Control method and control system for a road washing vehicle

Abstract

This invention proposes a control method and control system for a road cleaning vehicle. The road cleaning vehicle includes a vehicle, a cleaning device mounted on the vehicle, and a battery. The cleaning device is configured to receive power from the battery and clean the road surface. The control method includes the following steps: S300: Measuring the vehicle's speed V at speed measurement cycles Δt; S340: Calculating the current speed V. n Compared with the previous velocity V n‑1 The difference between them is ΔV = V n -V n‑1 If ΔV > 0, then step S341 is executed; if ΔV < 0, then step S343 is executed; S341: Measure the percentage of accelerator pedal travel PA of the vehicle and decrease the power input to the cleaning device by ΔP1, where ΔP1 = K1·PA, and K1 is a constant; and S343: Measure the percentage of brake pedal travel PB of the vehicle and increase the power input to the cleaning device by ΔP2, where ΔP2 = K2·PB, and K2 is a constant. The control system is mounted on the vehicle to control the cleaning device according to the control method.

Description

Technical Field

[0001] This invention relates to the field of control of road cleaning machinery, and more specifically, to control methods and control systems for road cleaning vehicles. Background Technology

[0002] Conventional road sweeper trucks have their operating parameters pre-set before operation, such as engine speed, blower speed, and water pump motor speed. If the driver finds the road ahead to be less clean, they will try to increase the cleaning intensity; conversely, if the road is clean enough, they will try to decrease the intensity. Regardless of the change in cleaning intensity, the vehicle must pull over, stop operating, and then the parameters must be adjusted. Using the high-intensity cleaning mode throughout the entire operation without changing the parameters will result in wasted energy; conversely, using the low-intensity mode throughout will lead to inadequate cleaning. Furthermore, unqualified drivers may attempt to manually adjust the cleaning intensity while driving; however, this distraction is dangerous and poses a risk of traffic accidents. Additionally, some intelligent road sweeper trucks are equipped with devices to detect road surface cleanliness. However, such detection devices are often very expensive, significantly increasing the configuration cost of sweeper trucks. They also consume a large proportion of electricity, resulting in poor range. Furthermore, the accuracy of their detection results is far lower than the driver's intuitive judgment of road surface cleanliness, making it impossible to perform suitable cleaning for roads of varying cleanliness. Therefore, existing intelligent sweeper trucks cannot accurately adjust their operating modes based on road surface cleanliness, resulting in poor cleaning and sweeping effects for roads with different cleanliness levels.

[0003] Therefore, there is an urgent need in this field for a technical solution that can accurately and automatically adjust the cleaning intensity according to the cleanliness of the road surface, thereby providing suitable cleaning for roads with various cleanliness levels. Summary of the Invention

[0004] To address the problems in the prior art, the present invention proposes a control method for a road cleaning vehicle, the road cleaning vehicle comprising a vehicle and a cleaning device and a battery mounted on the vehicle, the cleaning device being configured to receive power from the battery and clean the road surface, the control method comprising the following steps:

[0005] S300: Measure the speed V of the vehicle at every speed measurement cycle Δt;

[0006] S340: Calculate the current velocity V n Compared with the previous velocity V n-1 The difference between them is ΔV = V n -V n-1If ΔV>0, then execute step S341; if ΔV<0, then execute step S343.

[0007] S341: Measure the percentage of accelerator pedal travel PA of the vehicle and reduce the power input to the cleaning device by ΔP1, where ΔP1 = K1·PA, and K1 is a constant; and

[0008] S343: Measure the percentage of the brake pedal travel PB of the vehicle and increase the power input to the cleaning device by ΔP2, where ΔP2 = K2·PB and K2 is a constant.

[0009] According to a feasible embodiment of the present invention, the control method further includes the following steps after step S300:

[0010] S310: Evaluate the velocity V. If V = 0, proceed to step S320; if V = 0... <V≤V THR1 If V THR1 <V≤V THR2 If V > V, then proceed to step S340; THR2 Then proceed to step S350, where V THR1 and V THR2 It is a predetermined speed threshold;

[0011] S320: Measure the percentage of brake pedal travel PB. If PB > 0, cut off the power input to the cleaning device.

[0012] S330: Adjust the power input to the cleaning device to a predetermined maximum power P. max ;as well as

[0013] S350: Adjust the power input to the cleaning device to a predetermined minimum power P. min .

[0014] According to a feasible embodiment of the present invention, step S320 involves: if PB > 0 and remains so for a predetermined time period, then the power input to the cleaning device is cut off; and the control method further includes the following steps after step S320:

[0015] S321: Measure the percentage of brake pedal travel PB. If PB = 0, adjust the power input to the cleaning device to a predetermined minimum power P. min And maintain it for a predetermined period of time.

[0016] According to a feasible embodiment of the present invention, step S310 further comprises: if V THR1 <V≤V THR2If the speed measurement period Δt is true, then the speed measurement period Δt is set to the first speed measurement period t1, that is, Δt = t1; otherwise, the speed measurement period Δt is set to the second speed measurement period t2, that is, Δt = t2; where t1 > t2.

[0017] According to a feasible embodiment of the present invention, the control method further includes the following steps before step S300:

[0018] S100: Detect the gear position of the vehicle in real time. If the gear position changes, execute step S110.

[0019] S110: If the gear is P or R, the power input to the cleaning device is cut off; if the gear is N, step S200 is executed; if the gear is D, step S300 is executed.

[0020] S200: Measure the percentage of brake pedal travel PB. If PB = 0, adjust the power input to the cleaning device to the power set by the driver; if PB > 0, cut off the power input to the cleaning device.

[0021] According to a feasible embodiment of the present invention, step S200 further comprises: if PB>0 and is maintained for more than a predetermined time period, then the power input to the cleaning device is cut off.

[0022] According to a feasible embodiment of the present invention, the cleaning device has two operating modes, namely, an automatic cleaning mode and a non-automatic cleaning mode, and the control method further includes the following steps before step S100:

[0023] S001: Read the driver's settings. If the working mode is set to non-automatic cleaning mode, adjust the power input to the cleaning device to the power set by the driver; otherwise, execute step S100.

[0024] According to a feasible embodiment of the present invention, the control method includes the following steps between step S110 and step S300:

[0025] S301: Adjust the power input to the cleaning device to a predetermined minimum power P. min And maintain it for a predetermined period of time.

[0026] According to a feasible embodiment of the present invention, the control method further includes the following steps before step S300:

[0027] S302: Measure the remaining power of the battery. If the remaining power is lower than a predetermined power threshold, cut off the power input to the cleaning device and remind the driver to replace the battery.

[0028] Similarly, in order to solve the problems in the prior art, the present invention also proposes a control system for a road cleaning vehicle, which is mounted on the vehicle and configured to execute the control method described above to control the cleaning device of the road cleaning vehicle.

[0029] The present invention may be embodied in the illustrative embodiments shown in the accompanying drawings. However, it should be noted that the drawings are merely illustrative, and any variations contemplated under the teachings of this invention should be considered to be included within the scope of this invention. Attached Figure Description

[0030] The accompanying drawings illustrate exemplary embodiments of the invention. These drawings should not be construed as necessarily limiting the scope of the invention, wherein:

[0031] Figure 1 This is a schematic flowchart of an embodiment of the control method for a road cleaning vehicle according to the present invention;

[0032] Figure 2 This is a schematic flowchart of another embodiment of the control method for a road cleaning vehicle according to the present invention;

[0033] Figure 3 This is a schematic flowchart of yet another embodiment of the control method for a road cleaning vehicle according to the present invention;

[0034] Figure 4 This is a schematic flowchart of another embodiment of the control method for a road cleaning vehicle according to the present invention; and

[0035] Figure 5 This is a schematic diagram of the control system for a road cleaning vehicle according to the present invention. Detailed Implementation

[0036] Further features and advantages of the invention will become more apparent from the following description with reference to the accompanying drawings. Exemplary embodiments of the invention are illustrated in the drawings, and the figures are not necessarily drawn to scale. However, the invention can be implemented in many different forms and should not be construed as necessarily limited to the exemplary embodiments shown herein. Rather, these exemplary embodiments are provided merely to illustrate the invention and to convey its spirit and essence to those skilled in the art.

[0037] This invention aims to provide an improved control method for a road cleaning vehicle and a control system for implementing this method. According to the control method of this invention, the cleaning device of the road cleaning vehicle can clean the road surface more intelligently without the need for a detection device to assess the cleanliness of the road surface. Furthermore, the driver does not need to manually adjust the cleaning intensity based on the road surface cleanliness during operation. Therefore, the control method of this invention not only reduces battery consumption by the cleaning device but also prevents driver distraction during vehicle operation, thereby ensuring driving safety. Specifically, the control method of this invention analyzes the driver's actions on the vehicle, automatically coupling these actions with the road surface cleanliness. Through this coupling, the control system can analyze the road surface cleanliness based on the driver's actions and adjust the power input to the cleaning device accordingly. This allows the cleaning device to increase the cleaning intensity when the road surface is poorly cleaned to effectively clean the road surface, and decrease the cleaning intensity when the road surface is clean to save power. Moreover, this adjustment of cleaning intensity is automatic based on the driver's actions, eliminating the need for direct driver operation of the cleaning device and the need for a detection device to assess the road surface cleanliness. Therefore, the control method according to the present invention can automatically change the cleaning intensity of the cleaning device according to the driver's operation of the vehicle to adapt to different cleanliness levels of the road surface, and effectively clean the road surface of various cleanliness levels while ensuring driving safety.

[0038] The following describes in detail, with reference to the accompanying drawings, various embodiments of the control method and control system for the road cleaning vehicle according to the present invention.

[0039] The road cleaning vehicle according to the invention includes a vehicle and a cleaning device and a power source mounted on the vehicle. The cleaning device is designed to clean the road surface beneath the vehicle, and the power source is designed to provide the electrical energy (i.e., power) required for the operation of the cleaning device. Specifically, the cleaning device may include a sweeping brush, a suspended spray bar, and a blower. The sweeping brush is coupled to an oil pump, allowing it to rotate under the drive of the oil pump. The suspended spray bar is connected to a water pump, allowing it to spray cleaning liquid from the water pump onto the road surface. The blower is coupled to a motor, allowing it to suck up sewage and debris from the road surface when the motor rotates. The control system of the road cleaning vehicle according to the invention is coupled to the power source and the cleaning device, thereby allowing adjustment of the power supplied to the cleaning device to change the cleaning intensity. For example, the control system may increase the power supplied to the cleaning device to increase the rotational speed of, for example, the water pump motor, the oil pump motor, and the blower motor, thereby increasing the intensity of road surface cleaning. Alternatively, the control system may decrease the power supplied to the cleaning device to decrease the rotational speed of, for example, the water pump motor, the oil pump motor, and the blower motor, thereby decreasing the intensity of road surface cleaning. Specifically, the control system can set the cleaning device to three modes: weak cleaning mode, strong cleaning mode, and adaptive mode. In the weak cleaning mode, the minimum power P is input to the cleaning device. min In the high-power cleaning mode, the maximum power P is input to the cleaning device. max In adaptive mode, a variable power P is input to the cleaning device. var Among them, P min <P var <P max And variable power P var It can be automatically adjusted by the control system, and the maximum power P max and minimum power P min The settings can be preset and changed by the driver. The control method of the road cleaning vehicle of the present invention aims to adjust the power delivered to the cleaning device according to the driver's operation of the vehicle, thereby changing the cleaning intensity of the cleaning device.

[0040] like Figure 1 The diagram illustrates a schematic flowchart of an embodiment of a control method for a road cleaning vehicle according to the present invention. The control method includes the following steps:

[0041] S100: Real-time detection of vehicle gear changes; if the vehicle gear changes, proceed to step S110.

[0042] S110: Evaluate the vehicle's gear position. If the vehicle is in P or R, proceed to step E; if the vehicle is in N, proceed to step S200; if the vehicle is in D, proceed to step S300.

[0043] Step E: If the vehicle is deemed to be in a state unsuitable for activating the washing device (e.g., the vehicle is parked, reversing, or the battery is low), power to the washing device is cut off to prevent its operation. This step prevents the washing device from activating when the vehicle is parked for an extended period (e.g., returning to a parking space) or while reversing, thus avoiding contamination of the garage or damage during reversing. The washing device is typically configured to clean the road surface in front of it; therefore, activating it while reversing could damage it. Specifically, if the vehicle is in Park (P), while the washing device is disabled, the driver is allowed to set (e.g., via a touchscreen) the washing device's operating parameters (e.g., minimum power P). min Maximum power P max Default power P def etc).

[0044] Step S200: Detect the percentage of travel PB of the vehicle's brake pedal (i.e., the ratio of the travel or distance the brake pedal moves due to the driver's pressing to its total travel).

[0045] Step S210: Evaluate the percentage of brake pedal travel PB. If the percentage of brake pedal travel PB = 0, proceed to step S211; otherwise, proceed to step S212.

[0046] Step S211: At this time, the vehicle is in neutral (N) gear, but the driver is not pressing the brake pedal. Therefore, in this step, the cleaning device can clean the road surface according to the operating parameters set by the driver (pre-set or real-time set). In effect, the cleaning device can be considered to have entered non-automatic cleaning mode. In non-automatic cleaning mode, the cleaning device can clean the road surface according to the operating parameters preset by the driver (e.g., default power P). def The system can operate according to the default speed and default start / stop status of the oil pump motor, water pump motor, and fan motor, or it can operate based on the working parameters changed in real time by the driver. This allows the cleaning device to continuously clean a certain road segment according to the driver's requirements (e.g., default requirements or currently set requirements). For example, if the driver finds a certain road segment to be poorly clean and heavily polluted, the driver can stop the vehicle above that road segment, put the gear in neutral (N), and release the brake pedal to put the cleaning device into non-automatic cleaning mode. In this case, the driver can set the working mode and parameters of the cleaning device on-site, so that the cleaning device operates under the on-site set working mode and parameters; otherwise, the cleaning device will operate under the pre-set working mode and parameters (e.g., the pre-set default working mode and parameters) to continuously clean that road segment.

[0047] Step S212: At this time, the vehicle is in neutral (N) and the driver has pressed the brake pedal. Therefore, in this step, after a predetermined time period (e.g., 0.5s), the power input to the washing device is cut off, thereby prohibiting the washing device from operating. This operating mode can be called the red light waiting mode. The inventors have found that, according to general driving habits, drivers will put the vehicle in neutral (N) and continuously press the brake pedal while waiting at a red light to prevent accidents such as rolling. Therefore, in this step, the washing device can be stopped to avoid affecting surrounding vehicles or pedestrians while waiting at a red light. It is advantageous to enter the red light waiting mode only after a predetermined time period, as this avoids the washing device rapidly switching between the non-automatic washing mode in step S211 and the red light waiting mode in this step due to the driver rapidly pressing and releasing the brake pedal, thereby helping to prevent damage to the washing device due to frequent switching of operating modes.

[0048] Step S300: Detect the vehicle's current speed V in real time (e.g., at intervals, i.e., speed measurement period Δt). n and execute step S310;

[0049] Step S310: Assess the vehicle's current speed V n The current speed V n With the first velocity threshold V THR1 (For example, it can be set to 5 km / h) and the second speed threshold V THR2 (For example, it can be set to 20km / h) for comparison, if V n =0, then proceed to step S320; if 0 <V n ≤V THR1 If V THR1 <V n ≤V THR2 If V n >V THR2 Then proceed to step S350;

[0050] Step S320: Detect the brake pedal travel percentage PB, then evaluate the brake pedal travel percentage PB. If PB > 0, switch the operating mode to the aforementioned red light waiting mode, that is, cut off the power input to the cleaning device, thereby prohibiting the cleaning device from operating. In the above situation (V nWhen PB = 0 and PB > 0, the vehicle stops and the driver is pressing the brake pedal. This indicates that the vehicle is not in the starting phase but in the braking phase of a moving vehicle (e.g., waiting at a red light or making an emergency maneuver). Therefore, the washing device is prohibited from operating during this step to avoid affecting surrounding vehicles or pedestrians. The inventors discovered that, according to general driving habits, when the vehicle is in D gear, the driver will reduce the vehicle speed to zero by pressing the brake pedal when waiting at a red light or making an emergency maneuver. Prohibiting the washing device from operating at this time can prevent the washing device from affecting surrounding vehicles or pedestrians. In particular, entering the red light waiting mode only after PB > 0 for a predetermined period of time (e.g., 0.5s) can prevent the washing device from switching its operating mode too quickly due to the driver's rapid pressing and releasing of the brake pedal. Especially when encountering traffic jams, vehicles generally start and stop frequently. By delaying the aforementioned predetermined period of time, the washing device can be prevented from frequently switching its operating mode in such situations, thereby protecting the washing device from damage caused by frequent switching of operating modes.

[0051] Step S330: Determine that the vehicle is traveling at a low speed. At this time, the maximum power P can be input to the cleaning device. max This allows the cleaning device to operate at maximum cleaning intensity, i.e., in strong cleaning mode, to provide the most powerful cleaning of the road surface. The inventors discovered that, based on typical driving habits, drivers reduce their speed when the road surface is less clean to allow for a more thorough cleaning. Therefore, when it is determined that the vehicle is traveling at a low speed (e.g., below 5 km / h), the road surface cleanliness can be considered low, and the power input to the cleaning device is therefore set to the maximum power P. max This is to ensure that the cleaning device operates at maximum power, thereby cleaning poorly clean surfaces most thoroughly.

[0052] Step S350: Determine that the vehicle is traveling at high speed. At this time, the minimum power P can be input to the washing device. min This allows the cleaning device to operate at the minimum cleaning intensity, i.e., in a weak cleaning mode, to provide the least amount of cleaning to the road surface. The inventors discovered that, based on typical driving habits, drivers tend to increase their speed when the road surface is relatively clean, as a clean surface does not require excessive cleaning. Therefore, when it is determined that the vehicle is traveling at a high speed (e.g., above 20 km / h), the road surface cleanliness can be considered high, and thus the power input to the cleaning device is set to the minimum power P. min This is to avoid the cleaning device from vigorously cleaning the clean road surface, thereby avoiding unnecessary consumption of excessive electrical energy.

[0053] Step S340: Determine that the vehicle is traveling at a normal speed, meaning that the road surface cleanliness is neither high nor low, but within the normal range. The inventors have found that most road surfaces are within the normal cleanliness range, and drivers increase speed when road surface cleanliness increases and decrease speed when road surface cleanliness decreases. Therefore, it can be assumed that road surface cleanliness increases when the driver accelerates and decreases when the driver decelerates. Based on this understanding, in this step, the current speed V is evaluated. n Compared with the previous velocity V n-1 The speed difference between them is ΔV = V n -V n-1 If ΔV>0, proceed to step S341; if ΔV<0, proceed to step S343.

[0054] Step S341: At this point, ΔV>0 indicates that the vehicle is accelerating, thus confirming that the road surface cleanliness is improving. Therefore, in this step, the percentage of the accelerator pedal travel PA (i.e., the ratio of the travel or distance the accelerator pedal moves due to the driver's pressing to its total travel) is measured, and the power input to the cleaning device is reduced by ΔP = K1·PA, that is, the current power P n = Previous power P n-1 -ΔP, where K1 is a constant, meaning that the reduction in power input to the cleaning device is proportional to the percentage of accelerator pedal travel PA. Thus, the greater the driver presses the accelerator pedal, the greater the reduction in power input to the cleaning device, and vice versa.

[0055] Step S343: At this point, ΔV < 0, indicating that the vehicle is decelerating, thus confirming that the road surface cleanliness is decreasing. Therefore, in this step, the percentage of the vehicle's brake pedal travel PB is measured, and the power input to the cleaning device is increased by ΔP = K2·PB, that is, the current power P n = Previous power P n-1 +ΔP, where K2 is also a constant, meaning that the increase in power input to the cleaning device is proportional to the percentage of brake pedal travel PB. Therefore, the greater the driver presses the brake pedal, the greater the increase in power input to the cleaning device, and vice versa.

[0056] Therefore, as described above, based on the inventors' research on drivers' driving habits, the control method according to the present invention changes the cleaning intensity of the cleaning device by analyzing the driver's operation of the vehicle, thereby automatically extending the driver's operation of the vehicle to the control of the cleaning device. This eliminates the need for the driver to directly operate the cleaning device based on road surface cleanliness during driving, and also eliminates the need for expensive equipment for detecting road surface cleanliness. The control method according to the present invention not only ensures that appropriate cleaning intensity is automatically provided for roads of various cleanliness levels, but also guarantees driving safety and reduces the configuration cost of road cleaning vehicles. Furthermore, it is worth mentioning that the control method according to the present invention correlates the power change ΔP of the input power to the cleaning device with the percentage of accelerator pedal travel PA (during vehicle acceleration) and the percentage of brake pedal travel PB (during deceleration), rather than with the change in vehicle speed ΔV. This configuration is highly advantageous because, compared to a scheme that correlates power change ΔP with vehicle speed change ΔV, the accelerator pedal travel percentage PA and brake pedal travel percentage PB can more directly and quickly reflect the driver's judgment of road surface cleanliness. Therefore, correlating power change ΔP with the travel percentages PA and PB of the two pedals allows the cleaning device to respond more quickly to the driver's judgment of road surface cleanliness and change the cleaning intensity, rather than waiting for the vehicle speed to change before changing the cleaning intensity.

[0057] Optionally, step S310 further comprises: if V THR1 <V n ≤V THR2 If the speed measurement period Δt is set to the first speed measurement period t1, then the speed measurement period Δt is set to the second speed measurement period t2, where t1>t2. Under this configuration, when the control system needs to adjust the cleaning intensity in real time according to the driver's operation—that is, after entering step S340—it increases the speed measurement interval, i.e., decreases the speed measurement frequency. This avoids changing the cleaning intensity of the cleaning device too quickly, which helps prevent damage to the cleaning device due to excessively frequent changes in its working intensity.

[0058] like Figure 2 As shown, a schematic flowchart of another embodiment of the control method for a road cleaning vehicle according to the present invention is illustrated. Figure 1 The difference in the illustrated embodiment is that, Figure 2 The control method shown may also include, prior to step S100 of real-time detection of the vehicle gear position:

[0059] Step S001: Read the operating mode and operating parameters of the driver settings (e.g., settings via touchscreen), and execute step S002;

[0060] Step S002: If the working mode is non-automatic cleaning mode, proceed to step S211; if the working mode is automatic cleaning mode, proceed to step S100.

[0061] Therefore, in Figure 2 In the illustrated embodiment, the vehicle does not directly enter the automatic cleaning mode. Instead, it reads the working mode and parameters set by the driver after the vehicle is powered on and started, and then performs the work according to the driver's settings. This makes the operation of the road cleaning vehicle according to the present invention more user-friendly.

[0062] like Figure 3 As shown, a schematic flowchart of yet another embodiment of the control method for a road cleaning vehicle according to the present invention is illustrated. Figure 1 The difference in the illustrated embodiment is that, Figure 3 The control method shown may further include, between the step of evaluating the vehicle gear S110 and the step of real-time detection of vehicle speed S300:

[0063] Step S301: Input minimum power P to the cleaning device min And maintain it for a predetermined period of time (e.g., 1 second), that is, after determining that the vehicle's gear is set to D, make the cleaning device run in weak cleaning mode for the predetermined period of time;

[0064] Step S302: Detect the remaining battery charge (SOC). n If SOC n <SOC THR Among them, SOC THR If the preset battery threshold is met, proceed to step E; otherwise, proceed to step S300 to begin real-time vehicle speed detection.

[0065] Therefore, in Figure 3In the illustrated embodiment, instead of immediately starting real-time speed detection after detecting the vehicle is in Drive (D), the washing device operates in a weak cleaning mode for a predetermined period before speed detection. Then, the remaining battery power is checked. This helps the washing device smoothly transition from other modes (e.g., red light mode, non-automatic cleaning mode, etc.) to automatic cleaning mode, thus extending its lifespan. Furthermore, low battery power can be detected before the vehicle leaves the garage, allowing the driver to replace the battery in time and preventing it from running out of power after the vehicle leaves. Additionally, it's worth noting that step S301 provides sufficient time for the vehicle to accelerate to the desired speed each time it starts, thus avoiding the need to execute step S330 to switch the washing device to strong cleaning mode every time the vehicle starts due to a low initial speed. Furthermore, it should be noted that step S100 involves detecting a change in the vehicle's gear position. If the gear position changes, step S110, which evaluates the gear position, is executed. If the gear position does not change, step S110 is not executed; that is, the process remains in a subsequent step (e.g., step E, step S200, or step S300). This configuration is advantageous. For example, if the vehicle gear remains in D, steps S301 and S302 are avoided every time D is detected in step S110, thus preventing the cleaning device from being accidentally locked in the weak cleaning mode. Additionally, those skilled in the art will understand that step S302, which detects the remaining battery power, can be placed in other locations, such as before step S100 or even before step S001, so that the remaining battery power is checked after the vehicle is powered on and started.

[0066] like Figure 4 As shown, a schematic flowchart illustrating another embodiment of the control method for a road cleaning vehicle according to the present invention is illustrated. Figure 1 The difference in the illustrated embodiment is that, Figure 4 The control method shown may also include, after step S320 of detecting and evaluating the percentage of brake pedal travel:

[0067] Step S321: Detect the percentage of brake pedal travel PB of the vehicle. If PB = 0, input the minimum power P to the cleaning device. min This is maintained for a predetermined time period (e.g., 1 second), meaning the cleaning device operates in a weak cleaning mode for that predetermined time period. Specifically, the percentage of accelerator pedal travel PA is detected; if PA > 0, a minimum power P is input to the cleaning device. minAnd maintain it for a predetermined time period (e.g., 1 second), that is, make the washing device operate in weak washing mode for the predetermined time period. This configuration is advantageous because after the red light or yielding ends, the driver will release the brake pedal (PB=0) and, in particular, will press the accelerator pedal (PA>0) to restart the vehicle. Switching the washing device to weak washing mode and maintaining it for the predetermined time period at this time provides the vehicle with sufficient time to accelerate to the desired speed. This helps to avoid entering step S330 when the vehicle restarts and is therefore at a lower speed, thus avoiding switching the washing device directly from red light mode to strong washing mode every time the red light ends.

[0068] like Figure 5 As shown, a schematic diagram of a control system for a road cleaning vehicle according to the present invention is illustrated. The control system is adapted to execute the above-described control method, and as... Figure 5The system includes a central control module 100, a human-machine interface module 200, a battery module 300, a motor control module 400, an information acquisition module 500, and a motor drive module 600. The information acquisition module 500 can collect driver input to the vehicle and may include a vehicle speed acquisition module 610 for detecting vehicle speed, an accelerator pedal travel percentage (PA) acquisition module 620 for detecting accelerator pedal travel percentage (PB) acquisition module 630 for detecting brake pedal travel percentage (PB), and a battery level acquisition module 640 for detecting battery charge. The motor drive module 600 may include a water pump motor drive module 610, an oil pump motor drive module 620, and a fan motor drive module 630. The human-machine interface module 200 allows the driver to set operating modes and parameters and transmits information to the driver, such as low battery charge. The central control module 100 receives information from the information acquisition module 500, such as vehicle speed, accelerator pedal travel percentage (PA), brake pedal travel percentage (PB), and battery charge, and then sends control signals to the motor control module 400 based on the driver's set operating modes, operating parameters, and the aforementioned information. The motor control module 400 controls the power supplied by the battery module 300 to the motor drive module 600 according to the received control signals. The motor drive module 600 uses the received power to drive the cleaning device, more specifically, to drive the various motors of the cleaning device, such as the water pump motor, oil pump motor, and fan motor. In particular, the human-machine interface module 200 can be composed of a touch screen. Specifically, the central control module 100 can communicate with the human-machine interface module 200, the motor control module 400, and the information acquisition module 500 via a CAN bus or hardwired connection, while the motor control module 400 can be connected to the battery module 300 and the motor drive module 600 via hardwired connection. Therefore, the control system according to the present invention can both control the cleaning device to operate according to the working mode and parameters set by the driver, and automatically control the working mode and parameters of the cleaning device according to the driver's operation of the vehicle, so as to automatically provide appropriate cleaning intensity for roads of various cleanliness levels. In addition, under automatic control, the driver does not need to directly operate the cleaning device, which helps to avoid driver distraction during vehicle operation, thereby ensuring driving safety. Moreover, the control system according to the present invention does not require a detection device for detecting road surface cleanliness, which helps to control the configuration cost of the road cleaning vehicle.

[0069] The control method and control system of the road cleaning vehicle according to the present invention have been described in detail above with reference to the accompanying drawings, including optional but non-limiting embodiments. For those skilled in the art, modifications and additions to the technology and structure, as well as recombinations of features in the various embodiments, should obviously be considered within the scope of the invention without departing from the spirit and essence of this disclosure. Therefore, such modifications and additions conceivable under the teachings of this invention should be considered part of the invention. The scope of the invention includes equivalent technologies known at the time of filing and equivalent technologies not yet foreseen.

Claims

1. A control method for a road cleaning vehicle, the road cleaning vehicle comprising a vehicle and a cleaning device and a battery mounted on the vehicle, the cleaning device being configured to receive power from the battery and clean the road surface, the control method comprising the following steps: S300: Measure the speed V of the vehicle at every speed measurement cycle Δt; S310: Evaluate the velocity V. If V=0, proceed to step S320; if V=0, proceed to step S320. <V≤V THR1 If V THR1 <V≤V THR2 If V > V, then proceed to step S340; THR2 Then proceed to step S350, where V THR1 and V THR2 It is a predetermined speed threshold; S320: Measure the percentage of brake pedal travel PB. If PB > 0, cut off the power input to the cleaning device. S330: Adjust the power input to the cleaning device to a predetermined maximum power P. max ; S340: Calculate the current velocity V n Compared with the previous velocity V n-1 The difference between them is ΔV=V n -V n-1 If ΔV>0, then execute step S341; if ΔV<0, then execute step S343. S341: Measure the percentage of accelerator pedal travel PA of the vehicle and reduce the power input to the cleaning device by ΔP1, where ΔP1 = K1·PA, and K1 is a constant; S343: Measure the percentage of brake pedal travel PB of the vehicle and increase the power input to the cleaning device by ΔP2, where ΔP2 = K2·PB, and K2 is a constant; and S350: Adjust the power input to the cleaning device to a predetermined minimum power P. min .

2. The control method according to claim 1, wherein, Step S320 involves: if PB > 0 and remains so for a predetermined period of time, then the power input to the cleaning device is cut off; and the control method further includes the following steps after step S320: S321: Measure the percentage of brake pedal travel PB. If PB = 0, adjust the power input to the cleaning device to a predetermined minimum power P. min And maintain it for a predetermined period of time.

3. The control method according to claim 1 or 2, wherein, Step S310 also involves: if V THR1 <V≤V THR2 If the speed measurement period Δt is true, then the speed measurement period Δt is set to the first speed measurement period t1, that is, Δt = t1; otherwise, the speed measurement period Δt is set to the second speed measurement period t2, that is, Δt = t2; where t1 > t2.

4. The control method according to claim 1 or 2, wherein, The control method further includes the following steps before step S300: S100: Detect the gear position of the vehicle in real time. If the gear position changes, execute step S110. S110: If the gear is P or R, the power input to the cleaning device is cut off; if the gear is N, step S200 is executed; if the gear is D, step S300 is executed. S200: Measure the percentage of brake pedal travel PB. If PB=0, adjust the power input to the cleaning device to the power set by the driver; if PB>0, cut off the power input to the cleaning device.

5. The control method according to claim 4, wherein, Step S200 further involves: if PB>0 and remains so for more than a predetermined period of time, then the power input to the cleaning device is cut off.

6. The control method according to claim 4, wherein, The cleaning device has two operating modes: automatic cleaning mode and non-automatic cleaning mode. The control method further includes the following steps before step S100: S001: Read the driver's settings. If the working mode is set to non-automatic cleaning mode, adjust the power input to the cleaning device to the power set by the driver; otherwise, execute step S100.

7. The control method according to claim 4, wherein, The control method includes the following steps between step S110 and step S300: S301: Adjust the power input to the cleaning device to a predetermined minimum power P. min And maintain it for a predetermined period of time.

8. The control method according to claim 1 or 2, wherein, The control method further includes the following steps before step S300: S302: Measure the remaining power of the battery. If the remaining power is lower than a predetermined power threshold, cut off the power input to the cleaning device and remind the driver to replace the battery.

9. A control system for a road cleaning vehicle, wherein, The control system is mounted on the road cleaning vehicle and configured to perform the control method according to any one of claims 1-8 to control the cleaning device of the road cleaning vehicle.

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