A control system and method for walking and cleaning of a cleaner

Abstract

The present application belongs to the technical field of trash rack cleaning, and particularly relates to a cleaning machine walking trash cleaning control system and a control method. When the cleaning machine moves towards a target orifice, a rotation number collector I collects the rotation number of an axle reaching a deceleration rotation number and / or a deceleration sensor senses a deceleration positioning member. A controller controls the cleaning machine to decelerate and continuously move. When the rotation number collector I collects the rotation number of the axle reaching a parking rotation number and / or a corresponding sensor senses a positioning positioning member, the controller controls the cleaning machine to stop moving. When the grab bucket is lowered or recovered, the controller controls the start and stop of a winding mechanism and the opening and closing of the grab bucket according to the signal fed back by a posture detection mechanism and in combination with the comparison between the rotation number collected by a rotation number collector II and a preset lowering rotation number or a preset recovery rotation number. The present application improves the stability and positioning accuracy of the cleaning machine parking, and is safer, more reliable and more automated, and has a higher trash cleaning operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of trash rack cleaning, and particularly relates to a walking trash cleaning control system and method for a trash cleaner. BACKGROUND

[0002] A trash rack is arranged at an intake of a hydropower station to intercept pollutants in water flow. Therefore, the trash rack and the surface of the trash rack are often attached with pollutants during operation, and the pollutants need to be cleaned in time to ensure the smoothness of the water flow. The intake structure of the hydropower station needs to have sufficient strength, rigidity and stability, and generally adopts a reinforced concrete bent structure. Using a grab trash cleaner to clean the trash rack is a common means for the hydropower station. When cleaning the trash, the grab is lowered along the orifice above the intake, and the grab is lowered along the surface of the trash rack to the bottom to grab the pollutants. If the trash cleaner is operated manually, the working state needs to be monitored manually, and the lifting and unloading of the grab are manually controlled. Especially for some intakes of the hydropower station, the intake has a multi-orifice structure, i.e. the intake has multiple orifices above it, and the trash rack is arranged under each orifice. The trash cleaner needs to be moved towards each orifice to clean the trash rack under each orifice. Manual operation has a large workload, high operation strength, and the positioning accuracy is difficult to control. The trash cleaner needs to be repeatedly moved back and forth to adjust the position to ensure the positioning accuracy. In order to reduce the manual strength and realize the automatic control of walking and lowering, the moving stroke of the trash cleaner is generally preset according to the distance between the orifices, and the lifting stroke of the grab is preset according to the depth of the orifice. The trash cleaner moves to each orifice according to the preset stroke to perform the operation. However, due to the large weight of the trash cleaner, the large inertia of quick movement and sudden stop, the unstable braking distance, the grab suspended by a steel wire rope is prone to shake violently when stopping quickly, which has a great safety hazard. After braking, the grab is prone to slip, which causes the positioning deviation of the stop, and the shaking of the grab frequently causes the grab to fail to align with the surface of the trash rack when being lowered, especially for the arc-shaped grab and the arc-shaped trash rack. The grab is easily interfered with and stuck with the trash rack, which causes the cleaning operation to fail to be reliably and automatically performed, and still needs to be frequently intervened manually, which seriously affects the efficiency of the cleaning operation. SUMMARY

[0003] The present application aims to provide a trash cleaner walking trash cleaning control system and method with high automation, high safety and reliability, and high cleaning operation efficiency.

[0004] The present application relates to a trash cleaner walking trash cleaning control system, which comprises:

[0005] a controller;

[0006] The first rotation number collector is used to collect the rotation number of the wheel shaft of the trash cleaner when the trash cleaner moves, the sensing unit includes a deceleration sensor and a positioning sensor arranged on the trash cleaner, each orifice is provided with a deceleration positioning element and a positioning positioning element, when the trash cleaner moves towards the target orifice, the first rotation number collector collects the rotation number of the wheel shaft reaching the deceleration rotation number and / or the deceleration sensor senses the deceleration positioning element, the controller controls the trash cleaner to decelerate and continuously move, when the first rotation number collector collects the rotation number of the wheel shaft reaching the parking rotation number and / or the corresponding sensor senses the positioning positioning element, the controller controls the trash cleaner to stop moving;

[0007] The second rotation number collector is used to collect the rotation number of the winding mechanism on the trash cleaner when the grab bucket is lowered through the steel wire rope and the rotation number of the grab bucket when the grab bucket is recovered through the steel wire rope, and the attitude detection mechanism is used to detect the attitude of the grab bucket during the lowering and recovery process. When the grab bucket is lowered or recovered, the controller controls the start and stop of the winding mechanism and the opening and closing of the grab bucket according to the signal fed back by the attitude detection mechanism and the comparison between the rotation number collected by the second rotation number collector and the preset lowering rotation number or the preset recovery rotation number.

[0008] Further, the image collection mechanism is further provided, and the collection range of the image collection mechanism is the upper limit position of the grab bucket on the trash cleaner. The controller judges the position and working state of the grab bucket according to the image signal collected by the image collection mechanism, and controls the trash cleaner to execute the subsequent command.

[0009] Further, the deceleration sensor is provided with two, the positioning sensor and the two deceleration sensors are arranged along the moving direction of the trash cleaner, and the positioning sensor is located between the two deceleration sensors; the deceleration positioning element on a single orifice has two, the positioning positioning element and the two deceleration positioning elements are arranged along the moving direction of the trash cleaner, and the positioning positioning element is located between the two deceleration positioning elements; the distance between the positioning positioning element and the deceleration positioning element is greater than the distance between the positioning sensor and the deceleration sensor, when the trash cleaner moves towards the target orifice, the deceleration sensor located at the rear side of the moving direction of the trash cleaner senses the deceleration positioning element corresponding to its position among the two deceleration sensors, and the controller obtains a deceleration feedback signal.

[0010] Further, the attitude detection mechanism detects the attitude of the grab bucket by detecting the inclination of the steel wire rope relative to the vertical direction.

[0011] Further, the attitude detection mechanism includes a movable element movably arranged on the trash cleaner and a detection unit fixedly arranged on the trash cleaner, when the grab bucket is lowered and recovered, the steel wire rope moves along the side surface of the movable element, when the inclination of the steel wire rope relative to the vertical direction changes, the movable element is pushed to change the attitude, the detection unit detects the attitude change of the movable element, and the controller judges the attitude of the grab bucket according to the signal fed back by the detection unit.

[0012] The application also relates to a control method of a traveling sewage cleaning control system of a sewage cleaner.

[0013] S1, presetting the required deceleration number of revolutions and parking number of revolutions of the wheel shaft of the sewage cleaner when moving from the starting zero position to each orifice on the controller, and presetting the required lowering number of revolutions of the winding mechanism when lowering the grab bucket and the required recovery number of revolutions when recovering the grab bucket on the controller;

[0014] S2, when the sewage cleaner travels towards the target orifice, the current number of revolutions of the wheel shaft of the sewage cleaner is collected by the number of revolutions collector I in real time, when the current number of revolutions of the wheel shaft reaches the deceleration number of revolutions and / or the deceleration sensor senses the deceleration positioning member, the controller controls the sewage cleaner to decelerate and continuously move, when the number of revolutions of the wheel shaft reaches the parking number of revolutions and / or the corresponding sensor senses the positioning member, the controller judges that the sewage cleaner reaches the working position of the target orifice and controls the sewage cleaner to stop moving;

[0015] S3, the winding mechanism rotates to lower the grab bucket, the current number of revolutions of the winding mechanism is collected by the number of revolutions collector II in real time, and the posture of the grab bucket is detected by the posture detection mechanism in real time, when the posture detection mechanism detects that the posture of the grab bucket is tilted:

[0016] if the current number of revolutions collected by the number of revolutions collector II does not reach the lowering number of revolutions, the controller controls the winding mechanism to stop lowering and recover the grab bucket, and S3 is performed again after the grab bucket is recovered;

[0017] if the current number of revolutions collected by the number of revolutions collector II reaches the lowering number of revolutions, the controller controls the winding mechanism to stop lowering and controls the grab bucket to close to grab the sewage;

[0018] S4, the winding mechanism reversely rotates to recover the grab bucket, the current number of revolutions of the winding mechanism is collected by the number of revolutions collector II in real time, when the current number of revolutions collected by the number of revolutions collector II reaches the recovery number of revolutions and the posture detection mechanism detects that the posture of the grab bucket is in the vertical state, the controller controls the winding mechanism to stop recovering.

[0019] Further, the deceleration of the sewage cleaner in S2 includes primary deceleration and secondary deceleration, when one of the signals that the current number of revolutions of the wheel shaft collected by the number of revolutions collector I reaches the deceleration number of revolutions and the deceleration sensor senses the deceleration positioning member is obtained, the controller controls the sewage cleaner to perform primary deceleration and continuously move, and when the other signal is obtained, the controller controls the sewage cleaner to perform secondary deceleration and continuously move.

[0020] Further, the image collection mechanism is arranged on the sewage cleaner, the collection range of the image collection mechanism is the upper limit position of the grab bucket on the sewage cleaner, and S4 further includes that the image collection mechanism collects the image signal in the range, and the controller judges whether the grab bucket reaches the upper limit position and the state of the sewage on the grab bucket according to the image signal.

[0021] Further, when the controller judges that the grab bucket has reached the upper limit position and there is dirt on the grab bucket, the controller controls the dirt cleaner to move to the dirt unloading position and open the grab bucket for dirt unloading; the image acquisition mechanism acquires image information of the grab bucket in real time, and the controller judges whether the dirt unloading is completed according to the image information acquired by the image mechanism.

[0022] Further, the S1 further comprises that positions of the alignment positioning members on the two end openings of all the openings are respectively set as starting zero positions of two moving directions of the dirt cleaner; after the dirt unloading is completed, the controller controls the dirt cleaner to move to the starting zero position for the next dirt cleaning cycle.

[0023] The beneficial effects of the present application are that the dirt cleaner adopts the mode of first deceleration and buffering and then parking alignment when moving to the target opening position, which can make the dirt cleaner move at the maximum running speed before moving to the target opening position, improve the operation efficiency, effectively reduce the inertia of the dirt cleaner when it moves to the target opening position, and inhibit the slip after parking as much as possible, thereby improving the stability and positioning accuracy of the dirt cleaner parking, avoiding the shaking of the grab bucket, ensuring the positioning accuracy of the grab bucket when it is lowered, especially for the case that the grab bucket and the trash screen are both arc-shaped, which can effectively avoid the interference problem of the grab bucket caused by the positioning accuracy of the dirt cleaner, reduce manual intervention, and improve the cleaning efficiency. Meanwhile, the present application adopts the detection of the number of revolutions collector one and the sensing unit to realize double insurance control, so that even if one of the control modes fails, the other control mode can ensure safe operation, which can avoid the safety hazards such as brake failure caused by accumulated error or failure of a single control mode, and has higher safety and reliability. In the process of lowering the grab bucket, the double detection of the number of revolutions collector two and the posture detection mechanism can better ensure that the grab bucket is accurately lowered to the cleaning position, the automatic operation stability of the grab bucket is higher, and the grab bucket can be recovered in time to escape from the interference when the grab bucket and the trash screen interfere with each other, thereby avoiding the problems of time waste, further jamming of the grab bucket, downtime, etc. caused by continuous lowering of the grab bucket and closing of the grab bucket when the grab bucket and the trash screen interfere with each other, effectively ensuring the automation of the cleaning operation, further reducing manual intervention, and improving the cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the dirt cleaner in use state of the present application.

[0025] Figure 2 It is a side view of the present application. Figure 1

[0026] Figure 3 It is a structural schematic diagram of the dirt cleaner of the present application.

[0027] ​Figure 4 The application is Figure 3 a side view.

[0028] Figure 5 The application is a structure diagram of the posture detection mechanism.

[0029] Figure 6 The application is a position diagram when the deceleration sensor senses the deceleration positioning block.

[0030] Figure 7 The application is a position diagram when the alignment sensor senses the alignment positioning block.

[0031] In the figure: 1, reinforced concrete bent; 2, trash rack; 3, trash cleaner; 31, winding mechanism; 32, steel wire rope; 33, grab bucket; 4, deceleration sensor; 5, alignment sensor; 6, deceleration positioning member; 7, alignment positioning member; 8, posture detection mechanism; 81, movable member; 82, detection unit; 83, elastic member; 9, image acquisition mechanism; 10, revolution collector one; 11, revolution collector two. DETAILED DESCRIPTION

[0032] As Figures 1-7 shown, the application provides a trash cleaner walking trash control system, which comprises a controller, a revolution collector one 10, a sensing unit, a revolution collector two 11 and a posture detection mechanism 8, the sensing unit comprises a deceleration sensor 4 and an alignment sensor 5 arranged on the trash cleaner 3, the revolution collector one 10, the deceleration sensor 4, the alignment sensor 5, the revolution collector two 11 and the posture detection mechanism 8 are electrically connected with the controller. Among them, the controller is specifically a PLC controller. The trash cleaner 3 involved is specifically a trash cleaner which moves by using a wheeled walking mechanism and is lowered and recycled by using a winding mechanism 31 in cooperation with a steel wire rope 31. A guide rail is arranged on the reinforced concrete bent 1 of the power plant water inlet, and the trash cleaner 3 is arranged on the guide rail and moves in the length direction of the guide rail. The revolution referred to herein is specifically the number of rotations, and the revolution collector one 10 and the revolution collector two 11 are monitoring components that can monitor the number of rotations of the target component, which are encoders in the application, specifically absolute value encoders. The revolution collector one 10 is arranged at the end of the wheel shaft of the trash cleaner 3, and the revolution collector two 11 is arranged at the end of the winding drum shaft of the winding mechanism 31.

[0033] The first rotation collector 10 is used to collect the number of rotations of the wheel shaft of the cleaner 3 when the cleaner 3 moves, the deceleration sensor 4 and the positioning sensor 5 move with the cleaner 3, the deceleration positioning member 6 and the positioning positioning member 7 are arranged at each hole position on the reinforced concrete bent 1, and the cleaner 3 moves towards the target hole at the maximum operating speed, that is, the operating speed of the highest gear to improve efficiency. When the number of rotations collected by the first rotation collector 10 reaches the deceleration number of rotations and / or the deceleration sensor 4 senses the deceleration positioning member 6, the controller controls the cleaner 3 to execute the corresponding deceleration command and continues to move. The deceleration time can play a buffering role. Among them, the number of rotations collected by the first rotation collector 10 reaches the deceleration number of rotations and the deceleration sensor 4 senses the deceleration positioning member 6 can be selected, that is, the controller controls the cleaner 3 to decelerate once according to one of the signal feedbacks; the number of rotations collected by the first rotation collector 10 reaches the deceleration number of rotations and the deceleration sensor 4 senses the deceleration positioning member 6 can also be performed separately, that is, the controller controls the cleaner 3 to decelerate once and twice according to two signal feedbacks. This setting mode can perform two-stage deceleration before stopping moving, and is more suitable for the cleaner 3 with large volume, weight and fast moving speed. When the number of rotations collected by the first rotation collector 10 reaches the parking number of rotations and / or the corresponding sensor senses the positioning positioning member 7, that is, when the controller receives at least one of the aforementioned signals, the controller controls the cleaner 3 to stop moving.

[0034] The winding mechanism 31 is specifically a drum or reel winding mechanism, which is a prior art. During the recovery process, the steel wire rope 32 will be wound on the drum or reel according to the corresponding winding path, and according to the size of the drum or reel and the different specifications of the steel wire rope 32, the number of single-layer winding turns on the drum or reel is different, and the length of each layer of wound steel wire rope 32 is different. Therefore, the preset number of rotations of the winding mechanism 31 when the steel wire rope 32 is lowered to release the grab bucket 33 and the preset number of rotations when the steel wire rope 32 is recovered to recover the grab bucket 33 are adjusted according to the actual situation.

[0035] The posture detection mechanism 8 is used to detect the posture of the grab bucket 33 during the lowering and recovery process. When the grab bucket 33 is lowered or recovered, the controller controls the start and stop of the winding mechanism 31 and the opening and closing of the grab bucket 33 according to the signals fed back by the posture detection mechanism 8 and the comparison between the number of revolutions collected by the second number-of-revolutions collector 11 and the preset number of revolutions for lowering or the preset number of revolutions for recovery. When the grab bucket 33 is naturally lowered, the grab bucket 33 is in a vertical state and the steel wire rope 32 is in a vertical straight state due to the action of gravity. During the lowering process of the grab bucket 33, when the grab bucket 33 reaches the cleaning position, the grab bucket 33 cannot continue to move downward due to the obstruction below and the posture is tilted. The posture detection mechanism 8 detects this change in posture, and at this time the number of revolutions collected by the second number-of-revolutions collector 11 reaches the preset number of revolutions for lowering. The controller then determines that the cleaning position has been reached, controls the grab bucket 33 to close and pick up the pollutants and recover. When the posture of the grab bucket 33 changes and the number of revolutions collected by the second number-of-revolutions collector 11 reaches the preset number of revolutions for lowering, the controller determines that the grab bucket 33 has not reached the cleaning position but has interfered with the trash rack 2, and then controls the grab bucket 33 to recover and then lower the grab bucket 33 again. When the posture of the grab bucket 33 does not change, i.e. the grab bucket 33 is still in a vertical state, but the number of revolutions collected by the second number-of-revolutions collector 11 reaches the preset number of revolutions for lowering, it can be set that at this time it is determined that there is a large lowering error in the winding mechanism 31 or the preset number of revolutions for lowering is incorrect, and an alarm is issued to prompt. The preset number of revolutions for lowering and the preset number of revolutions for recovery can be set by the operator before the cleaning operation according to the actual water level of the water flow. Considering the rise and fall of the water level of the water flow during the cleaning operation and the diameter error of the steel wire rope during winding, the number of revolutions for lowering and the number of revolutions for recovery can be set as a range interval, i.e. having an upper limit and a lower limit. When the posture of the grab bucket 33 changes and the collected number of revolutions is within the range interval, it is determined that the cleaning position has been reached.

[0036] The control system provided by the present application adopts the mode of deceleration and buffering first and then parking and positioning when the cleaning machine 3 moves to the target orifice position. This setting mode can make the cleaning machine 3 move at the maximum running speed before moving to the target orifice, improve the operation efficiency, effectively reduce the inertia of the cleaning machine 3 when it moves to the target orifice position, and as far as possible inhibit the slip after parking, improve the stability and positioning accuracy of the cleaning machine 3 when parking, and avoid the shaking of the grab bucket 33, which can guarantee the positioning accuracy of the grab bucket 33 when it is lowered and the trash rack 2, especially for the case that the grab bucket 33 and the trash rack 2 are both arc-shaped, which can effectively avoid the lowering interference problem of the grab bucket 33 caused by the positioning accuracy of the cleaning machine 3, reduce manual intervention, and improve the cleaning operation efficiency. At the same time, the present application adopts the detection of the number of revolutions collector 10 and the sensing unit to realize double insurance control for the movement and braking of the cleaning machine 3. Even if one of the control modes fails, the other control mode can also ensure safe operation, which can avoid the safety hazards such as braking failure caused by accumulated error or failure of a single control mode, and has higher safety and reliability. During the lowering process of the grab bucket 33, the double detection of the number of revolutions collector 11 and the attitude detection mechanism 8 can better guarantee that the grab bucket 33 is accurately lowered to the cleaning position, the automatic operation stability of the grab bucket 33 is higher, and the grab bucket 33 can be recovered in time to escape the interference when the grab bucket 33 and the trash rack 2 interfere, which can avoid the problems such as time waste, further jamming of the grab bucket 33, downtime and the like caused by the continuous lowering of the grab bucket 33 and the closing of the grab bucket 33 when the grab bucket 33 and the trash rack 2 interfere, effectively ensure the automatic operation of the cleaning operation, further reduce manual intervention, and improve the cleaning operation efficiency.

[0037] The image acquisition mechanism 9 is arranged on the pollution cleaner 3 and is inclined downward, which can acquire image information from top to bottom and is convenient for acquiring image information of whether the grab bucket 33 is above the hole or not according to operation requirements. The image acquisition mechanism 9 is specifically a camera, and the specific model is determined according to actual requirements.

[0038] In the present application, the deceleration sensor 4 is provided with two, the alignment sensor 5 and the two deceleration sensors 4 are arranged on the pollution cleaner 3 along the moving direction of the pollution cleaner 3, and the alignment sensor 5 is located between the two deceleration sensors 4, and the two deceleration sensors 4 are respectively used for detecting the deceleration signal when the pollution cleaner 3 moves in two directions. The deceleration positioning member 6 on a single hole has two, the alignment positioning member 7 and the two deceleration positioning members 6 are arranged on the hole along the moving direction of the pollution cleaner 3, and the alignment positioning member 7 is located between the two deceleration positioning members 6, and the two deceleration positioning members 6 correspond to the two deceleration sensors 4 respectively. The distance between the alignment positioning member 7 and the deceleration positioning member 6 is greater than the distance between the alignment sensor 5 and the deceleration sensor 4, so as to ensure that the alignment sensor 5 senses the alignment positioning member 7 only after the deceleration sensor 4 senses the deceleration positioning member 6. When the pollution cleaner 3 moves towards the target hole, the deceleration sensor 4 located at the rear side of the moving direction of the pollution cleaner 3 senses the deceleration positioning member 6 corresponding to the position, and the controller obtains the deceleration feedback signal. The deceleration sensor 4 and the alignment sensor 5 are both Hall proximity switches, and the deceleration positioning member 6 and the alignment positioning member 7 are both magnetic members.

[0039] Specifically, the pollution cleaner 3 is provided with a controller, a speed acquisition device 1, a speed acquisition device 2, a posture detection mechanism 8, a deceleration sensor 4, an alignment sensor 5, a deceleration positioning member 6 and an alignment positioning member 7. Figure 1For example, when the cleaner 3 moves towards the target hole from left to right on the reinforced concrete bent 1, the left side is the rear side of the moving direction of the cleaner 3, as shown in FIG. 1, when the left side deceleration sensor 4 senses the left side deceleration positioning member 6, a feedback signal is fed back to the controller, the controller controls the cleaner 3 to execute a corresponding deceleration command and continue to move to the right, when the alignment sensor 5 senses the alignment positioning member 7, the controller controls the cleaner 3 to stop moving. When the cleaner moves towards the target hole from right to left on the reinforced concrete bent 1, the right side deceleration sensor 4 senses the right side deceleration positioning member 6 to feed back a deceleration signal. Figure 6

[0040] In an embodiment of the present application, the posture detection mechanism 8 directly detects the real-time posture of the grab bucket 33, for example, through a camera.

[0041] In another embodiment of the present application, the posture detection mechanism 8 detects the posture of the grab bucket 33 by detecting the inclination of the steel wire rope 32 relative to the vertical direction. This embodiment can effectively detect the posture of the grab bucket 33 after it is extended into the water flow, which is beneficial to judge the posture of the grab bucket 33 at the cleaning position.

[0042] The posture detection mechanism 8 includes a movable member 81 and a detection unit 82, and the detection unit 82 in the posture detection mechanism 8 is electrically connected with the controller. The movable member 81 is movably arranged on the cleaner 3, that is, it can change its posture under the action of external force, such as movement, rotation or swing. The movable member 81 is located on the side of the steel wire rope 32, and the direction in which the movable member 81 can change its posture under the action of external force is the direction in which the grab bucket 33 will tilt when it is used for cleaning or when it interferes with the trash rack 2. The movable member 81 can be a rod structure or a block structure, and the specific shape structure is determined according to actual needs. The detection unit 82 is fixedly arranged on the cleaner 3 and is used for detecting the posture change of the movable member 81. When the grab bucket 33 is lowered and recovered, the steel wire rope 32 moves along the side of the movable member 81, and when the grab bucket 33 is in a vertical state, the steel wire rope 32 is straightened vertically, at this time the movable member 81 is in a zero position state, and the controller judges the posture of the grab bucket 33 to be in a vertical state according to the signal fed back by the detection unit 82. When the grab bucket 33 changes its posture, for example, tilts, it drives the steel wire rope 32 to tilt, and the inclination of the steel wire rope 32 relative to the vertical direction changes, which drives the movable member 81 to change its posture, the detection unit 82 detects the posture change of the movable member 81, and the controller judges the posture of the grab bucket 33 to be in a tilted state according to the signal fed back by the detection unit 82.

[0043] ​The movable part 81 is specifically hinged to the cleaning machine 3 at one end, and is located on the side of the steel wire rope 32 at the other end. The detection unit 82 is a distance detection unit, such as an infrared distance sensor, which is arranged toward the movable part 81. The posture change of the movable part 81 is specifically the distance change between the movable part 81 and the detection unit 82. The posture detection mechanism 8 also includes an elastic part 83. The elastic part 83 can be a spring or other component with stretching and rebound properties. One end of the elastic part 83 is connected to the cleaning machine 3, and the other end is connected to the movable part 81. When the movable part 81 is in the zero position state, the elastic part 83 is in the natural state. The steel wire rope 32 pushes the movable part 81 to deflect, and the elastic part 83 stretches. When the steel wire rope 32 is reset, the movable part 81 is reset under the elastic force of the elastic part 83. Figure 5 As shown, two sets of movable parts 81, detection units 82, and elastic members 83 are symmetrically arranged. The wire rope 32 is located between the two movable parts 81. This allows the wire rope 32's posture to be detected in both directions, thereby detecting whether the grab bucket 33 is shaking. Specifically, when the garbage cleaning machine 3 stops moving and both detection units 82 detect signals of the movable part 81 changing its posture, the preset controller determines that the garbage cleaning machine 3 is in a shaking state and pauses the lowering of the grab bucket 33. The grab bucket 33 is lowered again when both detection units 82 detect signals of the movable part 81 changing its posture. This prevents collision, interference, or jamming caused by the lowering of the grab bucket 33 in a shaking state.

[0044] The present invention also provides a control method for a walking and cleaning control system of a cleaning machine, the control method comprising the following steps:

[0045] S1, Figure 1 For example, the deceleration revolutions and parking revolutions required for the wheel axle when the garbage cleaning machine 3 moves from the starting zero position to each orifice are preset on the controller according to the direction from left to right or from right to left, and the lowering revolutions required for the reeling mechanism 31 to lower the grab bucket 33 and the recovery revolutions required to recover the grab bucket 33 are preset on the controller; among them, the deceleration revolutions required for the wheel axle when the garbage cleaning machine 3 moves from the starting zero position to each orifice are the revolutions required for the wheel axle when the garbage cleaning machine 3 moves from the starting zero position to a certain distance from the parking position of each orifice, for example, the revolutions required for the wheel axle when the garbage cleaning machine 3 is 0.5 m away from the parking position of the orifice.

[0046] S2, when the cleaner 3 moves from the starting position to the target hole, the cleaner 3 moves at the highest gear to improve efficiency, the rotation collector 1 10 collects the current rotation of the wheel shaft of the cleaner 3 in real time, when the rotation collector 1 10 collects the current rotation of the wheel shaft reaching the deceleration rotation and / or the deceleration sensor 4 senses the deceleration positioning member 6, the controller controls the cleaner 3 to decelerate and continue to move, that is, to move at the resistance speed to buffer, when the rotation collector 1 10 collects the rotation of the wheel shaft reaching the parking rotation and / or the corresponding sensor senses the positioning member 7, the controller determines that the cleaner 3 reaches the working position of the target hole, and controls the cleaner 3 to stop moving;

[0047] S3, the winding mechanism 31 rotates to lower the grab bucket 33, the rotation collector 2 1 1 collects the current rotation of the winding mechanism 31 in real time, and the posture detection mechanism 8 detects the posture of the grab bucket 33 in real time, when the posture detection mechanism 8 detects that the posture of the grab bucket 33 is tilted:

[0048] If the current rotation collected by the rotation collector 2 1 1 does not reach the lowering rotation, it is determined that the grab bucket 33 interferes with the trash rack 2, the controller controls the winding mechanism 31 to stop lowering and recover the grab bucket 33, and after recovering the grab bucket 33, S3 is performed again;

[0049] If the current rotation collected by the rotation collector 2 1 1 reaches the lowering rotation, it is determined that the grab bucket 33 reaches the cleaning position, the controller controls the winding mechanism 31 to stop lowering, and controls the grab bucket 33 to close to grab the trash;

[0050] S4, the winding mechanism 31 reverses to recover the grab bucket 33, and the rotation collector 2 collects the current rotation of the winding mechanism 31 in real time, when the rotation collector 2 1 1 collects the current rotation reaching the recovery rotation and the detection unit 82 detects that the posture of the grab bucket 33 is in the vertical state, it is determined that the grab bucket 33 has reached the upper limit position, and the controller controls the winding mechanism 31 to stop recovering.

[0051] In the control method, the deceleration of the cleaner 3 in S2 can be single deceleration, that is, only one signal is used to decelerate when the current rotation of the wheel shaft collected by the rotation collector 1 10 reaches the deceleration rotation or the deceleration sensor 4 senses the deceleration positioning member 6, preferably two-stage deceleration, that is, including primary deceleration and secondary deceleration, when one of the signals that the current rotation of the wheel shaft collected by the rotation collector 1 10 reaches the deceleration rotation and the deceleration sensor 4 senses the deceleration positioning member 6 is obtained, the controller controls the cleaner 3 to decelerate once, and moves at the low gear and continues to move, when the other signal is obtained, the controller controls the cleaner 3 to decelerate twice, and moves at the peristaltic gear and continues to move, which is more suitable for the cleaner 3 with large volume, large weight and fast moving speed.

[0052] The S4 further comprises: the image acquisition mechanism 9 acquires image signals within its range, and the controller determines whether the grab bucket 33 reaches the preset upper limit position and the state of the dirt on the grab bucket 33 according to the image signals. The grab bucket 33 in the recycling state can be secondarily monitored, so as to avoid the damage or safety problem caused by the collision between the grab bucket 33 and the reinforced concrete bent 1 due to the loosening of the winding mechanism 31 or the steel wire rope, and further improve the reliability and safety of the automatic operation.

[0053] The image acquisition mechanism 9 acquires the image information of the grab bucket 33 and sends it to the controller for comparison with the preset image information of the grab bucket 33 without grabbing dirt, to determine whether the grab bucket 33 has grabbed dirt. When the controller determines that the grab bucket 33 has reached the upper limit position and the grab bucket 33 has grabbed dirt, the controller controls the dirt cleaner 3 to move to the unloading position and opens the grab bucket 33 for unloading. The image acquisition mechanism 9 acquires the image information of the grab bucket 33 in real time, and the controller compares the image information acquired by the image mechanism with the preset image information of the grab bucket 33 without grabbing dirt to determine whether the unloading is completed, so as to realize the automatic unloading operation.

[0054] In the S1, the positions of the alignment positioning members 7 on the two end openings of all the openings are respectively set as the starting zero positions of the two moving directions of the dirt cleaner 3. After the unloading is completed, the controller controls the dirt cleaner 3 to move to the starting zero position, so as to perform the next dirt cleaning cycle. After a single opening completes the set number of dirt cleaning cycles, the next opening operation is performed, until all the openings complete the dirt cleaning operation. The number of dirt cleaning cycles of a single opening is determined according to the actual needs.

[0055] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to limit the scope of protection of the present application to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present application as described above. In order to be brief, they are not provided in details.

[0056] One or more embodiments of the present application are intended to cover all such alternatives, modifications and variations falling within the broad scope of the present application. Therefore, any omissions, modifications, equivalent replacements, improvements, etc. made in the spirit and principles of one or more embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A cleaning machine travel cleaning control system, characterized in that: include: Controller; A revolution collector (10) and a sensing unit, wherein the revolution collector (10) is used to collect the revolutions of the wheel axle of the garbage cleaning machine (3) when the garbage cleaning machine (3) moves, and the sensing unit includes a deceleration sensor (4) and an alignment sensor (5) provided on the garbage cleaning machine (3), and each orifice is provided with a deceleration positioning piece (6) and an alignment positioning piece (7). When the garbage cleaning machine (3) moves toward the target orifice, the revolution collector (10) collects the revolutions of the wheel axle and reaches the deceleration revolutions and / or the deceleration sensor (4) senses the deceleration positioning piece (6), and the controller controls the garbage cleaning machine (3) to decelerate and continue to move. When the revolution collector (10) collects the revolutions of the wheel axle and reaches the parking revolutions and / or the corresponding sensor senses the alignment positioning piece (7), the controller controls the garbage cleaning machine (3) to stop moving. A second revolution collector (11) and a posture detection mechanism (8) are provided. The second revolution collector (11) is used to collect the revolutions of the reeling mechanism (31) on the garbage cleaning machine (3) when lowering the grab bucket (33) through the steel wire rope (32) and the revolutions of the reeling mechanism (31) when retrieving the grab bucket (33) through the steel wire rope (32). The posture detection mechanism (8) is used to detect the posture of the grab bucket (33) during the lowering and retrieving process. When the grab bucket (33) is lowered or retracted, the controller controls the start and stop of the reeling mechanism (31) and the opening and closing of the grab bucket (33) based on the signal fed back by the posture detection mechanism (8) and the comparison between the revolutions collected by the second revolution collector (11) and the preset lowering revolutions or the preset retrieving revolutions.

2. The walking and cleaning control system of the cleaning machine according to claim 1 is characterized in that: The apparatus further includes an image acquisition mechanism (9), the acquisition range of which is the upper limit position of the grab bucket (33) on the garbage cleaning machine (3). The controller determines the position and working state of the grab bucket (33) based on the image signal acquired by the image acquisition mechanism (9), and controls the garbage cleaning machine (3) to execute subsequent commands.

3. The walking and cleaning control system of the cleaning machine according to claim 1 or 2, characterized in that: The deceleration sensors (4) are provided with two, and the alignment sensor (5) and the two deceleration sensors (4) are arranged at intervals on the garbage cleaning machine (3) along the moving direction of the garbage cleaning machine (3), and the alignment sensor (5) is located between the two deceleration sensors (4); the single orifice has two deceleration positioning members (6), and the alignment positioning member (7) and the two deceleration positioning members (6) are arranged at intervals on the orifice along the moving direction of the garbage cleaning machine (3), and the alignment positioning member (7) is located between the two deceleration positioning members (6); the distance between the alignment positioning member (7) and the deceleration positioning member (6) is greater than the distance between the alignment sensor (5) and the deceleration sensor (4); when the garbage cleaning machine (3) moves toward the target orifice, when the deceleration sensor (4) located at the rear side of the moving direction of the garbage cleaning machine (3) senses the deceleration positioning member (6) corresponding to its position, the controller obtains a deceleration feedback signal.

4. The walking and cleaning control system of the cleaning machine according to claim 1 or 2, characterized in that: The posture detection mechanism (8) detects the posture of the grab bucket (33) by detecting the inclination of the wire rope (32) relative to the vertical direction.

5. The walking and cleaning control system of the cleaning machine according to claim 4 is characterized in that: The posture detection mechanism (8) comprises a movable part (81) movably arranged on the garbage cleaning machine (3) and a detection unit (82) fixedly arranged on the garbage cleaning machine (3). When the grab bucket (33) is lowered and recovered, the steel wire rope (32) moves along the side of the movable part (81). When the inclination of the steel wire rope (32) relative to the vertical direction changes, the movable part (81) is pushed to change its posture. The detection unit (82) detects the posture change of the movable part (81), and the controller determines the posture of the grab bucket (33) based on the signal fed back by the detection unit (82).

6. A control method for a traveling and cleaning control system of a garbage cleaning machine according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Preset the number of deceleration revolutions and the number of parking revolutions required for the wheel axle of the garbage cleaning machine (3) when it moves from the starting zero position to each orifice on the controller, and preset the number of lowering revolutions required for the reeling mechanism (31) when it lowers the grab bucket (33) and the number of reclaiming revolutions required when it reclaims the grab bucket (33) on the controller; S2. When the garbage cleaning machine (3) moves toward the target orifice, the revolution collector 1 (10) collects the current revolution of the wheel axle of the garbage cleaning machine (3) in real time. When the revolution collector 1 (10) collects the current revolution of the wheel axle and reaches the deceleration revolution and / or the deceleration sensor (4) senses the deceleration positioning member (6), the controller controls the garbage cleaning machine (3) to decelerate and continue to move. When the revolution collector 1 (10) collects the current revolution of the wheel axle and reaches the parking revolution and / or the corresponding sensor senses the alignment positioning member (7), the controller determines that the garbage cleaning machine (3) has reached the operating position of the target orifice and controls the garbage cleaning machine (3) to stop moving. S3, the reeling mechanism (31) rotates to lower the grab bucket (33), the revolution collector 2 (11) collects the current revolution of the reeling mechanism (31) in real time, and the posture detection mechanism (8) detects the posture of the grab bucket (33) in real time. When the posture detection mechanism (8) detects that the posture of the grab bucket (33) is tilted: If the second revolution collector (11) detects that the current revolution has not reached the lowering revolution, the controller controls the reeling mechanism (31) to stop lowering and retract the grab (33), and then re-performs S3 after retracting the grab (33); If the second revolution collector (11) detects that the current revolution has reached the lowering revolution, the controller controls the reeling mechanism (31) to stop lowering and controls the grab bucket (33) to close and grab the dirt; S4, the reeling mechanism (31) rotates in the reverse direction to recycle the grab (33), and the number collector 2 collects the current number of revolutions of the reeling mechanism (31) in real time. When the number of revolutions collected by the number collector 2 (11) reaches the recycle number, and the posture detection mechanism (8) detects that the posture of the grab (33) is in a vertical state, the controller controls the reeling mechanism (31) to stop recycle.

7. The control method according to claim 6, wherein: The deceleration of the garbage cleaning machine (3) in S2 includes primary deceleration and secondary deceleration. When the controller obtains a signal from the first revolution collector (10) that the current revolution of the wheel axle reaches the deceleration revolution and the deceleration sensor (4) senses a signal from the deceleration positioning member (6), the garbage cleaning machine (3) is controlled to perform primary deceleration and continue to move. When the controller obtains the other signal, the garbage cleaning machine (3) is controlled to perform secondary deceleration and continue to move.

8. The control method according to claim 6 or 7, wherein: An image acquisition mechanism (9) is provided on the garbage cleaning machine (3), and the acquisition range of the image acquisition mechanism (9) is the upper limit position of the grab bucket (33) on the garbage cleaning machine (3). The S4 further includes: the image acquisition mechanism (9) acquires an image signal within the range, and the controller determines whether the grab bucket (33) has reached the upper limit position and the state of the garbage on the grab bucket (33) based on the image signal.

9. The control method according to claim 8, wherein: When the controller determines that the grab bucket (33) has reached the upper limit position and that there is dirt on the grab bucket (33), the controller controls the dirt cleaning machine (3) to move to the dirt unloading position and opens the grab bucket (33) to unload the dirt; the image acquisition mechanism (9) acquires image information of the grab bucket (33) in real time, and the controller determines whether the dirt unloading is completed based on the image information acquired by the image mechanism.

10. The control method according to claim 9, wherein: Said S1 also includes setting the positions of the alignment positioning members (7) on the orifices at both ends of all the orifices as the starting zero positions of the two moving directions of the cleaning machine (3); after the unloading is completed, the controller controls the cleaning machine (3) to move to the starting zero position to wait for the next cleaning cycle.

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