Cleaning methods, devices, systems and machinery

Abstract

This invention provides a cleaning method, apparatus, system, and machinery, relating to the field of mechanical engineering technology. The method includes: acquiring material information of waste to be cleaned from the surface of a target component; determining a target control mode for each vibrator based on the material information; and controlling each vibrator to vibrate and clean the waste according to the target control mode. This invention achieves two advantages: firstly, waste cleaning can be accomplished using vibrators, making the cleaning method simple and convenient; secondly, it allows the vibrators to fully contact the waste to be cleaned, enabling thorough cleaning and effectively improving cleaning quality. This minimizes wear and corrosion of the machinery caused by the waste, ensuring the normal operation of the machinery.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, and in particular to a cleaning method, apparatus, system and working machinery. Background Technology

[0002] When operating machinery, such as excavators, is working in muddy or dirt conditions, the mud, sand, and other debris stuck to the tracks are shaken off and accumulate on the undercarriage, making them difficult to remove. If this debris accumulates for a long time and reaches a certain height, it will affect the normal operation of the tracks and track rollers, thus seriously affecting the normal operation of the machinery.

[0003] Therefore, how to perform simple and quick waste cleaning of machinery is an important issue that the industry urgently needs to address. Summary of the Invention

[0004] This invention provides a cleaning method, apparatus, system, and machinery to address the shortcomings of existing technologies where waste accumulation leads to the malfunction of machinery, thereby achieving simple and rapid waste cleaning and ensuring the normal operation of machinery.

[0005] This invention provides a cleaning method applied to machinery, wherein at least one vibrator is disposed on the surface of a target component of the machinery, the method comprising:

[0006] Obtain material information of the waste to be cleaned from the surface of the target component;

[0007] Based on the material information, determine the target control mode for each vibrator;

[0008] According to the target control mode, each of the vibrators is controlled to vibrate and clean the waste to be cleaned.

[0009] According to a cleaning method provided by the present invention, determining the target control mode of each of the vibrators based on the material information includes:

[0010] Based on the material information, determine the type and size of each material in the waste to be cleaned;

[0011] The target control mode is determined based on the type and size of each material.

[0012] According to a cleaning method provided by the present invention, determining the target control mode based on the type and size of each of the materials includes:

[0013] If it is determined that multiple materials are of the same type and that the dimensions of multiple materials belong to the same size range, the target control mode is determined to be a first control mode, the first control mode including a mode of control according to a constant excitation frequency;

[0014] The step of controlling each of the vibrators to vibrate and clean the waste to be cleaned according to the target control mode includes:

[0015] In the first control mode, a corresponding constant excitation frequency is determined based on the types of multiple materials and the size range;

[0016] The vibrators are controlled to perform vibration cleaning of the waste to be cleaned according to the simple harmonic excitation voltage signal matched with the corresponding constant excitation frequency.

[0017] According to a cleaning method provided by the present invention, determining the target control mode based on the type and size of each of the materials includes:

[0018] If it is determined that the types of multiple materials are different and / or the size ranges of multiple materials are different, the target control mode is determined to be the second control mode, the second control mode including the mode of control according to the frequency conversion loading method;

[0019] The step of controlling each of the vibrators to vibrate and clean the waste to be cleaned according to the target control mode includes:

[0020] In the second control mode, the frequency conversion loading method corresponding to the waste to be cleaned is determined;

[0021] Each vibrator is controlled to perform vibration cleaning on the waste to be cleaned according to the corresponding frequency conversion loading mode.

[0022] According to a cleaning method provided by the present invention, determining the frequency conversion loading mode corresponding to the waste to be cleaned includes:

[0023] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on multiple arithmetically increasing excitation frequencies;

[0024] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0025] Obtain multiple first target excitation frequencies that increase arithmetically;

[0026] Each of the vibrators is controlled to cyclically load the first target excitation frequency in a plurality of arithmetically increasing first target excitation frequencies to perform cyclic vibration cleaning on the waste to be cleaned.

[0027] According to a cleaning method provided by the present invention, determining the frequency conversion loading mode corresponding to the waste to be cleaned includes:

[0028] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the cleaning information of the waste to be cleaned;

[0029] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0030] Based on the cleaning information of the waste to be cleaned, the excitation frequency of each vibrator is updated to obtain the second target excitation frequency corresponding to each vibrator.

[0031] Each of the vibrators is controlled to perform vibration cleaning of the waste to be cleaned according to the second target excitation frequency.

[0032] According to a cleaning method provided by the present invention, determining the frequency conversion loading mode corresponding to the waste to be cleaned includes:

[0033] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the distribution area of ​​each vibrator;

[0034] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0035] Based on the distribution area of ​​each of the vibrators, the corresponding grouping of each vibrator is determined;

[0036] The vibrators in each group are controlled to perform zoned vibration cleaning of the waste to be cleaned according to the excitation frequency corresponding to each group.

[0037] The excitation frequencies corresponding to different groups belong to different frequency ranges.

[0038] According to a cleaning method provided by the present invention, determining the target control mode of each of the vibrators based on the material information includes:

[0039] Identify whether there is a travel pressure signal in the hydraulic lines of the operating machinery;

[0040] Upon detecting the presence of the travel pressure signal in the hydraulic pipeline, the target control mode for each vibrator is determined based on the material information.

[0041] The present invention also provides a cleaning device for use in machinery, wherein at least one vibrator is disposed on the surface of a target component of the machinery, the device comprising:

[0042] The acquisition unit is used to acquire material information of the waste to be cleaned from the surface of the target component;

[0043] The determining unit is used to determine the target control mode of each of the vibrators based on the material information.

[0044] The control unit is used to control each of the vibrators to perform vibration cleaning on the waste to be cleaned according to the target control mode.

[0045] The present invention also provides a cleaning system, including a control system and at least one vibrator;

[0046] Each of the vibrators is mounted on the surface of the target component of the working machinery;

[0047] Each of the vibrators is electrically connected to the control system;

[0048] The control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cleaning method as described in any of the preceding claims.

[0049] According to a cleaning system provided by the present invention, a plurality of said vibrators are arranged in a target array on the surface of the target component;

[0050] Each of the vibrators comprises a ceramic plate and a metal plate;

[0051] The ceramic sheet is fixed to the surface of the target component, and the surface of the ceramic sheet is provided with the metal sheet.

[0052] The present invention also provides a working machine, including a cleaning system as described in any of the above claims, as well as an underframe, a track roller, and tracks;

[0053] The vibrator in the cleaning system is mounted on the surface of the lower frame;

[0054] The drag chain wheels are installed on both sides of the underframe and connected to the tracks.

[0055] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cleaning method as described above.

[0056] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cleaning method as described above.

[0057] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the cleaning method as described above.

[0058] The cleaning method, apparatus, system, and machinery provided by this invention, by setting at least one vibrator on the surface of the target component and determining the target control mode of each vibrator according to the material information, adaptively controls each vibrator to automatically vibrate and clean the waste to be cleaned based on the target control mode. On the one hand, the waste can be cleaned based on the vibrator, making the cleaning method simple and convenient. On the other hand, it can make the vibrator fully contact the waste to be cleaned for in-depth cleaning, effectively improving the cleaning quality. This minimizes the wear and corrosion of the machinery caused by the waste and ensures the normal operation of the machinery.

[0059] The cleaning method, apparatus, system, and machinery provided by this invention also adaptively determine the target control mode based on the type and size of each material in the waste to be cleaned. The vibrator is then controlled based on the target control mode to clean different types and sizes of materials. This not only makes the cleaning process more efficient and reduces the time and resources required for the processing, thereby providing a faster, more accurate, and more thorough cleaning effect, but also makes it applicable to different types of materials such as soil and stones, thus enabling a wider range of cleaning control applications.

[0060] The cleaning method, apparatus, system, and machinery provided by this invention further excite the first-order longitudinal vibration mode of each vibrator by applying a simple harmonic excitation voltage signal with a corresponding constant excitation frequency to each vibrator. This first-order longitudinal vibration of each vibrator is amplified and transmitted to the waste to be cleaned through its metal plate, causing the waste to vibrate vertically. This squeezes and breaks the waste, and shakes it off, thereby achieving simple and rapid waste cleaning and ensuring the normal operation of the machinery.

[0061] The cleaning method, apparatus, system, and machinery provided by this invention, through a control mode based on variable frequency loading, excites the first-order longitudinal vibration mode of each vibrator, causing the materials in the waste to be cleaned to vibrate at different frequencies in the vertical direction. This, in turn, compresses and circulates the waste to be cleaned at different frequencies, causing it to break and shake off. This achieves simple and rapid deep cleaning of various materials in the waste, improves cleaning quality, and further ensures the normal operation of the machinery. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0063] Figure 1 This is one of the flowcharts illustrating the cleaning method provided by the present invention;

[0064] Figure 2 This is one of the schematic diagrams of the deployment structure of the vibrator provided by the present invention;

[0065] Figure 3 This is the second schematic diagram of the cleaning method provided by the present invention;

[0066] Figure 4 This is a schematic diagram of the cleaning device provided by the present invention;

[0067] Figure 5 This is the second schematic diagram of the deployment structure of the vibrator provided by the present invention;

[0068] Figure 6 This is the third schematic diagram of the deployment structure of the vibrator provided by the present invention;

[0069] Figure 7 This is one of the structural schematic diagrams of the operating machinery provided by the present invention;

[0070] Figure 8 This is the second structural schematic diagram of the operating machinery provided by the present invention;

[0071] Figure 9 This is a schematic diagram of the structure of the underframe provided by the present invention. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0073] In the description of this embodiment, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] In the description of this embodiment, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0075] The following is combined with Figures 1-3 This invention describes a cleaning method. The method is applied to machinery, such as excavators or bulldozers, but this embodiment does not specifically limit the application to this type. At least one vibrator is provided on the surface of the target component of the machinery; the specific number can be set according to cleaning requirements. The vibrator is a component that can undergo mechanical vibration under the action of the piezoelectric effect, such as a piezoelectric ceramic sheet or a piezoelectric crystal. The following description uses a piezoelectric ceramic sheet as an example to illustrate the cleaning method provided in this embodiment; other vibrators can be substituted accordingly.

[0076] The subject of this method can be a cleaning device, which can be built into the working machinery or placed externally on the working machinery.

[0077] Figure 1 This is one of the flowcharts illustrating the cleaning method provided in this embodiment; such as Figure 1 As shown, the method includes the following steps:

[0078] Step 101: Obtain material information of the waste to be cleaned on the surface of the target component;

[0079] The target component referred to here is a component that is prone to generating waste accumulation during the operation of the machinery, such as the chassis, etc. This embodiment does not specifically limit this.

[0080] The waste to be cleaned refers to the waste that needs to be cleaned from the surface of the target component, including but not limited to dirt, sand, and pebbles. This embodiment does not specifically limit this.

[0081] Optionally, an image acquisition device installed on the working machinery can be used to acquire surface images of the target component; based on the surface images, image recognition can be performed on the material information of the waste to be cleaned to obtain the material information of the waste to be cleaned.

[0082] The material information includes, but is not limited to, the material type, material size, and material location of each material in the waste to be cleaned. This embodiment does not specifically limit this information.

[0083] Step 102: Determine the target control mode for each vibrator based on the material information;

[0084] Optionally, the corresponding target control mode can be determined by searching in the control mode library based on the mapping relationship between material information and control mode, or the corresponding target control mode can be generated in real time according to the control mode generation strategy based on material information. This embodiment does not specifically limit this.

[0085] The target control mode includes, but is not limited to, any one of the following control modes: control mode based on constant excitation frequency, control mode based on multiple arithmetically increasing excitation frequencies, control mode based on excitation frequency determined by the cleaning information of the waste to be cleaned, and control mode based on excitation frequency determined by the distribution area of ​​each vibrator.

[0086] Step 103: According to the target control mode, control each of the vibrators to vibrate and clean the waste to be cleaned.

[0087] Optionally, since piezoelectric ceramics undergo mechanical deformation when voltage is applied, the principle can be used to fabricate vibrators from piezoelectric ceramic sheets. When the piezoelectric ceramic sheet is excited by an alternating excitation signal, due to the inverse piezoelectric effect, the surface metal of the piezoelectric ceramic sheet undergoes reciprocating bending deformation under the excitation frequency, thereby squeezing and shaking off materials such as dirt accumulated on the surface of the undercarriage.

[0088] Therefore, the excitation frequency corresponding to the target control mode can be used to control each vibrator to reciprocate bending and deformation according to the corresponding excitation frequency, generate mechanical vibration, and amplify and transmit the vibration to the waste to be cleaned, so that the waste to be cleaned vibrates in the vertical direction, thereby causing squeezing and shaking, and thus achieving the cleaning effect on the waste to be cleaned.

[0089] The cleaning method provided in this embodiment involves setting at least one vibrator on the surface of the target component and determining the target control mode of each vibrator based on the material information. Based on the target control mode, each vibrator is adaptively controlled to automatically vibrate and clean the waste to be cleaned. On the one hand, the waste can be cleaned based on the vibrator, making the cleaning method simple and convenient. On the other hand, the vibrator can fully contact the waste to be cleaned for in-depth cleaning, effectively improving the cleaning quality. This minimizes the wear and corrosion of the working machinery caused by the waste and ensures the normal operation of the working machinery.

[0090] In some embodiments, the step of determining the target control mode for each vibrator in step 102 further includes:

[0091] Based on the material information, determine the type and size of each material in the waste to be cleaned;

[0092] The target control mode is determined based on the type and size of each material.

[0093] Optionally, the material type and size of each material in the waste to be cleaned can be determined from the material information.

[0094] Next, the material types of each material are compared to determine whether they are consistent, and the size ranges to which the dimensions of each material belong are also compared to determine whether they are consistent. Based on the corresponding judgment results, the corresponding target control mode is determined. Alternatively, the material type and size of each material can be input into the mode selection model, and the mode selection model can output the corresponding target control mode. The mode selection model can be trained using the material type and size of each material in the sample waste as samples and the actual control mode corresponding to the sample waste.

[0095] The method provided in this embodiment adaptively determines the target control mode based on the type and size of each material in the waste to be cleaned. The vibrator is then controlled based on the target control mode to clean different types and sizes of materials. This not only makes the cleaning process more efficient and reduces the time and resources required for the processing, thereby providing a faster, more accurate and thorough cleaning effect, but it can also be applied to different types of materials such as soil and stones, making the cleaning control more adaptable.

[0096] In some embodiments, determining the target control mode based on the type and size of each of the materials includes:

[0097] If it is determined that multiple materials are of the same type and that the dimensions of multiple materials belong to the same size range, the target control mode is determined to be a first control mode; the first control mode includes a mode of control according to a constant excitation frequency;

[0098] The vibration cleaning step in step 103 further includes:

[0099] In the first control mode, a corresponding constant excitation frequency is determined based on the types of multiple materials and the size range;

[0100] The vibrators are controlled to perform vibration cleaning of the waste to be cleaned according to the simple harmonic excitation voltage signal matched with the corresponding constant excitation frequency.

[0101] The types of materials include dry soil, moist soil, gravel, and stones, etc., but this embodiment does not specifically limit them.

[0102] Optionally, when it is determined that multiple materials in the waste to be cleaned are of the same type and belong to the same size range, such as when the waste to be cleaned is only dry and solidified soil, the waste is characterized by its uniform material and size. In this case, the normal mode, i.e., the first control mode, can be used. In the first control mode, based on the type and size range of each material in the waste to be cleaned, a corresponding constant excitation frequency is found among multiple preset excitation frequencies. Each preset excitation frequency has a pre-established direct or indirect mapping relationship with the material type and size range. A direct mapping relationship can be one where the material type and size range are the keys, and the preset excitation frequency is the value. An indirect mapping relationship can be one where the code formed by combining the material type and size range is the key, and the preset excitation frequency is the value.

[0103] Next, a simple harmonic excitation voltage signal with a constant excitation frequency is applied to each vibrator to excite the first-order longitudinal vibration mode of each vibrator. The first-order longitudinal vibration of each vibrator is amplified and transmitted to the waste to be cleaned through its metal plate, causing the waste to vibrate vertically. This squeezes and breaks the waste, and shakes it off, thus achieving simple and fast waste cleaning to ensure the normal operation of the machinery.

[0104] In some embodiments, determining the target control mode based on the type and size of each of the materials includes:

[0105] If it is determined that the types of multiple materials are different and / or the size ranges of multiple materials are different, the target control mode is determined to be the second control mode, the second control mode including the mode of control according to the frequency conversion loading method;

[0106] The step of controlling each of the vibrators to vibrate and clean the waste to be cleaned according to the target control mode includes:

[0107] In the second control mode, the frequency conversion loading method corresponding to the waste to be cleaned is determined;

[0108] Each vibrator is controlled to perform vibration cleaning on the waste to be cleaned according to the corresponding frequency conversion loading mode.

[0109] If it is determined that the types of multiple materials are different, and / or the size ranges of multiple materials are different, the target control mode is determined to be a mode controlled by frequency conversion loading. The frequency conversion loading method can be a time-based frequency conversion loading method for the excitation frequency, such as a frequency conversion loading method based on multiple arithmetic progressions of the excitation frequency, or a frequency conversion loading method based on the cleaning information of the waste to be cleaned; it can also be a region-based frequency conversion loading method for the excitation frequency, such as a frequency conversion loading method based on the distribution area of ​​each vibrator. This embodiment does not specifically limit this method.

[0110] Optionally, when the waste to be cleaned contains multiple materials of different types and sizes within different size ranges, such as soil and stones of varying sizes, the waste to be cleaned is characterized by diverse materials and varying sizes. In this case, considering the differences in size, mass, and type of each material, in order to be more widely applicable to the cleaning of various materials and to achieve the optimal cleaning level for each material, it is necessary to use a simple harmonic excitation voltage signal with variable frequency loading. This can be achieved by using a time-based variable frequency loading method or a region-based variable frequency loading method. The specific method can be adapted according to the cleaning requirements, and this embodiment does not impose any specific limitations on it.

[0111] Therefore, based on the control mode of variable frequency loading, the first-order longitudinal vibration mode of each vibrator is excited, causing the materials in the waste to be cleaned to vibrate at different frequencies in the vertical direction. This results in the waste to be cleaned being squeezed and circulated at different frequencies, causing it to break and fall off. This achieves simple and quick deep cleaning of various materials in the waste, improving cleaning quality and further ensuring the normal operation of the machinery.

[0112] In some embodiments, determining the variable frequency loading method corresponding to the waste to be cleaned includes:

[0113] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on multiple arithmetically increasing excitation frequencies;

[0114] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0115] Obtain multiple first target excitation frequencies that increase arithmetically;

[0116] Each of the vibrators is controlled to cyclically load the first target excitation frequency in a plurality of arithmetically increasing first target excitation frequencies to perform cyclic vibration cleaning on the waste to be cleaned.

[0117] Optionally, in the control mode of frequency conversion loading of excitation frequency according to multiple arithmetic progressions, considering the different sizes, masses and types of materials, in order to be more widely applicable to cleaning more types and sizes of materials, it is necessary to adjust the corresponding excitation frequency of the waste to be cleaned so that each vibrator can be loaded to a suitable input voltage frequency, so as to achieve deep cleaning of various materials in the waste to be cleaned.

[0118] Therefore, in order to be more widely applicable to material shaking in different types, sizes and masses of waste to be cleaned, multiple first target excitation frequencies and frequency intervals of each first target excitation frequency can be adaptively configured according to different material types and corresponding size ranges.

[0119] For example, the excitation frequency is set to an arithmetic progression of 5Hz with automatic frequency sweep, and the frequency interval of each first target excitation frequency is configured to be 3 seconds. For example, multiple arithmetic progression first target excitation frequencies of 5Hz, 10Hz, 15Hz, 20Hz, ..., 1000Hz can be input at 3-second intervals. The first target excitation frequencies at the above frequency intervals are applied to each vibrator in a cyclical manner, which excites the first-order longitudinal vibration mode corresponding to the arithmetic progression first target excitation frequency of each vibrator. This causes the materials to be cleaned to vibrate at different frequencies in the vertical direction, thereby squeezing and circulating the waste to be cleaned at different frequencies and causing the waste to be cleaned to break and shake off. This achieves a simple and quick removal of waste of different sizes, masses and types from the surface of the target component, thereby further ensuring the normal operation of the operating machinery.

[0120] In some embodiments, determining the variable frequency loading method corresponding to the waste to be cleaned includes:

[0121] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the cleaning information of the waste to be cleaned;

[0122] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0123] Based on the cleaning information of the waste to be cleaned, the excitation frequency of each vibrator is updated to obtain the second target excitation frequency corresponding to each vibrator.

[0124] Each of the vibrators is controlled to perform vibration cleaning of the waste to be cleaned according to the second target excitation frequency.

[0125] Optionally, in the control mode of frequency conversion loading of excitation frequency according to the cleaning information of the waste to be cleaned, since the material type of the waste to be cleaned is clear, such as the waste to be cleaned including materials such as soil, gravel, and stones, and the size range of each material is different, but the range difference is kept within a small preset range, it indicates that the size and weight of each material are highly consistent. In order to be more widely applicable to cleaning more types and sizes of materials, the excitation frequency of each vibrator can be adaptively adjusted in real time according to the cleaning information of the waste to be cleaned, that is, the shaking effect, to obtain the second target excitation frequency corresponding to each vibrator.

[0126] Next, a simple harmonic excitation voltage signal with the corresponding second target excitation frequency is applied to each vibrator to excite the first-order longitudinal vibration mode of each vibrator. The first-order longitudinal vibration of each vibrator is amplified and transmitted to the waste to be cleaned through its metal plate, causing the waste to vibrate vertically, thereby squeezing and breaking the waste, and shaking off the waste. This achieves simple and fast waste cleaning to ensure the normal operation of the machinery.

[0127] In some embodiments, the vibration cleaning step in step 103 further includes:

[0128] The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the distribution area of ​​each vibrator;

[0129] The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes:

[0130] Based on the distribution area of ​​each of the vibrators, the corresponding grouping of each vibrator is determined;

[0131] The vibrators in each group are controlled to perform zoned vibration cleaning of the waste to be cleaned according to the excitation frequency corresponding to each group.

[0132] The excitation frequencies corresponding to different groups belong to different frequency ranges.

[0133] The excitation frequency corresponding to the vibrators in different groups can be a fixed excitation frequency; or, the excitation frequency corresponding to the vibrators in different groups can be a target excitation frequency that is alternately selected from multiple preset excitation frequencies in each vibration cycle. For any given vibrator, the target excitation frequency selected in the current vibration cycle is different from that in the previous vibration cycle and also different from the target excitation frequencies selected by other vibrators. For example, if the multiple preset excitation frequencies include excitation frequency a and excitation frequency b, and the vibrators are grouped into groups A and B, in the first vibration cycle, the excitation frequency corresponding to group A is determined as excitation frequency a, and the excitation frequency corresponding to group B is excitation frequency b; in the second vibration cycle, the excitation frequency corresponding to group A is determined as excitation frequency b, and the excitation frequency corresponding to group B is determined as excitation frequency a; in the third vibration cycle, the excitation frequency corresponding to group A is determined as excitation frequency a, and the excitation frequency corresponding to group B is excitation frequency b. The target excitation frequency is determined alternately in this manner to control the vibrators in different groups to perform zoned vibration cleaning of the waste material in their respective group areas according to different excitation frequencies.

[0134] Optionally, in the control mode of frequency conversion loading of excitation frequency according to the distribution area of ​​each vibrator, in order to further improve the sliding effect of the waste to be cleaned and reduce energy consumption, each vibrator can be divided into corresponding groups according to the distribution area of ​​each vibrator, and the vibrators in different groups can be controlled to alternately excite according to their respective excitation frequencies.

[0135] like Figure 2 As shown, the vibrators 2 can be divided into two groups, A and B, according to their distribution areas. Different excitation frequencies are configured for A and B to control the vibrators 2 in A and B to perform zoned vibration cleaning of the waste materials in their respective areas according to the excitation frequencies corresponding to their respective groups.

[0136] Alternatively, the system can be further refined into four groups: A1, A2, B1, and B2. Considering the process of shaking and falling materials such as soil, large soil particles gradually disperse into smaller particles. Therefore, the vibrators 2 in group A1 and group A2 are vibrated at different frequencies, meaning that the frequency ranges of the excitation frequencies for groups A1 and A2 are different. Similarly, the vibrators 2 in group B1 and group B2 are vibrated at different frequencies, meaning that the frequency ranges of the excitation frequencies for groups B1 and B2 are different. Then, the vibrators 2 in different groups are controlled to vibrate and clean the waste materials in their respective areas according to different excitation frequencies, thereby achieving simple and fast waste cleaning and ensuring the normal operation of the machinery.

[0137] In some embodiments, the step of determining the target control mode for each vibrator 2 in step 102 further includes:

[0138] Identify whether there is a travel pressure signal in the hydraulic lines of the operating machinery;

[0139] Upon detecting the presence of the travel pressure signal in the hydraulic pipeline, the target control mode for each of the vibrators 2 is determined based on the material information.

[0140] The walking pressure signal is a signal that is detected and measured in the hydraulic line by a sensor or pressure gauge. This walking pressure signal can be used to characterize the working status of the machinery.

[0141] Optionally, before controlling the vibration of the vibrator 2, the presence of a travel pressure signal in the hydraulic lines of the working machinery can be identified in real time. If no travel pressure signal is detected, the control process is terminated. If a travel pressure signal is detected, the corresponding target control mode, such as the first control mode or the second control mode, is adaptively selected based on the material information. This allows the vibrator 2 to stop working when there is no need for waste accumulation and removal. When materials such as soil and stones accumulate and cannot be removed by gravity, the vibrator 2 is started. This not only saves cleaning costs but also simplifies the start-up and shutdown operation, further improving the convenience of cleaning.

[0142] To facilitate understanding of the cleaning method provided by this invention, an example is given below. Figure 3 The diagram shown is a second schematic representation of the cleaning method provided in this embodiment. The method includes:

[0143] Step 301: Identify whether there is a travel pressure signal in the hydraulic lines of the operating machinery; if there is, proceed to step 302; if not, end the cleaning operation.

[0144] Step 302: Based on the material information, determine the type and size of each material in the waste to be cleaned; if multiple materials are of the same type and their sizes belong to the same size range, proceed to step 303; if multiple materials are of different types and their sizes belong to different size ranges, proceed to any one of steps 304, 305, or 306.

[0145] Step 303: In the first control mode, a constant excitation frequency is applied to each vibrator 2 so that each vibrator 2 is excited, thereby causing a single type of uniformly sized waste to be shaken off.

[0146] Step 304: In the control mode of applying excitation frequency variable frequency loading according to multiple arithmetic progressions, the arithmetic progressions of the excitation frequency are applied to each vibrator 2 so that each vibrator 2 is excited, thereby causing various types and sizes of waste to be cleaned to be shaken off.

[0147] Step 305: In the control mode of frequency conversion loading of excitation frequency according to the cleaning information of the waste to be cleaned, the excitation frequency is adaptively adjusted according to the shaking situation of the waste to be cleaned, and the adaptively adjusted excitation frequency is applied to each vibrator 2 so that each vibrator 2 is excited, thereby shaking off various types and sizes of waste to be cleaned.

[0148] Step 306: Under the method of frequency conversion loading of excitation frequency according to the distribution area of ​​each vibrator 2, the excitation frequency corresponding to each group is determined, and the excitation frequency corresponding to each group is applied to the vibrator 2 in each group so that each vibrator 2 in each group is excited, thereby causing various types and sizes of waste to be cleaned to be shaken off.

[0149] The cleaning apparatus provided by the present invention will be described below. The cleaning apparatus described below can be referred to in correspondence with the cleaning method described above.

[0150] Figure 4 This is a schematic diagram of the cleaning device provided in this embodiment. The device includes an acquisition unit 401, a determination unit 402, and a control unit 403, wherein:

[0151] The acquisition unit 401 is used to acquire material information of the waste to be cleaned from the surface of the target component;

[0152] The determining unit 402 is used to determine the target control mode of each of the vibrators 2 based on the material information;

[0153] The control unit 403 is used to control each of the vibrators 2 to perform vibration cleaning on the waste to be cleaned according to the target control mode.

[0154] The cleaning device provided in this embodiment has at least one vibrator installed on the surface of the target component, and the target control mode of each vibrator is determined according to the material information. Based on the target control mode, each vibrator is adaptively controlled to automatically vibrate and clean the waste to be cleaned. On the one hand, the waste can be cleaned by the vibrator, making the cleaning method simple and convenient. On the other hand, the vibrator can fully contact the waste to be cleaned to carry out in-depth cleaning, effectively improving the cleaning quality. This minimizes the wear and corrosion of the working machinery caused by the waste and ensures the normal operation of the working machinery.

[0155] Based on the above embodiments, this embodiment also provides a cleaning system, which includes a control system and at least one vibrator 2;

[0156] Each vibrator 2 is electrically connected to the control system;

[0157] The control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the program, it implements the cleaning method as described in any of the above embodiments.

[0158] The cleaning system provided in this embodiment can execute a cleaning method through a control system, using a vibrator to clean waste through vibration. This makes the cleaning method simple and convenient, and allows the vibrator to fully contact the waste to be cleaned for thorough cleaning, effectively improving the cleaning quality. This minimizes wear and corrosion of the machinery caused by waste, ensuring the normal operation of the machinery.

[0159] In some embodiments, a plurality of vibrators 2 are arranged in a target array on the surface of the target component; each vibrator 2 includes a ceramic plate 21 and a metal plate 22; the ceramic plate 21 is fixed to the surface of the target component, and the surface of the ceramic plate 21 is provided with the metal plate 22.

[0160] like Figure 5 As shown, in the cleaning system, the dimensions of each vibrator 2 can be determined according to actual needs, such as an outer diameter d1 of 50 mm and an inner diameter d2 of 25 mm. Furthermore, the spacing between each vibrator 2 can also be determined according to actual needs, such as a spacing L1 of 100 mm. Multiple vibrators 2 can be evenly arranged in an array on the surface of the target component (such as a chassis) according to the spacing.

[0161] like Figure 6As shown, the vibrator 2 may include a ceramic plate 21 and a metal plate 22. The ceramic plate 21 is fixed to the surface of the target component (such as the chassis) according to the above arrangement, and the surface of the ceramic plate 21 is provided with the metal plate 22. In this embodiment, the working principle of the vibrator is to change the displacement and vibration frequency of mechanical deformation by adjusting the voltage and frequency. That is, when the voltage is applied to the piezoelectric ceramic, mechanical deformation will occur with the change of voltage and frequency. This mechanical deformation causes the soil in the accumulation area to crack, causing the original accumulated soil to slide off.

[0162] The heights of the ceramic sheet 21 and the metal sheet 22 can be set according to actual needs, such as the height of the ceramic sheet 21 being 1mm and the height of the metal sheet 22 being 2mm.

[0163] The fixing method can be adhesive fixing or mechanical fixing, etc., and this embodiment does not specifically limit it.

[0164] Based on the above embodiments, this embodiment also provides a working machine, which includes the above-mentioned cleaning system, as well as a chassis 1, a track wheel 3 and a track 4.

[0165] like Figure 7 and Figure 8 As shown, in the working machinery, the track rollers 3 are installed on both sides of the underframe 1 and connected to the tracks 4.

[0166] like Figure 9 As shown, the waste to be cleaned can be the waste accumulation area 5 on the surface of the underframe. Therefore, for cleaning this area, the vibrator 2 in the cleaning system can be installed on the surface of the underframe, as shown in the specific installation method. Figure 2 , Figure 5 and Figure 6 As shown. Therefore, using a vibrator to clean waste through vibration makes the cleaning method simple and convenient, and allows the vibrator to fully contact the waste to be cleaned for thorough cleaning, effectively improving the cleaning quality. This minimizes wear and corrosion of the machinery caused by waste, ensuring the normal operation of the machinery.

[0167] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the cleaning methods provided by the above methods. The method includes: acquiring material information of the waste to be cleaned on the surface of the target component; determining a target control mode for each of the vibrators based on the material information; and controlling each of the vibrators to perform vibration cleaning of the waste to be cleaned based on the target control mode.

[0168] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the cleaning methods provided by the above methods, the method comprising: acquiring material information of waste to be cleaned on the surface of the target component; determining a target control mode for each of the vibrators based on the material information; and controlling each of the vibrators to perform vibration cleaning of the waste to be cleaned based on the target control mode.

[0169] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0170] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0171] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning method, characterized in that, Applied to a work machinery, wherein at least one vibrator is disposed on the surface of a target component of the work machinery, the method includes: Obtain material information of the waste to be cleaned from the surface of the target component; Based on the material information, determine the target control mode for each vibrator; According to the target control mode, each of the vibrators is controlled to vibrate and clean the waste to be cleaned. The step of determining the target control mode for each vibrator based on the material information includes: Based on the material information, determine the type and size of each material in the waste to be cleaned; The target control mode is determined based on the type and size of each of the materials. Determining the target control mode based on the type and size of each material includes: If it is determined that the types of multiple materials are different and / or the size ranges of multiple materials are different, the target control mode is determined to be the second control mode, the second control mode including the mode of control according to the frequency conversion loading method; The step of controlling each of the vibrators to vibrate and clean the waste to be cleaned according to the target control mode includes: In the second control mode, the frequency conversion loading method corresponding to the waste to be cleaned is determined; Control each of the vibrators to perform vibration cleaning on the waste to be cleaned according to the corresponding frequency conversion loading mode; The determination of the variable frequency loading method corresponding to the waste to be cleaned includes: The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the distribution area of ​​each vibrator; The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes: Based on the distribution area of ​​each of the vibrators, the corresponding grouping of each vibrator is determined; The vibrators in each group are controlled to perform zoned vibration cleaning of the waste to be cleaned according to the excitation frequency corresponding to each group. The excitation frequencies corresponding to different groups belong to different frequency ranges.

2. The cleaning method according to claim 1, characterized in that, The determination of the variable frequency loading method corresponding to the waste to be cleaned includes: The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on multiple arithmetically increasing excitation frequencies; The control of each of the vibrators to perform vibration cleaning on the waste to be cleaned according to the corresponding variable frequency loading mode includes: acquiring multiple first target excitation frequencies that increase arithmetically; Each of the vibrators is controlled to cyclically load the first target excitation frequency in a plurality of arithmetically increasing first target excitation frequencies to perform cyclic vibration cleaning on the waste to be cleaned.

3. The cleaning method according to claim 2, characterized in that, The determination of the variable frequency loading method corresponding to the waste to be cleaned includes: The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the cleaning information of the waste to be cleaned; The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes: Based on the cleaning information of the waste to be cleaned, the excitation frequency of each vibrator is updated to obtain the second target excitation frequency corresponding to each vibrator. Each of the vibrators is controlled to perform vibration cleaning of the waste to be cleaned according to the second target excitation frequency.

4. A cleaning device, characterized in that, Applied to operating machinery, wherein at least one vibrator is provided on the surface of a target component of the operating machinery, the device includes: The acquisition unit is used to acquire material information of the waste to be cleaned from the surface of the target component; The determining unit is used to determine the target control mode of each of the vibrators based on the material information. The control unit is used to control each of the vibrators to perform vibration cleaning on the waste to be cleaned according to the target control mode; The step of determining the target control mode for each vibrator based on the material information includes: Based on the material information, determine the type and size of each material in the waste to be cleaned; The target control mode is determined based on the type and size of each of the materials. Determining the target control mode based on the type and size of each material includes: If it is determined that the types of multiple materials are different and / or the size ranges of multiple materials are different, the target control mode is determined to be the second control mode, the second control mode including the mode of control according to the frequency conversion loading method; The step of controlling each of the vibrators to vibrate and clean the waste to be cleaned according to the target control mode includes: In the second control mode, the frequency conversion loading method corresponding to the waste to be cleaned is determined; Control each of the vibrators to perform vibration cleaning on the waste to be cleaned according to the corresponding frequency conversion loading mode; The determination of the variable frequency loading method corresponding to the waste to be cleaned includes: The corresponding frequency conversion loading method is determined to be a frequency conversion loading method based on the distribution area of ​​each vibrator; The control of each vibrator to perform vibration cleaning of the waste to be cleaned according to the corresponding frequency conversion loading mode includes: Based on the distribution area of ​​each of the vibrators, the corresponding grouping of each vibrator is determined; The vibrators in each group are controlled to perform zoned vibration cleaning of the waste to be cleaned according to the excitation frequency corresponding to each group. The excitation frequencies corresponding to different groups belong to different frequency ranges.

5. A cleaning system, characterized in that, Includes a control system and at least one vibrator; Each of the vibrators is mounted on the surface of the target component of the working machinery; Each of the vibrators is electrically connected to the control system; The control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cleaning method as described in any one of claims 1 to 3.

6. A type of operating machinery, characterized in that, Includes the cleaning system as described in claim 5, as well as the underframe, track rollers, and tracks; The vibrator in the cleaning system is mounted on the surface of the lower frame; The drag chain wheels are installed on both sides of the underframe and connected to the tracks.

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