Automatic control device and method for reel and unblocking and cleaning vehicle

Abstract

This invention relates to the field of automatic control technology, providing an automatic control device, method, and cleaning truck for a hose reel. The automatic control device includes: a hose reel speed monitoring module for collecting pulse signals when the hose reel of the cleaning truck rotates; and a control module including: a hose reel take-up unit for controlling the reel rotation to retract the hose when a hose reel signal is received. During the hose reel take-up process, the reel speed is determined and reduced based on the pulse signal, and the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose. Furthermore, the length of the retracted hose is determined based on the pulse signal, and the hose reel take-up operation is completed when the retracted hose length reaches a preset target take-up length. This achieves automatic hose reel take-up, effectively avoiding the problem of the high-pressure hose being rapidly pulled out of the underground pipe during the take-up process, causing the nozzle to swing uncontrollably and violently under the action of high-pressure water, creating a safety hazard.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to an automatic control device and method for a reel and a dredging and cleaning vehicle. Background Technology

[0002] Dredging and cleaning trucks mainly use the powerful pressure generated by high-pressure water flow to open blocked pipes. They are used to clean urban sewers and pipes of sediment, as well as dredge dead corners and ditches.

[0003] Currently, during the operation of dredging and cleaning trucks, when the nozzles are pulled back for dredging, the high-pressure hose is quickly pulled out of the underground pipe, causing the nozzles to swing uncontrollably and violently under the action of high-pressure water. The powerful impact may cause personal injury and property damage, creating a safety hazard. Summary of the Invention

[0004] This invention provides an automatic control device, method, and dredging and cleaning vehicle for solving the problem in the prior art where, during nozzle pull-back dredging operations, the high-pressure hose is quickly pulled out of the underground pipe, causing the nozzle to swing uncontrollably and violently under the action of high-pressure water, creating a safety hazard.

[0005] This invention provides an automatic control device for reels, comprising:

[0006] The reel speed monitoring module is used to collect pulse signals when the reel of the dredging and cleaning vehicle rotates;

[0007] The control module includes: a hose reel unit, used to control the reel to rotate and retract the hose from the reel based on the hose reel signal when a hose reel signal is received; during the hose reeling process, the reel rotation speed is determined and reduced based on the pulse signal, and the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose; and the length of the retracted hose is determined based on the pulse signal; when the length of the retracted hose reaches the preset target retraction length, the reel hose reeling operation is completed.

[0008] Optionally, the reel speed monitoring module includes an inner ring sensor and an outer ring sensor, wherein the inner ring sensor is used to collect pulse signals from a preset first ring surface of the reel, and the outer ring sensor is used to collect pulse signals from a preset second ring surface of the reel;

[0009] The reel includes a base and a drum coaxially arranged, with the drum located within the two bases. Each base includes a reel surface, one or more first detection elements, and second detection elements corresponding to the first detection elements. The plurality of first detection elements are evenly arranged around the reel surface at preset intervals to form a first annular surface. The second detection elements are disposed on the side of the corresponding first detection element away from the reel surface. The second detection elements and the corresponding first detection elements are stacked in a staggered manner to form a second annular surface. The staggered distance between the first detection elements and the corresponding second detection elements is half the length of the first detection element. The first detection elements and the second detection elements have the same length.

[0010] Optionally, both the inner and outer ring sensors are mounted on a fixed device located on the side of the base away from the drum. The inner ring sensor faces the first ring surface, and the outer ring sensor faces the second ring surface. The line connecting the inner ring sensor to the center of the disk surface is defined as the first line, and the line connecting the outer ring sensor to the center of the disk surface is defined as the second line. The angle formed by the intersection of the first and second lines is an integer multiple of the angle value corresponding to a preset signal period. The number of signal periods is determined based on the number of the first or second detection elements. The angle value corresponding to each signal period is equal, and the sum of the angle values ​​corresponding to all signal periods is the circumferential angle.

[0011] Optionally, the control module further includes: a reel working angle acquisition unit, used to divide the pulse signals of the inner and outer ring sensors into interval phases to obtain multiple interval phases corresponding to one revolution of the reel. Each interval phase has a fixed phase angle, and the sum of multiple interval phases is a circumferential angle. When the reel rotates clockwise, the fixed phase angle is increased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner and / or outer ring sensors to obtain the reel working angle. When the reel rotates counterclockwise, the fixed phase angle is decreased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner and / or outer ring sensors to obtain the reel working angle.

[0012] Optionally, the take-up unit is specifically used to determine the number of currently changing interval phases based on the pulse signal, determine the reel speed based on the fixed phase angle, reel diameter, reel working time, and the number of currently changing interval phases, and adjust the engine speed and the vacuum ratio of the reel's proportional solenoid valve based on the take-up signal to adjust the hydraulic motor flow rate, thereby reducing the reel speed. The hydraulic motor provides power for the reel rotation.

[0013] Optionally, the take-up unit is further configured to determine the number of phase changes in the interval corresponding to the pulse signal during the take-up process based on the pulse signal of the inner or outer ring sensor, determine the phase angle change value by multiplying the number of changes by a fixed phase angle, determine the number of reel rotations by the ratio of the phase angle change value to the circumferential angle, and determine the length of the retracted hose based on the number of reel rotations, the drum diameter, the hose diameter, and the number of hose layers on the drum.

[0014] Optionally, the control module further includes: a high-pressure water pump pressure monitoring unit, used to acquire the pressure signal of the high-pressure water pump, perform analog-to-digital conversion on the pressure signal, determine the pressure sampling value of the high-pressure water pump, determine the real-time pressure of the high-pressure water pump based on the pressure sampling value, the preset minimum pressure sampling value, the maximum pressure sampling value, and the pressure range of the pressure sensor of the high-pressure water pump, and reduce the pressure of the high-pressure water pump and issue an alarm when the real-time pressure exceeds the preset high-pressure water pump pressure threshold.

[0015] Optionally, the control module further includes: a reel working direction acquisition unit, used to determine whether the working direction of the reel is clockwise or counterclockwise rotation based on a predetermined phase interval change rule and the acquired pulse signals of the inner and outer ring sensors. The phase interval change rule is determined based on the alternating change pattern of the pulse signals of the inner and outer ring sensors when the reel rotates clockwise and counterclockwise one revolution.

[0016] The present invention also provides an automatic control method for a reel, comprising:

[0017] Collect pulse signals when the reel of the dredging and cleaning truck rotates;

[0018] When a hose reel signal is received, the reel is controlled to rotate to reel in the hose. During the hose reeling process, the reel speed is determined and reduced based on the pulse signal. At the same time, the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose. Furthermore, the length of the reeled hose is determined based on the pulse signal. When the length of the reeled hose reaches the preset target length, the hose reeling operation is completed.

[0019] The present invention also provides a dredging and cleaning vehicle, comprising: a front end, a body, and wheels, wherein the body is equipped with an automatic reel control device; the automatic reel control device includes:

[0020] The reel speed monitoring module is used to collect pulse signals when the reel of the dredging and cleaning vehicle rotates;

[0021] The control module includes: a hose reel unit, used to control the reel to rotate and retract the hose from the reel based on the hose reel signal when a hose reel signal is received; during the hose reeling process, the reel rotation speed is determined and reduced based on the pulse signal, and the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose; and the length of the retracted hose is determined based on the pulse signal; when the length of the retracted hose reaches the preset target retraction length, the reel hose reeling operation is completed.

[0022] The beneficial effects of this invention are as follows: The automatic reel control device, method, and dredging and cleaning vehicle provided by this invention, by setting a reel speed monitoring module for collecting pulse signals when the reel of the dredging and cleaning vehicle rotates, and setting a control module, the control module includes: a hose reel unit, used to control the reel rotation to retract the hose based on the hose reel signal received; during the hose reel retraction process, based on the pulse signal, the reel speed is determined and reduced, and at the same time, the driving speed of the high-pressure water pump is reduced to reduce the liquid flow and pressure in the hose; and based on the pulse signal, the length of the retracted hose is determined, and when the length of the retracted hose reaches the preset target retraction length, the reel hose reel retraction operation is completed. This achieves automatic reel hose reel retraction, effectively avoiding the problem of the high-pressure hose being quickly pulled out of the underground pipe during the hose reel retraction process, causing the nozzle to swing uncontrollably and violently under the action of high-pressure water, creating a safety hazard. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the automatic reel control device provided by the present invention. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the structure of the reel speed monitoring module in the automatic reel control device provided by the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the automatic reel control device provided by the present invention. Figure 2 ;

[0027] Figure 4 This is a schematic diagram of the pulse signal structure in the automatic reel control device provided by the present invention;

[0028] Figure 5This is a schematic diagram of the hose distribution in the automatic reel control device provided by the present invention;

[0029] Figure 6 This is a flowchart illustrating the automatic reel control method provided by the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] The following examples illustrate this approach. Figures 1-7 This invention describes the automatic control device, method, and dredging and cleaning vehicle for reels provided by the present invention.

[0033] Please refer to Figure 1 The automatic reel control device provided in this embodiment includes:

[0034] The reel speed monitoring module 11 is used to collect pulse signals when the reel of the cleaning truck rotates. The pulse signals are detected by a sensor pre-installed on the side of the reel base away from the drum 115. By collecting the pulse signals when the reel of the cleaning truck rotates, it is easy to determine the speed of the reel and the length of the extended or retracted hose 116 based on the pulse signals.

[0035] The control module 12 includes a hose reel unit 121, which, upon receiving a hose reel signal, controls the reel to rotate to retract the hose 116. During the hose reeling process, based on the pulse signal, the reel's rotation speed is determined and reduced, and simultaneously, the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure within the hose 116. Furthermore, based on the pulse signal, the length of the retracted hose 116 is determined. When the retracted hose 116 reaches a preset target length, the hose reeling operation is completed. In this embodiment, the automatic reel control device, by determining and reducing the reel's rotation speed based on the pulse signal during the hose reeling process, and simultaneously reducing the driving speed of the high-pressure water pump to decrease the liquid flow and pressure within the hose 116, effectively avoids the problem of the nozzle violently swinging uncontrollably under the action of high-pressure water during the hose reeling process, thus reducing safety hazards. Furthermore, by determining the length of the retracted hose 116 in real time based on the pulse signal during the hose reeling process, the hose reeling operation is completed when the length of the retracted hose 116 reaches the preset target retracting length, thus achieving automatic hose reeling with high accuracy and a high degree of automation.

[0036] Specifically, the tube collection signal is issued by triggering a preset tube collection button. For example, the operator clicks or touches the preset tube collection button to send a tube collection signal to the control module 12. The control module 12 receives the tube collection signal and executes the corresponding tube collection operation to complete one-click tube collection, which greatly improves work efficiency.

[0037] In some embodiments, the control module 12 further includes a hose release unit 122, configured to, upon receiving a hose release signal, adjust the hydraulic motor flow rate based on the hose release signal and a preset target reel speed, so that the current reel speed reaches the target reel speed, and then release the hose. During the hose release process, the length of the released hose 116 is determined based on the pulse signal. When the length of the released hose 116 reaches the preset target release length, the reel is controlled to stop rotating. The hose release signal is issued by triggering a preset hose release button, realizing one-button hose release and improving work efficiency. It should be noted that when the hose release signal is received, the control module 12 first outputs a voltage signal to open the main relief valve, so that the hydraulic system where the hydraulic motor is located establishes system pressure. After the hydraulic system is pressurized, the control module outputs a PWM (Pulse Width Modulation) signal to drive the proportional solenoid valve to adjust the reel speed and complete the one-button hose release.

[0038] Please refer to Figure 2In some embodiments, the reel speed monitoring module 11 includes an inner ring sensor 111 and an outer ring sensor 112. The inner ring sensor 111 is used to collect pulse signals from a preset first ring surface of the reel, and the outer ring sensor 112 is used to collect pulse signals from a preset second ring surface of the reel.

[0039] The reel includes a base and a drum 115 coaxially arranged. The drum 115 is located within the two bases. The base includes a reel surface 1131, one or more first detection elements 1132, and second detection elements 1133 corresponding to the first detection elements 1132. The plurality of first detection elements 1132 are evenly arranged around the reel surface 1131 at a preset interval to form a first annular surface. The second detection elements 1133 are disposed on the side of the corresponding first detection element 1132 away from the reel surface 1131. The second detection elements 1133 and the corresponding first detection elements 1132 are stacked in a staggered manner to form a second annular surface. The staggered distance between the first detection element 1132 and the corresponding second detection element 1133 is half the length of the first detection element 1132. The first detection element 1132 and the second detection element 1133 have the same length.

[0040] Specifically, the inner ring sensor 111 and the outer ring sensor 112 can be proximity switches. Understandably, when the distance between the inner ring sensor 111 and the first detection element 1132 is less than or equal to a preset distance, the inner ring sensor 111 generates an induced magnetic field with the first detection element 1132, thereby collecting the corresponding pulse signal. Similarly, when the distance between the outer ring sensor 112 and the second detection element 1133 is less than or equal to a preset distance, the outer ring sensor 112 generates an induced magnetic field with the second detection element 1133, thereby collecting the corresponding pulse signal. The first detection element 1132 can be an inner tooth, and the second detection element 1133 can be an outer tooth. By arranging multiple first detection elements 1132 and multiple second detection elements 1133 in the above manner, it is convenient to subsequently divide the phase interval to obtain the reel's operating speed.

[0041] In some embodiments, the inner ring sensor 111 and the outer ring sensor 112 are both mounted on a fixing device 114, which is located on the side of the base away from the drum 115. The inner ring sensor 111 faces the first annular surface, and the outer ring sensor 112 faces the second annular surface. The line connecting the inner ring sensor 111 and the center of the disk surface 1131 is defined as the first line, and the line connecting the outer ring sensor 112 and the center of the disk surface 1131 is defined as the second line. The angle formed by the intersection of the first line and the second line is an integer multiple of the angle value corresponding to a preset signal period. The number of signal periods is determined based on the number of the first detection element 1132 or the second detection element 1133. The angle value corresponding to each signal period is equal, and the sum of the angle values ​​corresponding to all signal periods is the circumferential angle. For example, if there are 10 first detection elements 1132, the pulse signal corresponding to one rotation of the reel is evenly divided into 10 signal cycles. The angle value of each signal cycle is 36°. Each signal cycle is divided into 4 interval phases, and the fixed phase angle of each interval phase is 9°.

[0042] It is worth mentioning that, Figure 2 The angle formed by the intersection of the first and second lines is 180°, which is 5 times the signal period of 36°. In the specific implementation, as long as the angle formed by the intersection of the first and second lines is an integer multiple of the angle value corresponding to the preset signal period, such as 3 times, 4 times, etc., it can satisfy the alternating signal changes of the inner ring sensor 111 and the outer ring sensor 112. This will not be elaborated further here.

[0043] Specifically, the fixing device 114 can be a code disk, which is used to fix the inner ring sensor 111 and the outer ring sensor 112 respectively, such that the inner ring sensor 111 faces the first ring surface and the outer ring sensor 112 faces the second ring surface. By setting the included angle formed by the intersection of the first connecting line and the second connecting line as an integer multiple of the signal period, the pulse signals fed back by the inner ring sensor 111 and the outer ring sensor 112 change alternately, which facilitates the subsequent measurement of the reel's working angle, working direction, and working speed based on the pulse signals.

[0044] Please refer to Figure 3In some embodiments, the control module 12 further includes a reel working angle acquisition unit 123, used to divide the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 into interval phases to obtain multiple interval phases corresponding to one revolution of the reel. Each interval phase has a fixed phase angle, and the sum of multiple interval phases is a circumferential angle. When the reel rotates clockwise, the fixed phase angle is increased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner ring sensor 111 and / or the outer ring sensor 112 to obtain the reel working angle. When the reel rotates counterclockwise, the fixed phase angle is decreased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner ring sensor 111 and / or the outer ring sensor 112 to obtain the reel working angle.

[0045] Specifically, ten sets of first detection elements 1132 and second detection elements 1133 are set on the reel base. Correspondingly, when the reel rotates one revolution, the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 are divided into 10 signal cycles, and each signal cycle is evenly divided into 4 interval phases, for a total of 40 interval phases. Each interval phase has a fixed phase angle of 9°. When the reel rotates clockwise, the first interval phase to the 40th interval phase increases sequentially. Based on the number of interval phase changes, the fixed phase angle is increased by 9° each time to obtain the reel's working angle. When the reel rotates counterclockwise, based on the number of interval phase changes corresponding to the pulse signals of the inner ring sensor 111 and / or the outer ring sensor 112, the fixed phase angle is decreased by 9° each time to obtain the reel's working angle. This effectively achieves the acquisition of the reel's working angle. The obtained reel working angle is displayed in real time on a preset display screen, making it convenient for relevant personnel to grasp the real-time working angle of the reel.

[0046] In some embodiments, the control module 12 further includes a reel working direction acquisition unit 124, used to determine whether the working direction of the reel is clockwise or counterclockwise rotation based on a predetermined phase interval change rule and the acquired pulse signals of the inner ring sensor 111 and the outer ring sensor 112. The phase interval change rule is determined based on the alternating change pattern of the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 when the reel rotates clockwise and counterclockwise one revolution.

[0047] For details, please refer to Figure 4The pulse signals of the outer ring sensor 112 and the inner ring sensor 111 change alternately. Based on this, the phase interval change rule is as follows: if the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 pass through the preset phase interval one, phase interval two, phase interval three, and phase interval four in sequence, the working direction of the reel is determined to be clockwise rotation; if the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 pass through the preset phase interval four, phase interval three, phase interval two, and phase interval one in sequence, the working direction of the reel is determined to be counterclockwise rotation. Specifically, phase interval one is defined as when the outer ring sensor 112 has a feedback signal and the inner ring sensor 111 has no feedback signal; phase interval two is defined as when both the outer ring sensor 112 and the inner ring sensor 111 have a feedback signal; phase interval three is defined as when both the outer ring sensor 112 and the inner ring sensor 111 have a feedback signal; and phase interval four is defined as when neither the outer ring sensor 112 nor the inner ring sensor 111 has a feedback signal. The phase intervals correspond to the phase intervals mentioned above, that is, every 4 phase intervals in the signal period correspond to phase interval one, phase interval two, phase interval three and phase interval four respectively. Figure 4 The numbers 1, 2, 3, and 4 refer to phase interval one, phase interval two, phase interval three, and phase interval four.

[0048] In some embodiments, the take-up unit 121 is specifically used to determine the number of currently changing interval phases based on the pulse signal, determine the reel speed based on the fixed phase angle, the diameter of the drum 115, the reel working time, and the number of currently changing interval phases, and adjust the engine speed and the vacuum ratio of the reel's proportional solenoid valve based on the take-up signal to adjust the hydraulic motor flow rate, thereby reducing the reel speed. The hydraulic motor provides power for the reel rotation.

[0049] Specifically, based on a fixed phase angle, a 115-degree diameter drum, reel operating time, and the number of currently changing phase intervals, the mathematical expression for determining the reel rotation speed is as follows:

[0050] Drum_Speed=Angle_Fixed×Pulse×∏×Drum_Dia / Angle_Total×Tim

[0051] er_Total

[0052] Wherein, Drum_Speed ​​represents the reel speed, Angle_Fixed represents the fixed phase angle, Pulse represents the number of phase intervals that are currently changing, π represents pi, Drum_Dia represents the 115mm diameter of the reel, Angle_Total represents the circumferential angle (360°), and Timer_Total represents the reel working time.

[0053] In some embodiments, the take-up unit 121 is further specifically used to determine the number of phase changes corresponding to the pulse signal interval during the take-up process based on the pulse signal of the inner ring sensor 111 or the outer ring sensor 112, determine the phase angle change value by multiplying the number of changes by a fixed phase angle, determine the number of reel rotations by the ratio of the phase angle change value to the circumferential angle, and determine the length of the retracted hose 116 based on the number of reel rotations, the diameter of the drum 115, the diameter of the hose 116, and the number of layers of the hose 116 on the drum 115. Specifically, please refer to... Figure 5 A multi-layered flexible hose 116 is wound on a drum 115. To determine the length of the retracted hose 116 during drum rotation, the number of phase changes corresponding to the pulse signals of the inner and outer coil sensors 111 and 112 is first determined. Then, the product of this number of changes and a fixed phase angle is determined as the phase angle change value. The phase angle change value is then divided by the circumference angle to obtain the number of drum rotations. Next, based on the diameter of the drum 115, the diameter of the hose 116, and the number of layers of hose 116 on the drum 115, the circumference of the hose 116 on the drum is determined using an arc length calculation formula. Finally, the product of the number of drum rotations and the circumference is determined as the length of the retracted hose 116.

[0054] Furthermore, based on the number of rotations of the reel, the diameter of the drum 115, the diameter of the hose 116, and the number of layers of the hose 116 on the drum 115, the mathematical expression for determining the length of the retracted hose 116 is as follows:

[0055] Ly=Pulse×Angle_Fixed / Angle_Total×∏×(DQ+n*DL)

[0056] Where Ly represents the length of the retracted hose 116, DQ represents the diameter of the drum 115, n represents the number of layers of hose 116 on the drum 115, and DL represents the diameter of hose 116.

[0057] When the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 are divided into 40 phase intervals, the mathematical expression for the corresponding length of the retracted hose 116 is:

[0058] Ly=Pulse×360 / 40 / 360×∏×(DQ+n*DL)

[0059] Where Angle_Fixed = 360 / 40 = 9°, Angle_Total = 360°.

[0060] Similarly, the pipe-laying unit 122 is also specifically used to determine, during the pipe-laying process, the number of phase changes corresponding to the pulse signal interval during the pipe-retracting process based on the pulse signal from the inner ring sensor 111 or the outer ring sensor 112, the product of the number of changes and the fixed phase angle is determined as the phase angle change value, the ratio of the phase angle change value to the circumferential angle is determined as the number of reel rotations, and the length of the reel-laid hose 116 is determined based on the number of reel rotations, the diameter of the reel 115, the diameter of the hose 116, and the number of layers of the hose 116 on the reel 115. By determining the length of the reel-laid hose 116, the position of the nozzle in the unblocking pipe can be monitored in real time.

[0061] In some embodiments, the mathematical expression for calculating the total length of the hose 116 is:

[0062]

[0063] Where L(n) represents the total length of hose 116, Cnt(n) represents the number of turns of the nth layer of hose 116, and N represents the total number of layers of hose 116 on the reel 115.

[0064] During the tubing placement process, the remaining tubing length can be determined based on the total length of the tubing 116 and the length of the tubing 116 that has been placed. Specifically, the difference between the total length of the tubing 116 and the length of the tubing 116 that has been placed is determined as the remaining tubing length.

[0065] In some embodiments, the control module 12 further includes a high-pressure water pump pressure monitoring unit 125, used to acquire the pressure signal of the high-pressure water pump, perform analog-to-digital conversion on the pressure signal, determine the pressure sampling value of the high-pressure water pump, and determine the real-time pressure of the high-pressure water pump based on the pressure sampling value, a preset minimum pressure sampling value, a preset maximum pressure sampling value, and the pressure range of the high-pressure water pump pressure sensor. When the real-time pressure exceeds a preset high-pressure water pump pressure threshold, the high-pressure water pump pressure is reduced and an alarm is issued. It should be noted that the high-pressure water pump is powered by a preset high-pressure water pump power take-off (PTO), which is powered by an engine. When the real-time pressure of the high-pressure water pump exceeds the preset high-pressure water pump pressure threshold, the engine speed is adjusted to a preset value to reduce the high-pressure water pump pressure, thereby preventing excessive pressure in the hose 116 and potential safety hazards.

[0066] Specifically, based on the pressure sampling value, the preset minimum pressure sampling value, the maximum pressure sampling value, and the pressure range of the pressure sensor of the high-pressure water pump, the mathematical expression for the real-time pressure of the high-pressure water pump is determined as follows:

[0067] P=(AI-AI_min) / (AI_max-AI_min)*(P_max-P_min)+P_min

[0068] Wherein, P represents the real-time pressure of the high-pressure water pump, AI represents the pressure sampling value, AI_min represents the preset minimum pressure sampling value, and AI_max represents the maximum pressure sampling value. The minimum and maximum pressure sampling values ​​are reflected in the form of current values, typically 4-20 mA. P_max and P_min represent the pressure range of the pressure sensor of the high-pressure water pump, typically 0-40 MPa.

[0069] In some embodiments, the control module 12 further includes a reel speed limiting unit 126, used to monitor the reel's rotational speed in real time. When the reel's rotational speed exceeds a preset speed threshold, a speed limiting mode is activated, adjusting the engine speed and the vacuum ratio of the reel's proportional solenoid valve to regulate the hydraulic motor flow, ultimately adjusting the reel's rotational speed to the speed threshold. The speed threshold typically refers to the maximum rotational speed. This embodiment improves the safety of reel rotation by limiting the reel's rotational speed to avoid excessively high speeds.

[0070] In some embodiments, the control module 12 further includes an overspeed alarm unit 127, used to determine that the reel has entered an overspeed state when the reel's rotational speed is greater than a preset target reel rotational speed, and then issue an alarm message. This avoids safety hazards caused by excessively high reel rotational speed.

[0071] In some embodiments, the control module 12 further includes a fault alarm unit 128, which is used to interrupt the reel operation, i.e. interrupt the unwinding / rewinding operation, and issue an alarm when the reel speed fluctuates and the fluctuation exceeds a preset fluctuation threshold range during reel operation, in order to prevent unexpected situations from occurring.

[0072] In some embodiments, the system further includes a display screen connected to the control module 12 via a CAN (Controller Area Network). The display screen receives and displays operating data, operation prompts, and historical fault records sent by the control module 12, and sends control commands such as setting parameters to the control module 12. This enables one-click operation flow navigation, operation prompts, and system alarm alerts, improving system reliability.

[0073] The automatic reel control method provided by the present invention is described below. The automatic reel control method described below can be referred to in correspondence with the automatic reel control device described above.

[0074] Please refer to Figure 6 The automatic reel control method of this embodiment includes:

[0075] S61: Collects the pulse signal when the reel of the dredging and cleaning truck rotates.

[0076] S62: Upon receiving a hose reel signal, the reel is controlled to rotate to retract the hose 116 based on the signal. During the retraction process, the reel's rotation speed is determined and reduced based on the pulse signal, and the high-pressure water pump's drive speed is simultaneously reduced to decrease the liquid flow and pressure within the hose 116. Furthermore, the length of the retracted hose 116 is determined based on the pulse signal. When the retracted hose 116 reaches the preset target length, the hose reel retraction operation is completed. This achieves automatic hose reel retraction, effectively preventing the high-pressure hose from being rapidly pulled out of the underground pipe during retraction, which could cause the sprinkler head to swing uncontrollably under high-pressure water, creating a safety hazard.

[0077] In some embodiments, the step of acquiring the pulse signal when the reel of the dredging and cleaning vehicle rotates includes:

[0078] An inner ring sensor 111 is provided for acquiring pulse signals from a preset first ring surface of the reel, and an outer ring sensor 112 is provided for acquiring pulse signals from a preset second ring surface of the reel; the pulse signals are acquired using the inner ring sensor 111 and the outer ring sensor 112.

[0079] The reel includes a base and a drum 115 coaxially arranged. The drum 115 is located within the two bases. The base includes a reel surface 1131, one or more first detection elements 1132, and second detection elements 1133 corresponding to the first detection elements 1132. The plurality of first detection elements 1132 are evenly arranged around the reel surface 1131 at a preset interval to form a first annular surface. The second detection elements 1133 are disposed on the side of the corresponding first detection element 1132 away from the reel surface 1131. The second detection elements 1133 and the corresponding first detection elements 1132 are stacked in a staggered manner to form a second annular surface. The staggered distance between the first detection element 1132 and the corresponding second detection element 1133 is half the length of the first detection element 1132. The first detection element 1132 and the second detection element 1133 have the same length. The inner ring sensor 111 and the outer ring sensor 112 are both mounted on a fixing device 114, which is located on the side of the base away from the drum 115. The inner ring sensor 111 faces the first annular surface, and the outer ring sensor 112 faces the second annular surface. The line connecting the inner ring sensor 111 and the center of the disk surface 1131 is defined as the first line, and the line connecting the outer ring sensor 112 and the center of the disk surface 1131 is defined as the second line. The angle formed by the intersection of the first line and the second line is an integer multiple of the angle value corresponding to a preset signal period. The number of signal periods is determined based on the number of the first detection element 1132 or the second detection element 1133. The angle value corresponding to each signal period is equal, and the sum of the angle values ​​corresponding to all signal periods is the circumferential angle.

[0080] In some embodiments, the method further includes: dividing the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 into interval phases to obtain multiple interval phases corresponding to one rotation of the reel. Each interval phase has a fixed phase angle, and the sum of the multiple interval phases is a circumferential angle. When the reel rotates clockwise, the fixed phase angle is increased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner ring sensor 111 and / or the outer ring sensor 112 to obtain the working angle of the reel. When the reel rotates counterclockwise, the fixed phase angle is decreased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner ring sensor 111 and / or the outer ring sensor 112 to obtain the working angle of the reel.

[0081] In some embodiments, during the take-up process, the step of determining and reducing the reel speed based on the pulse signal includes:

[0082] Based on the pulse signal, the number of currently changing interval phases is determined. Based on the fixed phase angle, the diameter of the drum 115, the working time of the reel, and the number of currently changing interval phases, the reel speed is determined. Based on the take-up signal, the engine speed and the vacuum ratio of the reel's proportional solenoid valve are adjusted to regulate the hydraulic motor flow rate, thereby reducing the reel speed. The hydraulic motor provides power for the reel rotation.

[0083] In some embodiments, the step of determining the length of the retracted hose 116 based on the pulse signal includes:

[0084] Based on the pulse signal from the inner ring sensor 111 or the outer ring sensor 112, the number of phase changes corresponding to the pulse signal interval during the tube take-up process is determined. The product of the number of changes and the fixed phase angle is determined as the phase angle change value. The ratio of the phase angle change value to the circumferential angle is determined as the number of reel rotations. Based on the number of reel rotations, the diameter of the drum 115, the diameter of the hose 116, and the number of layers of the hose 116 on the drum 115, the length of the retracted hose 116 is determined.

[0085] In some embodiments, the method further includes: acquiring a pressure signal from a high-pressure water pump, performing analog-to-digital conversion on the pressure signal, determining a pressure sampling value of the high-pressure water pump, determining a real-time pressure of the high-pressure water pump based on the pressure sampling value, a preset minimum pressure sampling value, a preset maximum pressure sampling value, and the pressure range of the pressure sensor of the high-pressure water pump, and reducing the pressure of the high-pressure water pump and issuing an alarm when the real-time pressure exceeds a preset high-pressure water pump pressure threshold.

[0086] In some embodiments, the method further includes: determining whether the working direction of the reel is clockwise or counterclockwise rotation based on a predetermined phase interval change rule and the acquired pulse signals of the inner ring sensor 111 and the outer ring sensor 112. The phase interval change rule is determined based on the alternating change pattern of the pulse signals of the inner ring sensor 111 and the outer ring sensor 112 when the reel rotates clockwise and counterclockwise one revolution.

[0087] Furthermore, this embodiment also provides a dredging and cleaning vehicle, including: a front end, a body, and wheels, wherein the body is equipped with an automatic reel control device; the automatic reel control device includes:

[0088] The reel speed monitoring module 11 is used to collect pulse signals when the reel of the dredging and cleaning vehicle rotates;

[0089] The control module 12 includes a hose reel unit 121, which, upon receiving a hose reel signal, controls the reel to rotate to reel in the hose 116. During the hose reeling process, based on the pulse signal, the reel's rotational speed is determined and reduced, and simultaneously, the driving speed of the high-pressure water pump is reduced to decrease the liquid flow rate and pressure within the hose 116. Furthermore, based on the pulse signal, the length of the reeled hose 116 is determined. When the reeled hose 116 reaches a preset target length, the hose reeling operation is completed. The cleaning and unclogging vehicle provided by this invention, due to the aforementioned automatic reel control device, also possesses the various advantages described above.

[0090] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown, the electronic device may include a processor 710, a communication interface 720, a memory 730, and a communication bus 740. The processor 710, communication interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logic instructions in the memory 730 to execute an automatic reel control method. This method includes: acquiring pulse signals when the reel of the cleaning truck rotates; upon receiving a hose-retracting signal, controlling the reel to rotate to retract the hose 116 based on the hose-retracting signal; during the hose-retracting process, determining and reducing the reel's rotation speed based on the pulse signals, and simultaneously reducing the drive speed of the high-pressure water pump to reduce the liquid flow and pressure within the hose 116; and determining the length of the retracted hose 116 based on the pulse signals. When the length of the retracted hose 116 reaches a preset target retraction length, the reel hose-retracting operation is completed.

[0091] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, 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, server, 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.

[0092] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the automatic reel control method provided by the above methods. The method includes: acquiring pulse signals when the reel of the cleaning truck rotates; when a hose reel signal is received, controlling the reel to rotate to retract the hose 116 based on the hose reel signal; during the hose reel retraction process, determining and reducing the reel rotation speed based on the pulse signals, and simultaneously reducing the drive speed of the high-pressure water pump to reduce the liquid flow rate and pressure in the hose 116; and determining the length of the retracted hose 116 based on the pulse signals. When the length of the retracted hose 116 reaches a preset target retraction length, the reel hose reel retraction operation is completed.

[0093] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic control device for a reel, characterized in that, include: The reel speed monitoring module is used to collect pulse signals when the reel of the dredging and cleaning vehicle rotates; The control module includes: a hose reel unit, used to control the reel to rotate to reel in the hose when a hose reel signal is received; during the hose reeling process, the reel rotation speed is determined and reduced based on the pulse signal, and the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose; and the length of the reeled hose is determined based on the pulse signal; when the length of the reeled hose reaches the preset target length, the hose reeling operation is completed. The reel speed monitoring module includes an inner ring sensor and an outer ring sensor. The inner ring sensor is used to collect pulse signals from a preset first ring surface of the reel, and the outer ring sensor is used to collect pulse signals from a preset second ring surface of the reel. The reel includes a base and a drum coaxially arranged, with the drum located within the two bases. Each base includes a reel surface, one or more first detection elements, and second detection elements corresponding to the first detection elements. The plurality of first detection elements are evenly arranged around the reel surface at preset intervals to form a first annular surface. The second detection elements are disposed on the side of the corresponding first detection element away from the reel surface. The second detection elements and the corresponding first detection elements are stacked in a staggered manner to form a second annular surface. The staggered distance between the first detection elements and the corresponding second detection elements is half the length of the first detection element. The first detection elements and the second detection elements have the same length.

2. The automatic reel control device according to claim 1, characterized in that, Both the inner and outer ring sensors are mounted on a fixed device located on the side of the base away from the drum. The inner ring sensor faces the first ring surface, and the outer ring sensor faces the second ring surface. The line connecting the inner ring sensor to the center of the disk surface is defined as the first line, and the line connecting the outer ring sensor to the center of the disk surface is defined as the second line. The angle formed by the intersection of the first and second lines is an integer multiple of the angle value corresponding to a preset signal period. The number of signal periods is determined based on the number of the first or second detection elements. The angle value corresponding to each signal period is equal, and the sum of the angle values ​​corresponding to all signal periods is the circumferential angle.

3. The automatic reel control device according to claim 1, characterized in that, The control module further includes a reel working angle acquisition unit, used to divide the pulse signals of the inner and outer ring sensors into interval phases to obtain multiple interval phases corresponding to one revolution of the reel. Each interval phase has a fixed phase angle, and the sum of multiple interval phases is the circumferential angle. When the reel rotates clockwise, the fixed phase angle is increased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner and / or outer ring sensors to obtain the reel working angle. When the reel rotates counterclockwise, the fixed phase angle is decreased successively based on the number of changes in the interval phases corresponding to the pulse signals of the inner and / or outer ring sensors to obtain the reel working angle.

4. The automatic reel control device according to claim 3, characterized in that, The take-up unit is specifically used to determine the number of currently changing interval phases based on the pulse signal, determine the reel speed based on the fixed phase angle, reel diameter, reel working time, and the number of currently changing interval phases, and adjust the engine speed and the vacuum ratio of the reel's proportional solenoid valve based on the take-up signal to adjust the hydraulic motor flow rate, thereby reducing the reel speed. The hydraulic motor provides power for the reel rotation.

5. The automatic reel control device according to claim 4, characterized in that, The take-up unit is also specifically used to determine the number of phase changes in the interval corresponding to the pulse signal during the take-up process based on the pulse signal of the inner or outer ring sensor, determine the phase angle change value by multiplying the number of changes by a fixed phase angle, determine the number of reel rotations by the ratio of the phase angle change value to the circumferential angle, and determine the length of the retracted hose based on the number of reel rotations, the drum diameter, the hose diameter, and the number of hose layers on the drum.

6. The automatic reel control device according to claim 4, characterized in that, The control module further includes a high-pressure water pump pressure monitoring unit, used to acquire the pressure signal of the high-pressure water pump, perform analog-to-digital conversion on the pressure signal, determine the pressure sampling value of the high-pressure water pump, and determine the real-time pressure of the high-pressure water pump based on the pressure sampling value, the preset minimum pressure sampling value, the preset maximum pressure sampling value, and the pressure range of the pressure sensor of the high-pressure water pump. When the real-time pressure exceeds the preset high-pressure water pump pressure threshold, the high-pressure water pump pressure is reduced and an alarm is issued.

7. The automatic reel control device according to claim 1, characterized in that, The control module further includes a reel working direction acquisition unit, used to determine whether the working direction of the reel is clockwise or counterclockwise rotation based on a predetermined phase interval change rule and the acquired pulse signals of the inner and outer ring sensors. The phase interval change rule is determined based on the alternating change pattern of the pulse signals of the inner and outer ring sensors when the reel rotates clockwise and counterclockwise one revolution.

8. An automatic reel control method, applied to the automatic reel control device as described in any one of claims 1 to 7, characterized in that, include: Collect pulse signals when the reel of the dredging and cleaning truck rotates; When a hose reel signal is received, the reel is controlled to rotate to reel in the hose. During the hose reeling process, the reel speed is determined and reduced based on the pulse signal. At the same time, the driving speed of the high-pressure water pump is reduced to decrease the liquid flow and pressure in the hose. Furthermore, the length of the reeled hose is determined based on the pulse signal. When the length of the reeled hose reaches the preset target length, the hose reeling operation is completed.

9. A dredging and cleaning vehicle, characterized in that, include: The vehicle includes a front end, a body, and wheels, wherein the body is equipped with an automatic reel control device; the automatic reel control device is as described in any one of claims 1 to 7.

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