuming station d. When the garbage distribution is determined to be other, the horizontal telescopic component is controlled to drive the suction nozzle to the dust collection station a.

4. The pure suction vacuum cleaner cart according to any one of claims 1 to 3, characterized in that, The lateral telescopic component is a lateral hydraulic cylinder; the dust collection device also includes a first electromagnetic reversing valve connected to the lateral hydraulic cylinder; wherein the first electromagnetic reversing valve is electrically connected to the control device to control the telescopic movement of the lateral hydraulic cylinder.

5. A control method for a pure suction-type vacuum cleaner cart, characterized in that, Performed by the pure suction vacuum cleaner vehicle according to any one of claims 1 to 4; The control methods include: The location of the garbage in front of the vacuum truck is determined based on the footage captured by the camera and the detection signals from the radar. Determine if the trash is located within the vacuuming area; When the garbage location is determined to be within the dust collection area, the garbage distribution in the four areas A, B, C, and D is obtained based on the garbage location; Based on the distribution of waste, move the suction nozzle to one of the five suction stations (a, b, c, d, e) to position the nozzle symmetrically within the waste distribution.

6. A control device for a pure suction vacuum cleaner cart, characterized in that, Used to implement the control method of a pure suction vacuum cleaner as described in claim 5; The control device includes: The garbage location detection module is used to determine the location of garbage in front of the vacuum truck based on the images captured by the camera and the detection signals from the radar. The first distribution judgment module is used to determine whether the garbage location is within the dust collection area; The second distribution judgment module is used to obtain the garbage distribution of the four areas A, B, C, and D based on the garbage location when it is determined that the garbage location is within the dust collection area. The nozzle position adjustment module is used to move the nozzle to one of the five vacuuming stations (abcde) according to the distribution of waste, so that the nozzle is in a symmetrical position according to the distribution of waste.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the pure suction vacuum cleaner as described in claim 5.

Images