Sanitation vehicle, control method and control device for sanitation vehicle

Abstract

The present invention provides a sanitation vehicle, a control method for the sanitation vehicle, and a control device for the sanitation vehicle. The sanitation vehicle includes: a vehicle body and a water spraying device, wherein the water spraying device is installed at the bottom of the vehicle body and is used to spray water onto the ground, and the water spraying device can be raised and lowered relative to the vehicle body; a control device, which is used to obtain the height of the water spraying device relative to the ground, and control and adjust the lifting and lowering action of the water spraying device according to the height. The present invention can adjust the height of the water spraying device relative to the ground. On the one hand, it avoids collision between the water spraying device and the ground, ensuring the safety of the use of the water spraying device; on the other hand, it finds the optimal height of the water spraying device above the ground under different terrain conditions, so that the sanitation vehicle can achieve the best cleaning effect at the optimal height above the ground at that time, ensuring that the sanitation vehicle can adapt to various terrain conditions and always maintain the best cleaning effect.

Description

Technical Field

[0001] The present invention relates to the field of electrical technology, and in particular to a sanitation vehicle, a control method and a control device for the sanitation vehicle. Background Art

[0002] In related technologies, the cleaning operation devices of sanitation vehicles such as cleaning vehicles or washing and sweeping vehicles are mostly fixedly installed. The height of the operation device from the ground is quite different when the vehicle is empty and fully loaded. The height of the operation device from the ground also changes all the time during operation, resulting in the water column and water curtain failing to achieve ideal operating effects.

[0003] At present, the cleaning operation devices of sanitation vehicles are generally low to the ground. When there are potholes or large slopes on the road, scratches are likely to occur. The operator is usually required to lift the operation device to avoid them. Operation during driving can easily lead to traffic accidents and increase safety factors. Summary of the Invention

[0004] The present invention provides a sanitation vehicle, a control method and a control device for the sanitation vehicle, which are used to solve the defects in the existing technology and achieve the following technical effects: on the one hand, it avoids the collision of the water spray device with the ground and ensures the safety of the water spray device; on the other hand, it ensures that the sanitation vehicle can adapt to various terrain conditions and always maintain the best cleaning effect.

[0005] A sanitation vehicle according to a first embodiment of the present invention includes:

[0006] A vehicle body and a water spraying device, wherein the water spraying device is mounted on the bottom of the vehicle body and is used to spray water onto the ground, and the water spraying device is arranged to be raised and lowered relative to the vehicle body;

[0007] The control device is used to obtain the height of the water spraying device relative to the ground, and control and adjust the lifting action of the water spraying device according to the height.

[0008] According to a second embodiment of the present invention, a control method for a sanitation vehicle based on the first embodiment of the present invention includes:

[0009] receiving a signal from the sanitation vehicle to start working, and obtaining the actual height of the water spraying device relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling;

[0010] The lifting action of the water spraying device is controlled and adjusted according to the actual height above the ground and / or the ground information.

[0011] According to one embodiment of the present invention, the step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes:

[0012] According to the actual height above the ground being greater than the maximum height above the ground, controlling the water spray device to descend so that the actual height above the ground is not higher than the maximum height above the ground;

[0013] According to the actual height above the ground being less than the minimum height above the ground, the water spraying device is controlled to rise so that the actual height above the ground is not less than the minimum height above the ground.

[0014] According to one embodiment of the present invention, the ground information includes the degree of dust accumulation on the ground below the sanitation vehicle;

[0015] The step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes:

[0016] According to the different dust accumulation levels of the dust accumulation degree, the water spraying device is adjusted to different height ranges above the ground based on the actual height above the ground.

[0017] According to one embodiment of the present invention, the step of adjusting the water spray device to different height ranges above the ground based on the actual height above the ground according to the different dust accumulation levels of the dust accumulation degree specifically includes:

[0018] According to the dust accumulation level being at the first dust accumulation level, adjusting the height of the water spray device from the ground to a first height range from the ground;

[0019] According to the dust accumulation level being at the second dust accumulation level, adjusting the height of the water spray device from the ground to a second height range from the ground;

[0020] In which, the dust accumulation degree corresponding to the first dust accumulation level is lower than the dust accumulation degree corresponding to the second dust accumulation level, and the first ground clearance range is higher than the second ground clearance range, and the first ground clearance range and the second ground clearance range are both less than or equal to the maximum ground clearance and greater than or equal to the minimum ground clearance.

[0021] According to one embodiment of the present invention, the ground information further includes a predicted terrain condition ahead of the sanitation vehicle's travel trajectory;

[0022] The step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes:

[0023] According to the predicted terrain conditions, the water spraying device is controlled to perform a pre-ascending or pre-descending action to adapt to the predicted terrain conditions.

[0024] According to one embodiment of the present invention, the step of controlling the water spraying device to perform a pre-ascending or pre-descending action to adapt to the pre-predicted terrain condition according to the pre-predicted terrain condition specifically includes:

[0025] According to the predicted terrain condition including a protrusion above the obstacle, obtaining the height of the obstacle, and comparing the height of the obstacle with the actual height above the ground;

[0026] In a case where the height of the obstacle is higher than the actual height above the ground, the water spraying device is controlled to perform the pre-ascending action so that the water spraying device is higher than the obstacle.

[0027] According to one embodiment of the present invention, before the step of controlling the water spraying device to perform the pre-rising action, the method for controlling the sanitation vehicle further includes:

[0028] Obtaining the travel distance between the sanitation vehicle and the obstacle;

[0029] The lifting and lowering speed of the water spraying device in the pre-lifting action is determined according to the difference between the height of the obstacle and the actual height above the ground and the travel distance.

[0030] According to one embodiment of the present invention, the step of controlling the water spraying device to perform a pre-ascending or pre-descending action to adapt to the pre-predicted terrain condition according to the pre-predicted terrain condition specifically includes:

[0031] According to the predicted terrain condition including a pit sunken in the ground, the water spraying device is controlled to perform a pre-descent action to the minimum height above the ground.

[0032] According to one embodiment of the present invention, after the step of receiving the signal for the sanitation vehicle to start working, the method for controlling the sanitation vehicle further includes:

[0033] Obtaining an optimal height of the water spray device from the ground, and adjusting the water spray device to the optimal height from the ground;

[0034] The optimal height from the ground is smaller than the maximum height from the ground and larger than the minimum height from the ground, and the optimal height from the ground is obtained based on the water spraying volume of the water spraying device and the degree of dust accumulation on the ground below the sanitation vehicle.

[0035] According to an embodiment of the present invention, the maximum ground clearance and the minimum ground clearance are determined according to the terrain information.

[0036] According to a third aspect of the present invention, a control device for a sanitation vehicle based on the first aspect of the present invention includes:

[0037] an acquisition module, configured to receive a signal indicating that the sanitation vehicle has started working, and acquire the actual height of the water spraying device relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling;

[0038] The control module is used to control and adjust the lifting action of the water spray device according to the actual height above the ground and / or the ground information.

[0039] The present invention proposes a sanitation vehicle, a control method and a control device for the sanitation vehicle. By controlling the lifting and lowering of a water spray device relative to a vehicle body, the height of the water spray device relative to the ground can be adjusted. In this way, on the one hand, the height of the water spray device above the ground can be adjusted according to the terrain conditions, thereby avoiding collision between the water spray device and the ground and ensuring the safety of the water spray device; on the other hand, the cleaning effect of the sanitation vehicle can be adjusted by changing the height of the water spray device above the ground, and the optimal height of the water spray device above the ground can be found under different terrain conditions, so that the sanitation vehicle can achieve the best cleaning effect at the optimal height above the ground at that time, ensuring that the sanitation vehicle can adapt to various terrain conditions and always maintain the best cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 It is a structural schematic diagram of the water spray device provided by the present invention;

[0042] Figure 2 It is a structural schematic diagram of the water spray device and the control device provided by the present invention;

[0043] Figure 3 It is a structural schematic diagram of the sanitation vehicle provided by the present invention;

[0044] Figure 4 It is a schematic diagram of the steps of the control method of the sanitation vehicle provided by the present invention;

[0045] Figure 5 It is a structural schematic diagram of the control device of the sanitation vehicle provided by the present invention;

[0046] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0047] Reference numerals:

[0048] 1. Vehicle body; 2. Water spray device; 21. Water spray pipe; 22. Nozzle; 23. Lifting mechanism; 24. Connector; 25. Height sensor;

[0049] 31. Control host; 32. Execution device; 33. Vehicle display; 110. Acquisition module; 120. Control module. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0051] The following describes a sanitation vehicle, a control method for a sanitation vehicle, and a control device for a sanitation vehicle proposed by the present invention with reference to the accompanying drawings.

[0052] like Figures 1 to 3 As shown, the sanitation vehicle according to the first embodiment of the present invention includes a vehicle body 1, a water spraying device 2 and a control device.

[0053] The water spray device 2 is mounted on the bottom of the vehicle body 1 and is used to spray water onto the ground. The water spray device 2 is arranged to be raised and lowered relative to the vehicle body 1. The control device is used to obtain the height of the water spray device 2 relative to the ground and control the raising and lowering of the water spray device 2 according to the height.

[0054] According to the sanitation vehicle of the embodiment of the present invention, a liftable water spray device 2 is provided at the bottom of the vehicle body 1, so that the height of the water spray device 2 relative to the ground can be adjusted. In this way, on the one hand, the height of the water spray device 2 can be adjusted according to the terrain conditions, thereby avoiding collision between the water spray device 2 and the ground and ensuring the safety of the use of the water spray device 2; on the other hand, the cleaning effect of the sanitation vehicle can be adjusted by changing the height of the water spray device 2 from the ground, and the optimal height of the water spray device 2 from the ground can be found under different terrain conditions, so that the sanitation vehicle can achieve the best cleaning effect at the optimal height from the ground at that time, ensuring that the sanitation vehicle can adapt to various terrain conditions and always maintain the best cleaning effect.

[0055] It can be understood that when the height of the water spray device 2 from the ground is too high, although the risk of the water spray device 2 colliding with the ground is low, the cleaning effect of the water spray device 2 on the ground is poor; and when the height of the water spray device 2 from the ground is low, although the cleaning effect of the water spray device 2 on the ground is good, the risk of the water spray device 2 colliding with the ground is also greatly increased. The present invention controls the lifting and lowering of the water spray device 2 through a control device, so that the water spray device 2 can achieve a balance between the risk of collision and the cleaning effect, and achieves the effects of low risk of collision and good cleaning effect at the same time by always keeping the water spray device 2 at the optimal height from the ground.

[0056] like Figure 1 As shown, according to some embodiments of the present invention, the water spraying device 2 includes a water spraying pipe 21, a nozzle 22, a lifting mechanism 23 and a connecting piece 24, wherein the two ends of the water spraying pipe 21 are respectively connected to the two nozzles 22, the water spraying pipe 21 is connected to the bottom of the vehicle body 1 through the lifting mechanism 23 in a liftable manner, and the water spraying pipe 21 is connected to the water supply system of the vehicle body 1 through the connecting piece 24.

[0057] It is understood that the control device controls the movement of the lifting mechanism 23 to achieve the raising and lowering of the water spraying device 2. The lifting mechanism 23 may include a driving member such as a cylinder, an oil cylinder, or a motor, and the present invention does not impose any particular limitation thereto, as long as the lifting mechanism 23 can achieve the raising and lowering of the water spraying device 2.

[0058] In a specific embodiment, the lifting mechanism 23 includes a hydraulic cylinder, a driving section of the hydraulic cylinder is fixed to the bottom of the vehicle body 1 through a mounting member, and a cylinder body of the hydraulic cylinder is fixed to the water spray pipe 21 .

[0059] Furthermore, there are two hydraulic cylinders, and the two hydraulic cylinders are respectively arranged on the left and right sides of the water spray pipe 21 to work synchronously and realize the lifting and lowering of the water spray device 2.

[0060] In some embodiments of the present invention, connector 24 is a flexible or retractable pipe. Thus, as sprinkler 2 is raised or lowered, connector 24 also extends or contracts, maintaining connectivity between sprinkler pipe 21 and the water supply system, ensuring proper water spraying by sprinkler 2. Connector 24 is located in the middle of sprinkler pipe 21, and a height sensor 25 is also provided in the middle of sprinkler pipe 21 to detect the actual height of sprinkler 2 from the ground.

[0061] like Figure 2 As shown, according to some embodiments of the present invention, the control device includes a control host 31 and an execution device 32. The control host 31 controls the lifting and lowering action of the water spraying device 2 through the execution device 32, and the control host 31 is connected to the vehicle-mounted display 33.

[0062] The control method and control device for the sanitation vehicle proposed in the present invention are described below with reference to the accompanying drawings. Before describing the embodiments of the present invention in detail, the entire application scenario is described first. The control method, control device, electronic device and computer-readable storage medium for the sanitation vehicle of the embodiments of the present invention can be applied locally to the sanitation vehicle, or to the cloud platform in the Internet field, or other types of cloud platforms in the Internet field, or can also be applied to third-party devices. Among them, third-party devices may include various types such as mobile phones, tablet computers, notebooks, vehicle-mounted computers and other smart terminals.

[0063] The following description only uses the control method applicable to a sanitation vehicle as an example. It should be understood that the control method of the embodiment of the present invention can also be applied to cloud platforms and third-party devices. It should also be pointed out that the control method and control device of the present invention are based on the sanitation vehicle described above.

[0064] like Figure 4 As shown, the control method of the sanitation vehicle according to the second embodiment of the present invention includes:

[0065] Step S1, receiving a signal indicating that the sanitation vehicle starts working, obtaining the actual height of the water spraying device 2 relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling;

[0066] Step S2: controlling and adjusting the lifting action of the water spraying device 2 according to the actual height above the ground and / or the ground information.

[0067] According to the control method of the sanitation vehicle of the embodiment of the present invention, its specific working principle is as follows: after obtaining the signal for the sanitation vehicle to start working, the control device obtains the actual ground clearance height of the water spray device 2 relative to the ground through the height sensor 25. In the initial height control, the control device will adjust the action of the water spray device 2 according to the actual ground clearance to prevent the water spray device 2 from exceeding the allowable ground clearance, for example, to prevent the water spray device 2 from exceeding the maximum ground clearance and causing cleaning failure, and to prevent the water spray device 2 from falling below the minimum ground clearance and causing collision failure. In further height control, the control device will obtain ground information of the ground on which the sanitation vehicle is traveling based on other sensor modules, and finely adjust the ground clearance height of the water spray device 2 in combination with the rising ground information, so as to achieve a balance between the cleaning effect and the risk of collision, that is, while ensuring the cleaning effect of the sanitation vehicle, avoiding the collision of the water spray device 2 with the ground, so that the water spray device 2 can adapt to different terrain conditions, that is, it can always maintain the optimal ground clearance under different terrain conditions.

[0068] In related technologies, the cleaning operation devices of sanitation vehicles such as cleaning vehicles or washing and sweeping vehicles are mostly fixedly installed. The height of the operation device from the ground is quite different when the vehicle is empty and fully loaded. The height of the operation device from the ground also changes all the time during operation, resulting in the water column and water curtain failing to achieve ideal operating effects.

[0069] At present, the cleaning operation devices of sanitation vehicles are generally low to the ground. When there are potholes or large slopes on the road, scratches are likely to occur. The operator is usually required to lift the operation device to avoid them. Operation during driving can easily lead to traffic accidents and increase safety factors.

[0070] Therefore, in order to solve the technical problems existing in the above-mentioned related technologies, the present invention proposes a control method for a sanitation vehicle. By controlling the lifting and lowering of the water spray device 2 relative to the vehicle body 1, the ground clearance of the water spray device 2 relative to the ground can be adjusted. In this way, on the one hand, the ground clearance of the water spray device 2 can be adjusted according to the terrain conditions, thereby avoiding collision between the water spray device 2 and the ground and ensuring the safety of the use of the water spray device 2; on the other hand, the cleaning effect of the sanitation vehicle can be adjusted by changing the ground clearance of the water spray device 2, and the optimal ground clearance of the water spray device 2 can be found under different terrain conditions, so that the sanitation vehicle can achieve the best cleaning effect at the optimal ground clearance at that time, ensuring that the sanitation vehicle can adapt to various terrain conditions and always maintain the best cleaning effect.

[0071] According to some embodiments of the present invention, the step of controlling and adjusting the lifting action of the water spraying device 2 according to the actual height above the ground and / or the ground information specifically includes:

[0072] According to the actual height above the ground being greater than the maximum height above the ground, controlling the water spraying device 2 to descend so that the actual height above the ground is not higher than the maximum height above the ground;

[0073] According to the actual height above the ground being less than the minimum height above the ground, the water spraying device 2 is controlled to rise so that the actual height above the ground is not less than the minimum height above the ground.

[0074] In this way, when the actual height from the ground is greater than the maximum height from the ground, although the risk of the water spray device 2 colliding with the ground is low, the cleaning effect of the water spray device 2 on the ground is poor, and even the cleaning failure may occur. Therefore, the control device will control the water spray device 2 to descend to a height less than or equal to the maximum height from the ground to ensure the cleaning effect of the water spray device 2 on the ground.

[0075] When the actual height from the ground is less than the minimum distance from the ground, although the water spray device 2 has a better cleaning effect on the ground, the risk of the water spray device 2 colliding with the ground is also greatly increased. Therefore, the control device will control the water spray device 2 to rise to a height greater than or equal to the minimum height from the ground to avoid the water spray device 2 colliding with the ground.

[0076] According to some embodiments of the present invention, the ground information includes the degree of dust accumulation on the ground below the sanitation vehicle. Then, the step of controlling and adjusting the lifting action of the water spraying device 2 according to the actual height above the ground and / or the ground information specifically includes:

[0077] According to the different dust accumulation levels of the dust accumulation degree, the water spraying device 2 is adjusted to different height ranges above the ground based on the actual height above the ground.

[0078] In this embodiment, the degree of dust accumulation can reflect the current dust accumulation situation on the ground. It can be understood that the higher the degree of dust accumulation on the ground, the better the cleaning effect required to clean the ground. When the water spraying amount remains unchanged, the lower the height of the water spraying device 2 from the ground, the better the cleaning effect of the sanitation vehicle on the ground. Therefore, this embodiment detects the degree of dust accumulation under the sanitation vehicle and adjusts the height of the water spraying device 2 from the ground according to the degree of dust accumulation, so that the water spraying device 2 can be adjusted to the optimal height from the ground according to the degree of dust accumulation and achieve a cleaning effect that matches the ground, ensuring that grounds with different degrees of dust accumulation can be thoroughly cleaned.

[0079] In some specific embodiments, the detection of the degree of dust accumulation can be achieved by means of detection devices such as infrared sensors, ultrasonic sensors or cameras. Specifically, taking a camera installed on the bottom of a sanitation vehicle as an example, the camera takes a picture of the ground under the sanitation vehicle and uploads it to a cloud server for analysis of the picture. The current dust accumulation thickness of the ground is obtained by analyzing the picture, and the degree of dust accumulation on the ground is judged according to the size of the dust accumulation thickness and the dust accumulation level is further divided. For example, if the dust accumulation thickness of the ground under the sanitation vehicle is 0mm to 1mm, the dust accumulation level is relatively light and corresponds to the first dust accumulation level. If the dust accumulation thickness of the ground under the sanitation vehicle is 1mm to 2mm, the dust accumulation level is relatively heavy and corresponds to the second dust accumulation level.

[0080] Of course, the above embodiment is only one of many embodiments of the present invention and does not constitute a specific limitation on the detection of dust accumulation and the classification of dust accumulation levels.

[0081] Furthermore, the step of adjusting the water spray device 2 to different height ranges above the ground based on the actual height above the ground according to the different dust accumulation levels of the dust accumulation degree specifically includes:

[0082] According to the dust accumulation level being at the first dust accumulation level, adjusting the height of the water spraying device 2 from the ground to a first height range from the ground;

[0083] According to the dust accumulation level being at the second dust accumulation level, the height of the water spraying device 2 from the ground is adjusted to a second height range from the ground.

[0084] In which, the dust accumulation degree corresponding to the first dust accumulation level is lower than the dust accumulation degree corresponding to the second dust accumulation level, and the first ground clearance range is higher than the second ground clearance range, and the first ground clearance range and the second ground clearance range are both less than or equal to the maximum ground clearance and greater than or equal to the minimum ground clearance.

[0085] In this embodiment, the higher the dust accumulation level is, the lower the control device adjusts the height of the water spray device 2 from the ground, thereby ensuring that the ground with a high degree of dust accumulation is thoroughly cleaned.

[0086] For example, if the dust accumulation thickness detected on the ground beneath the sanitation vehicle is 0mm to 1mm, the dust accumulation is relatively light and corresponds to the first dust accumulation level. Accordingly, the controller adjusts the height of the water spray device 2 to 30cm to 50cm above the ground. If the dust accumulation thickness detected on the ground beneath the sanitation vehicle is 1mm to 2mm, the dust accumulation is relatively heavy and corresponds to the second dust accumulation level. Accordingly, the controller adjusts the height of the water spray device 2 to 10cm to 30cm above the ground. Actual testing has shown that when the above-mentioned heights and dust accumulation levels are matched, the cleaning effect of the ground corresponding to the two dust accumulation levels is basically the same and both are thoroughly cleaned.

[0087] According to some embodiments of the present invention, the ground information further includes predicted terrain conditions ahead of the sanitation vehicle's travel trajectory, and the step of controlling and adjusting the lifting action of the water spraying device 2 based on the actual ground height and / or the ground information specifically includes:

[0088] According to the predicted terrain conditions, the water spraying device 2 is controlled to perform a pre-ascending or pre-descending action to adapt to the predicted terrain conditions.

[0089] In this way, by detecting and obtaining the pre-travel terrain conditions in front of the sanitation vehicle, the water spray device 2 can be pre-raised or pre-lowered in advance, thereby avoiding the sanitation vehicle from colliding with obstacles due to the water spray device 2 not being raised or lowered in time during the movement, and also avoiding the defect that the sanitation vehicle is difficult to clean potholes in time due to the water spray device 2 not being raised or lowered in time during the movement.

[0090] In one embodiment of the present invention, the step of controlling the water spraying device 2 to perform a pre-ascending or pre-descending action to adapt to the pre-predicted terrain conditions according to the pre-predicted terrain conditions specifically includes:

[0091] According to the predicted terrain condition including a protrusion above the obstacle, obtaining the height of the obstacle, and comparing the height of the obstacle with the actual height above the ground;

[0092] In a case where the height of the obstacle is higher than the actual height above the ground, the water spraying device 2 is controlled to perform the pre-ascending action so that the water spraying device 2 is higher than the obstacle.

[0093] In this way, the water spray device 2 can be lifted to a height above the obstacle before the sanitation vehicle passes the obstacle, thereby ensuring the driving safety of the sanitation vehicle and avoiding collision between the water spray device 2 and the obstacle due to untimely lifting.

[0094] Furthermore, before the step of controlling the water spraying device 2 to perform the pre-rising action, the control method of the sanitation vehicle further includes:

[0095] Obtaining the travel distance between the sanitation vehicle and the obstacle;

[0096] The lifting and lowering rate of the water spraying device 2 in the pre-lifting action is determined according to the difference between the height of the obstacle and the actual height above the ground and the travel distance.

[0097] In this way, it can be ensured that when the sanitation vehicle drives to an obstacle, the water spray device 2 is just raised to a height higher than the obstacle, thereby ensuring the cleaning effect in the front section of the obstacle without causing collision failure.

[0098] In another embodiment of the present invention, the step of controlling the water spraying device 2 to perform a pre-ascending or pre-descending action to adapt to the pre-produced terrain conditions according to the pre-produced terrain conditions specifically includes:

[0099] According to the predicted terrain condition including a pit sunken in the ground, the water spraying device 2 is controlled to perform a pre-descent action to the minimum height above the ground.

[0100] In this way, it can be ensured that when the sanitation vehicle drives to the pit, the nozzle 22 of the water spraying device 2 can be lowered in time and extended into the pit for cleaning, ensuring that the sanitation vehicle can also achieve a thorough cleaning effect in the pit.

[0101] According to some embodiments of the present invention, after the step of receiving the signal for the sanitation vehicle to start working, the method for controlling the sanitation vehicle further includes:

[0102] Obtain the optimal height of the water spray device 2 from the ground, and adjust the water spray device 2 to the optimal height from the ground.

[0103] Among them, the optimal height from the ground is less than the maximum height from the ground and greater than the minimum height from the ground, and the optimal height from the ground is obtained based on the water spraying volume of the water spraying device 2 and the degree of dust accumulation on the ground below the sanitation vehicle.

[0104] It can be understood that, on the one hand, this embodiment can minimize the risk of collision between the water spraying device 2 and the ground by controlling the optimal height above the ground at the maximum height above the ground and the minimum height above the ground. On the other hand, this embodiment further determines the specific size of the optimal height above the ground by the amount of water sprayed by the water spraying device 2 and the degree of dust accumulation on the ground, which can ensure that the water spraying device 2 has the best cleaning effect on the ground. In summary, the optimal height above the ground is obtained through design to achieve the dual effects of minimizing the risk of collision and optimizing the cleaning effect.

[0105] According to some embodiments of the present invention, the maximum ground clearance and the minimum ground clearance are determined according to the terrain information.

[0106] Specifically, the terrain information includes obstacle information on the sanitation vehicle's driving route, wherein the maximum ground clearance is set to a height value higher than the heights of all obstacles.

[0107] The control device of the sanitation vehicle provided by the present invention is described below. The control device of the sanitation vehicle described below and the control method of the sanitation vehicle described above can be referred to each other.

[0108] like Figure 5 As shown, the control device of the sanitation vehicle according to the third embodiment of the present invention includes:

[0109] An acquisition module 110 is configured to receive a signal from the sanitation vehicle that the sanitation vehicle starts working, and acquire the actual height of the water spraying device 2 relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling;

[0110] The control module 120 is used to control and adjust the lifting action of the water spraying device 2 according to the actual height above the ground and / or the ground information.

[0111] A specific embodiment of the sanitation vehicle, the control method for the sanitation vehicle, and the control device thereof of the present invention will be described below with reference to the accompanying drawings.

[0112] The sanitation vehicle is equipped with a controller and operating system. This system features a human-machine interface and a built-in parameter editor, allowing users to program the ideal ground clearance for each cleaning device during operation, such as the front sprayer, counter-sprayer, rear sprinkler, and front duckbill. The system monitors ground clearance in real time using pre-set distance measuring devices on the operating devices. The system collects ground clearance data for each device and analyzes it against built-in preset parameters. A pop-up window or prompt appears, allowing the user to decide whether to automatically adjust the optimal ground clearance. The system then controls the actuators to make adjustments.

[0113] The sanitation vehicle is equipped with a complete set of actuators for adjusting the ground clearance of each working device. The front spray rack can adjust its ground clearance through the current structure, and the front duckbill, counter-attack and rear sprinkler can be adjusted by setting guide rails and linear actuators.

[0114] The control method for sanitation vehicles works as follows: When the vehicle leaves the factory, a calibration is performed to determine the optimal ground height for each nozzle 22. The distance check sensor installation location is used as the reference height, which is then entered into the operation control software as an operating parameter. This operation software is installed as an app on the vehicle's control panel and uses the vehicle's control system to collect the vehicle's real-time operating height through sensors.

[0115] Furthermore, when the vehicle is operating, the operating software collects the sensor's ground clearance in real time and compares it with the system's preset operating height. When the ground clearance changes, the operating software outputs an adjustment signal to the execution component through the controller, and adjusts the upper and lower heights of the operating device by controlling the extension and retraction of the execution component until the optimal operating height is met.

[0116] Among them, the main situations in which the working height changes are as follows: 1. As the operation progresses, the amount of water in the tank decreases, the chassis leaf spring relaxes, and the height of the working device from the ground increases; 2. The road surface is bumpy, the height of the working device from the ground becomes smaller, there is a risk of bumps, and the height of the working device from the ground decreases.

[0117] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communications bus 840. The processor 810 may call logic instructions in the memory 830 to execute a method for controlling a sanitation vehicle, including: receiving a signal indicating that the sanitation vehicle has started operation, obtaining the actual height of the water spraying device 2 relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling; and controlling and adjusting the raising and lowering of the water spraying device 2 based on the actual height and / or the ground information.

[0118] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a method for controlling a sanitation vehicle, including: receiving a signal that the sanitation vehicle starts working, obtaining the actual height of the water spray device 2 relative to the ground and / or the ground information of the ground on which the sanitation vehicle is traveling; and controlling and adjusting the lifting and lowering action of the water spray device 2 according to the actual height and / or the ground information.

[0120] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute a control method for a sanitation vehicle, including: receiving a signal that the sanitation vehicle starts working, obtaining the actual height of the water spray device 2 relative to the ground and / or the ground information of the ground on which the sanitation vehicle is traveling; and controlling and adjusting the lifting and lowering action of the water spray device 2 according to the actual height and / or the ground information.

[0121] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0122] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A sanitation vehicle, characterized in that: include: A vehicle body and a water spraying device, wherein the water spraying device is mounted on the bottom of the vehicle body and is used to spray water onto the ground, and the water spraying device is arranged to be raised and lowered relative to the vehicle body; Control device for: Obtaining the actual height of the water spraying device relative to the ground; Acquiring ground information of the ground on which the sanitation vehicle is traveling, the ground information including the degree of dust accumulation on the ground below the sanitation vehicle and the predicted terrain conditions ahead of the sanitation vehicle's travel trajectory; According to the different dust accumulation levels of the dust accumulation, the water spray device is adjusted to different height ranges above the ground based on the actual height above the ground; According to the predicted terrain conditions, the water spraying device is controlled to perform a pre-ascending or pre-descending action to adapt to the predicted terrain conditions.

2. A control method for a sanitation vehicle according to claim 1, characterized in that: include: receiving a signal from the sanitation vehicle to start working, and obtaining an actual height of the water spraying device relative to the ground; Acquiring ground information of the ground on which the sanitation vehicle is traveling, the ground information including the degree of dust accumulation on the ground below the sanitation vehicle and the predicted terrain conditions ahead of the sanitation vehicle's travel trajectory; According to the different dust accumulation levels of the dust accumulation, the water spray device is adjusted to different height ranges above the ground based on the actual height above the ground; According to the predicted terrain conditions, the water spraying device is controlled to perform a pre-ascending or pre-descending action to adapt to the predicted terrain conditions.

3. The control method of the sanitation vehicle according to claim 2, characterized in that: The step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes: According to the actual height above the ground being greater than the maximum height above the ground, controlling the water spray device to descend so that the actual height above the ground is not higher than the maximum height above the ground; According to the actual height above the ground being less than the minimum height above the ground, the water spraying device is controlled to rise so that the actual height above the ground is not less than the minimum height above the ground.

4. The control method of the sanitation vehicle according to claim 3, characterized in that: The ground information includes the degree of dust accumulation on the ground below the sanitation vehicle; The step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes: According to the different dust accumulation levels of the dust accumulation degree, the water spraying device is adjusted to different height ranges above the ground based on the actual height above the ground.

5. The control method of the sanitation vehicle according to claim 4, characterized in that: The step of adjusting the water spray device to different height ranges above the ground based on the actual height above the ground according to the different dust accumulation levels of the dust accumulation degree specifically includes: According to the dust accumulation level being at the first dust accumulation level, adjusting the height of the water spray device from the ground to a first height range from the ground; According to the dust accumulation level being at the second dust accumulation level, adjusting the height of the water spray device from the ground to a second height range from the ground; In which, the dust accumulation degree corresponding to the first dust accumulation level is lower than the dust accumulation degree corresponding to the second dust accumulation level, and the first ground clearance range is higher than the second ground clearance range, and the first ground clearance range and the second ground clearance range are both less than or equal to the maximum ground clearance and greater than or equal to the minimum ground clearance.

6. The control method of the sanitation vehicle according to claim 3, characterized in that: The ground information also includes the predicted terrain conditions ahead of the sanitation vehicle's trajectory; The step of controlling and adjusting the lifting action of the water spray device according to the actual height above the ground and / or the ground information specifically includes: According to the predicted terrain conditions, the water spraying device is controlled to perform a pre-ascending or pre-descending action to adapt to the predicted terrain conditions.

7. The control method of the sanitation vehicle according to claim 6, characterized in that: The step of controlling the water spray device to perform a pre-ascending or pre-descending action to adapt to the pre-predicted terrain condition according to the pre-predicted terrain condition specifically includes: According to the predicted terrain condition including a protrusion above an obstacle, obtaining the height of the obstacle, and comparing the height of the obstacle with the actual height above the ground; In a case where the height of the obstacle is higher than the actual height above the ground, the water spraying device is controlled to perform the pre-ascending action so that the water spraying device is higher than the obstacle.

8. The control method of the sanitation vehicle according to claim 7, characterized in that: Before the step of controlling the water spray device to perform the pre-rising action, the method further includes: Obtaining the travel distance between the sanitation vehicle and the obstacle; The lifting and lowering speed of the water spraying device in the pre-lifting action is determined according to the difference between the height of the obstacle and the actual height above the ground and the travel distance.

9. The control method of the sanitation vehicle according to claim 6, characterized in that: The step of controlling the water spray device to perform a pre-ascending or pre-descending action to adapt to the pre-predicted terrain condition according to the pre-predicted terrain condition specifically includes: According to the predicted terrain condition including a pit sunken in the ground, the water spraying device is controlled to perform a pre-descent action to the minimum height above the ground.

10. The control method of the sanitation vehicle according to claim 3, characterized in that: After the step of receiving the signal that the sanitation vehicle starts working, the method further includes: Obtaining an optimal height of the water spray device from the ground, and adjusting the water spray device to the optimal height from the ground; The optimal height from the ground is smaller than the maximum height from the ground and larger than the minimum height from the ground, and the optimal height from the ground is obtained based on the water spraying volume of the water spraying device and the degree of dust accumulation on the ground below the sanitation vehicle.

11. The control method of a sanitation vehicle according to any one of claims 3 to 10, characterized in that: The maximum height above the ground and the minimum height above the ground are determined according to the terrain information.

12. A control device for a sanitation vehicle according to claim 1, characterized in that: include: an acquisition module, configured to receive a signal indicating that the sanitation vehicle has started working, and acquire the actual height of the water spraying device relative to the ground and / or ground information of the ground on which the sanitation vehicle is traveling; The control module is used to control and adjust the lifting action of the water spray device according to the actual height above the ground and / or the ground information.

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