Wall washer truck and its power control method

Abstract

This invention provides a wall-washing vehicle and its power control method. The wall-washing vehicle includes a power system, a chassis, an obstacle avoidance platform mounted on the chassis, and a working mechanism mounted on the obstacle avoidance platform. The power system includes a first power mechanism mounted on the chassis for driving the obstacle avoidance platform and a third power mechanism mounted on the obstacle avoidance platform for driving the working mechanism. The power control method includes: acquiring the current working posture of the wall-washing vehicle and obstacle information at the wall to be cleaned; and controlling the first and third power mechanisms to provide driving power based on the working posture of the wall-washing vehicle and the obstacle information at the wall to be cleaned. This application ensures that the working mechanism does not stop working during obstacle avoidance, and obstacle avoidance is completed simultaneously with the work, saving obstacle avoidance time and improving work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of sanitation machinery technology, and in particular relates to a wall washing vehicle and its power control method. Background Technology

[0002] Wall cleaning trucks are mainly used to clean the walls of highway tunnels, noise barriers on urban elevated roads, median barriers, and bridge guardrails. With the increasing mechanization of sanitation operations, wall cleaning trucks are widely used. Existing wall cleaning trucks generally use chassis power take-off or an auxiliary engine to drive the superstructure. Therefore, the power system of wall cleaning trucks is generally of two types: chassis engine or a combination of chassis engine and auxiliary engine. When a wall cleaning truck is equipped with an obstacle avoidance function, this power cannot be transmitted to the boom, boom, and rear roller brush. Therefore, when avoiding obstacles, it is necessary to stop the operation, retract the boom, restart the vehicle, move forward to separate the rear roller brush and boom from the obstacle, and then control the boom to reach the working position to begin operation. The overall operation efficiency is relatively low. Summary of the Invention

[0003] The main objective of this invention is to propose a wall-washing vehicle and its power control method, aiming to solve the technical problem that the power system of existing wall-washing vehicles cannot achieve the goal of not affecting the cleaning operation during obstacle avoidance.

[0004] To achieve the above objectives, the present invention provides a power control method for a wall-washing vehicle. The wall-washing vehicle includes a power system, a chassis, an obstacle avoidance platform mounted on the chassis, and a working mechanism mounted on the obstacle avoidance platform. The power system includes a first power mechanism mounted on the chassis for driving the obstacle avoidance platform and a third power mechanism mounted on the obstacle avoidance platform for driving the working mechanism. The power control method for the wall-washing vehicle includes:

[0005] Obtain the current operating posture of the wall washer and information on obstacles on the wall to be cleaned;

[0006] The first and third power mechanisms are controlled to provide driving power based on the working posture of the wall washing vehicle and the information on obstacles on the wall to be cleaned.

[0007] In an embodiment of the present invention, the wall-washing vehicle further includes a water system for supplying water to the working mechanism, and a first power mechanism for providing pumping power to the water system. The step of controlling the first power mechanism and the third power mechanism to provide driving power according to the working posture of the wall-washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0008] When the wall washing truck is cleaning the interior wall and there are no obstacles on the wall to be cleaned, the third power mechanism is controlled to drive the working mechanism to the cleaning position.

[0009] The first and third power mechanisms are activated simultaneously to drive the working mechanism to begin the cleaning operation.

[0010] In an embodiment of the present invention, the wall washing vehicle further includes a front roller brush assembly installed at the front of the chassis, and the step of controlling the first power mechanism and the third power mechanism to provide driving power according to the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned further includes:

[0011] When the wall washing truck is cleaning the interior wall surface and there are no obstacles on the wall surface to be cleaned, the first power mechanism is controlled to drive the front roller brush assembly to perform the interior wall cleaning operation.

[0012] In an embodiment of the present invention, the step of controlling the first power mechanism and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned further includes:

[0013] When the wall washing truck is cleaning the interior wall surface and there are obstacles on the wall surface to be cleaned, the location information of the obstacles is obtained in real time during the cleaning operation.

[0014] Based on the location information of the obstacle, the first power mechanism is controlled to drive the obstacle avoidance platform to move, so as to adjust the distance between the obstacle avoidance platform and the inner wall.

[0015] In an embodiment of the present invention, the step of controlling the first power mechanism and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0016] When the wall washing truck is cleaning the exterior wall and there are no obstacles on the wall to be cleaned, the first power mechanism is controlled to drive the obstacle avoidance platform to be lifted to the preset working height.

[0017] The obstacle avoidance platform is moved by the first power mechanism so that the distance between the obstacle avoidance platform and the outer wall reaches the preset working distance.

[0018] The third power mechanism is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

[0019] In an embodiment of the present invention, the step of controlling the first power mechanism and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0020] When the wall washing truck is cleaning both the inner and outer walls at the same time, and there are no obstacles on the wall to be cleaned, the first power mechanism is controlled to drive the front roller brush assembly to the inner wall cleaning position.

[0021] The obstacle avoidance platform is moved to the preset working position on the outer wall by the first power mechanism;

[0022] The third power mechanism is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

[0023] In an embodiment of the present invention, the step of controlling the first power mechanism and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0024] When the wall washing truck is cleaning the exterior wall or cleaning both the interior and exterior walls at the same time, if there are obstacles on the wall to be cleaned, the information of the obstacles in front of the obstacle avoidance platform will be obtained in real time during the cleaning operation.

[0025] When performing obstacle avoidance, the third power mechanism and the first power mechanism cooperate to drive the corresponding obstacle avoidance axis to retract.

[0026] In an embodiment of the present invention, the power control method for the wall-washing vehicle further includes the following steps:

[0027] When the power output of the third power mechanism is abnormal, the power transmission between the first power mechanism and the working mechanism is switched to the connected state;

[0028] The first power mechanism drives the working mechanism to move to the working position and carry out the cleaning operation.

[0029] In embodiments of the present invention, the power system further includes a second power mechanism mounted on the chassis, and the power control method for the wall-washing vehicle further includes the following steps:

[0030] Determine if the wall washer is in operation mode;

[0031] When the wall-washing truck is in non-operation mode, the second power mechanism is controlled to drive the chassis to travel at high speed according to the first vehicle speed.

[0032] When the wall-washing truck is in operation mode, the second power mechanism is controlled to drive the chassis to travel at the second vehicle speed.

[0033] The first vehicle speed is greater than the second vehicle speed.

[0034] In an embodiment of the present invention, a wall-washing vehicle is also proposed, which is powered by the power control method described above.

[0035] In an embodiment of the present invention, the third power mechanism includes:

[0036] Oil pump;

[0037] Rotary drive components, used to drive an oil pump to supply oil to the actuators; and

[0038] The power battery provides power to the rotating drive components.

[0039] Through the above technical solution, the power system of the wall-washing vehicle provided in the embodiments of the present invention has the following beneficial effects:

[0040] A first power mechanism for driving the obstacle avoidance platform is installed on the chassis, and a third power mechanism for driving the working mechanism is installed on the obstacle avoidance platform. The first and third power mechanisms are independent of each other but can cooperate during cleaning and obstacle avoidance. When the wall washing truck is working, it first acquires the current working posture of the wall washing truck and the obstacle information at the wall to be cleaned. This application controls the independent operation of the first and third power mechanisms based on the current working posture of the wall washing truck and the obstacle information at the wall to be cleaned, ensuring that the working mechanism does not stop working during obstacle avoidance, and obstacle avoidance is completed simultaneously with the operation, saving obstacle avoidance time and improving work efficiency.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0042] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a flowchart illustrating the power control method of a wall-washing vehicle according to an embodiment of the present invention;

[0044] Figure 2 This is a front view schematic diagram of a wall-washing cart according to an embodiment of the present invention;

[0045] Figure 3 This is a top view of a wall-washing cart according to an embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047] 10 chassis 15 Rear roller brush assembly 11 Second power mechanism 16 work boom 12 First power unit 20 Obstacle avoidance platform 13 Third power mechanism 21 Platform Main Body 14 Front roller brush assembly 22 cantilever beam Detailed Implementation

[0048] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0049] The wall-washing vehicle and its power control method according to the present invention are described below with reference to the accompanying drawings. This wall-washing vehicle can be used to clean soundproof barriers or tunnel walls, etc.

[0050] like Figure 1 and Figure 2As shown, in an embodiment of the present invention, a power control method for a wall-washing vehicle is provided. The wall-washing vehicle includes a power system, a chassis 10, an obstacle avoidance platform 20 mounted on the chassis 10, and a working mechanism mounted on the obstacle avoidance platform 20. The power system includes a first power mechanism 12 mounted on the chassis 10 for driving the obstacle avoidance platform 20 and a third power mechanism 13 mounted on the obstacle avoidance platform 20 for driving the working mechanism. The power control method for the wall-washing vehicle includes:

[0051] Step S10: Obtain the current working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned;

[0052] Step S20: Control the first power mechanism 12 and the third power mechanism 13 to provide driving power according to the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned.

[0053] The first power unit 12 is an auxiliary engine. The wall washing truck has three main cleaning modes: interior wall cleaning mode, exterior wall cleaning mode, and simultaneous interior and exterior wall cleaning mode. Regardless of the cleaning mode, the following two situations exist:

[0054] 1. When there are no obstacles and no obstacle avoidance is required during the wall washing process, the position of the entire obstacle avoidance platform 20 does not change. Only the first power mechanism 12 and the third power mechanism 13 need to work together to drive the working mechanism to achieve normal cleaning operation.

[0055] 2. When there are obstacles in the wall washing machine during the wall washing process and obstacle avoidance is required at the same time, the first power mechanism 12 is activated to drive the obstacle avoidance platform 20 to move in order to achieve the obstacle avoidance function; at the same time, the first power mechanism 12 and the third power mechanism 13 cooperate to drive the working mechanism to carry out normal cleaning operations.

[0056] As can be seen from the above, by adopting the power control method of the wall washing vehicle of this application, obstacle avoidance through crossing can be achieved, that is, the operation does not stop when avoiding obstacles, and obstacle avoidance is completed at the same time as the operation, which saves obstacle avoidance time and improves operation efficiency.

[0057] In addition, the wall washing vehicle also includes a water system. It should be noted that during the cleaning process, high-pressure water in the water system needs to be delivered to the working mechanism to pre-wet the brushes and clean the wall surface. Specifically, the water system includes a water pump and a pumping hydraulic assembly that drives the water pump to rotate. The first power mechanism 12 provides driving power to the pumping hydraulic assembly, thereby driving the water pump to rotate. High-pressure water reaches the nozzle of the working mechanism through a certain height and is sprayed out to start the cleaning operation.

[0058] Furthermore, such as Figure 3As shown, the obstacle avoidance platform 20 includes a platform body 21 and a cantilever beam 22, forming an obstacle avoidance space between the platform body 21 and the cantilever beam 22 for obstacles to pass through. The third power mechanism 13 is mounted on the cantilever beam 22. The working mechanism includes a working boom 16 and a rear roller brush assembly 15 hinged to the end of the working boom 16. The working boom 16 includes at least two boom sections that are sequentially hinged end to end. The foremost boom section is mounted on a slewing platform on the cantilever beam 22, and the third power mechanism 13 can drive the slewing platform to rotate, thereby rotating the entire working boom 16.

[0059] In an embodiment of the present invention, the step of controlling the first power mechanism 12 and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0060] When the wall washing truck is cleaning the interior wall and there are no obstacles on the wall to be cleaned, the third power mechanism 13 is controlled to drive the working mechanism to the cleaning position.

[0061] The first power mechanism 12 and the third power mechanism 13 are activated simultaneously to drive the working mechanism to start the cleaning operation.

[0062] When the wall washer is cleaning the interior walls normally and does not need to avoid obstacles, the third power mechanism 13 on the cantilever beam 22 drives the rotation and swing of the working boom 16, and simultaneously drives the rear roller brush assembly 15 to rotate. This causes the rear roller brush assembly 15 to move to the preset cleaning position. Then, the motor in the third power mechanism 13 controls the rotation of the roller brush in the rear roller brush assembly 15, and the first power mechanism 12 provides power to the water system to achieve the cleaning of the interior walls by the roller brush in the rear roller brush assembly 15. When stopping the operation, the reverse operation is performed to return the working boom 16 and the rear roller brush assembly 15 to the retracted state.

[0063] In an embodiment of the present invention, the wall washing vehicle further includes a front roller brush assembly 14 installed at the front of the chassis 10. The step of controlling the first power mechanism 12 and the third power mechanism to provide driving power according to the working posture of the wall washing vehicle and the obstacle information on the wall surface to be cleaned further includes:

[0064] When the wall washing truck is cleaning the interior wall surface and there are no obstacles on the wall surface to be cleaned, the first power mechanism 12 is controlled to drive the front roller brush assembly 14 to perform the interior wall surface cleaning operation.

[0065] Since the front roller brush assembly 14 is installed at the front of the chassis 10, it can assist the working mechanism in cleaning the interior walls when cleaning the sound barrier. When cleaning areas with small interior spaces, such as tunnels, the front roller brush assembly 14 can be used directly to clean the interior walls. Water from the water system can also be pumped to the nozzles of the front roller brush assembly 14 and sprayed out to begin the cleaning operation.

[0066] In an embodiment of the present invention, the step of controlling the first power mechanism 12 and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned further includes:

[0067] When the wall washing truck is cleaning the interior wall surface and there are obstacles on the wall surface to be cleaned, the location information of the obstacles is obtained in real time during the cleaning operation.

[0068] Based on the location information of the obstacle, the first power mechanism 12 is controlled to drive the obstacle avoidance platform 20 to move, so as to adjust the distance between the obstacle avoidance platform 20 and the inner wall.

[0069] During the interior wall cleaning process, when an obstacle is detected in front of the obstacle avoidance platform 20, an obstacle avoidance action needs to be performed. Specifically, the platform body 21 includes multiple telescopic main arms. An obstacle avoidance shaft is connected to one end of each main arm near the cantilever beam 22. The obstacle avoidance shaft can be telescopically inserted into the cantilever beam 22. When the obstacle is located inside the wall, the first power mechanism 12 controls the main arms of the platform body 21 to retract, thereby moving the cantilever beam 22 and the entire working mechanism away from the wall, thus achieving obstacle avoidance. After passing the obstacle, the main arms extend to their initial position and continue the cleaning work.

[0070] In an embodiment of the present invention, the step of controlling the first power mechanism 12 and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0071] When the wall washing truck is cleaning the exterior wall and there are no obstacles on the wall to be cleaned, the first power mechanism 12 is controlled to drive the obstacle avoidance platform 20 to be lifted to the preset working height.

[0072] The obstacle avoidance platform 20 is moved by the first power mechanism 12 so that the distance between the obstacle avoidance platform 20 and the outer wall reaches the preset working distance.

[0073] The third power mechanism 13 is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

[0074] When the wall washer is cleaning the exterior wall and obstacle avoidance is not required, the obstacle avoidance platform 20 is lifted to the preset working height using the power control of the first power mechanism 12. Then, the main arm of the power control platform body 21 of the first power mechanism 12 extends, and the obstacle avoidance shaft on the power control platform body 21 extends synchronously to connect with the cantilever beam 22. At this time, the cantilever beam 22, the working boom 16, and the rear roller brush assembly 15 are all moved to the working position on the right side of the vehicle. Finally, the third power mechanism 13 on the cantilever beam 22 drives the rotation and swing of the working boom 16, and simultaneously drives the rear roller brush assembly 15 to rotate, thereby moving the rear roller brush assembly 15 to the preset cleaning working position. Then, the motor or electric motor drives the roller brush to rotate, and the first power mechanism 12 provides power to the water system to achieve the cleaning of the wall by the roller brush, and the operation begins.

[0075] In an embodiment of the present invention, the step of controlling the first power mechanism 12 and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0076] When the wall washing truck cleans both the inner and outer walls at the same time, and there are no obstacles on the wall to be cleaned, the first power mechanism 12 is controlled to drive the front roller brush assembly 14 to the inner wall cleaning position.

[0077] The obstacle avoidance platform 20 is moved to the preset working position on the outer wall by the first power mechanism 12;

[0078] The third power mechanism 13 is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

[0079] When the wall-washing vehicle is cleaning both the interior and exterior walls simultaneously without obstacle avoidance, the first power mechanism 12 controls the front roller brush assembly 14 to reach the working position. The front roller brush assembly 14 is used to clean the interior walls. Then, the first power mechanism 12 controls the main arm of the rear roller brush to be raised to the working height. Next, the first power mechanism 12 controls the extension of the obstacle avoidance platform 20 telescopic frame, and the first power mechanism 12 controls the simultaneous extension of the obstacle avoidance shaft. At this time, the cantilever beam 22, the boom, and the rear roller brush are all moved to the working positions on the right and left sides of the vehicle. Finally, the third power mechanism 13 on the cantilever beam 22 drives the rotation and swing of the working boom 16, and simultaneously drives the rear roller brush assembly 15 to rotate, thereby moving the rear roller brush assembly 15 to the preset cleaning position. Then, the motor or electric motor drives the roller brush to rotate, and the first power mechanism 12 provides power to the water system to enable the roller brush to clean the wall and begin the operation.

[0080] In an embodiment of the present invention, the step of controlling the first power mechanism 12 and the third power mechanism to provide driving power based on the working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned includes:

[0081] When the wall washing truck is cleaning the exterior wall or cleaning both the interior and exterior walls at the same time, if there are obstacles on the wall to be cleaned, the information of the obstacles in front of the obstacle avoidance platform 20 is obtained in real time during the cleaning operation.

[0082] When performing obstacle avoidance, the third power mechanism 13 and the first power mechanism 12 cooperate to drive the corresponding obstacle avoidance shaft to retract.

[0083] Whether in exterior wall cleaning mode or simultaneous interior and exterior wall cleaning mode, when an obstacle is detected in front of the obstacle avoidance platform 20, the third power mechanism 13 first controls the corresponding obstacle avoidance shaft to extend from the cantilever beam 22, and then the first power mechanism 12 drives the obstacle avoidance shaft closest to the obstacle to retract into the main arm, thus achieving normal obstacle avoidance during the wall washing vehicle's forward movement. After obstacle avoidance, the first power mechanism 12 drives the corresponding obstacle avoidance shaft to extend, and then the third power mechanism 13 controls the corresponding obstacle avoidance shaft to insert locking pins, thereby locking the obstacle avoidance shaft and the cantilever beam 22. When stopping operation, all obstacle avoidance shafts extend and lock pins are inserted, and then other actions are reversed to return the front roller brush assembly 14 and the rear roller brush assembly 15 to the retracted state.

[0084] To facilitate the identification of obstacles in front of the obstacle avoidance platform 20, ultrasonic sensors and lidar can be installed on the obstacle avoidance platform 20. The purpose of identifying obstacles can be achieved through the cooperation of ultrasonic sensors and lidar.

[0085] In an embodiment of the present invention, the power control method for the wall-washing vehicle further includes the following steps:

[0086] When the power output of the third power mechanism 13 is abnormal, the power transmission of the first power mechanism 12 and the working mechanism is switched to the connected state;

[0087] The first power mechanism 12 drives the working mechanism to move to the working position and carry out the cleaning operation.

[0088] When the third power mechanism 13 experiences a power transmission abnormality during the cleaning of the interior wall, such as when the third power mechanism 13 malfunctions and becomes unavailable, or to achieve a longer operating time, a quick-connect connection is established between the first power mechanism 12, the rear roller brush, and the boom hydraulic system, eliminating the need for obstacle avoidance, to transmit power to the rear roller brush. First, the power from the first power mechanism 12 controls the front roller brush to reach the working position. Then, the first power mechanism 12 drives the rotation and swing of the boom 16, simultaneously driving the rear roller brush assembly 15 to rotate. This causes the rear roller brush assembly 15 to move to the preset cleaning position. Then, the motor or electric motor drives the roller brush to rotate, and the first power mechanism 12 provides power to the water system to enable the roller brush to clean the wall, thus initiating the operation. To stop the operation, the reverse operation is performed to return the front roller brush assembly 14 and the rear roller brush assembly 15 to the retracted state.

[0089] In summary, since the first power mechanism 12 and the third power mechanism 13 are independent yet cooperative, when the third power mechanism 13 malfunctions, the first power mechanism 12 can be connected via a quick-connect interface to drive the rear roller brush assembly 15 and the working boom 16 to retract, facilitating maintenance. When the user wants to obtain a longer operating time, the first power mechanism 12 can be connected via a quick-connect interface to drive the rear roller brush assembly 15 to the working position and begin operation.

[0090] In an embodiment of the present invention, the power system further includes a second power mechanism 11 mounted on the chassis 10. When the wall-washing vehicle is an oil-powered vehicle, the second power mechanism 11 is the main engine on the chassis 10, installed below the cab, primarily providing power for vehicle movement. When the wall-washing vehicle is a new energy vehicle, the second power mechanism 11 is driven by a power battery and an electric motor. The power control method for the wall-washing vehicle further includes the following steps:

[0091] Determine if the wall washer is in operation mode;

[0092] When the wall-washing vehicle is in non-operation mode, the second power mechanism 11 is controlled to drive the chassis 10 to travel at high speed according to the first vehicle speed;

[0093] When the wall washing truck is in operation mode, the second power mechanism 11 is controlled to drive the chassis 10 to travel at the second speed.

[0094] The first vehicle speed is greater than the second vehicle speed.

[0095] Understandably, the second power unit 11 can travel at high speed in non-operational state and at low speed in operational state. Furthermore, this application modifies the chassis 10 by adding a reducer to the drive shaft, which has two gears: high and low. The high gear is used for non-operational driving, and the low gear is used for operation. During operation, to achieve better cleaning results, the chassis 10's gearbox is in the low gear (I), and with the reduction gearbox's deceleration, the driving speed is lower than the vehicle's speed in I gear.

[0096] In an embodiment of the present invention, the third power mechanism 13 includes an oil pump, a rotary drive component, and a power battery; the rotary drive component is used to drive the oil pump to supply oil to the actuator, wherein the rotary drive component is a motor or electric motor.

[0097] The power battery provides power to the rotating drive component. The third power mechanism 13 can provide driving force to the working boom 16 and the rear roller brush assembly 15. In this way, the third power mechanism 13 and the first power mechanism 12 are set independently, which can ensure that the cleaning and obstacle avoidance actions do not interfere with each other. There is no need to stop during obstacle avoidance, saving obstacle avoidance time and improving work efficiency.

[0098] In an embodiment of the present invention, a wall-washing vehicle is also proposed, which is powered by the power control method described above. Since this wall-washing vehicle possesses all embodiments of the power control method described above, it enjoys all the beneficial effects brought about by the power control method described above.

[0099] The output start and stop of the second power mechanism 11, the first power mechanism 12, and the third power mechanism 13 can be controlled in the driver's cab of the wall washing truck to adjust the speed, so that the entire wall washing truck can freely switch between working and non-working states.

[0100] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0102] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0103] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A power control method for a wall washer, characterized in that, The wall-washing vehicle includes a power system, a chassis (10), an obstacle avoidance platform (20) mounted on the chassis (10), and a working mechanism mounted on the obstacle avoidance platform (20). The power system includes a first power mechanism (12) mounted on the chassis (10) for driving the obstacle avoidance platform (20) and a third power mechanism (13) mounted on the obstacle avoidance platform (20) for driving the working mechanism. The obstacle avoidance platform (20) includes a platform body (21) and a cantilever beam (22). An obstacle avoidance space for obstacles to pass through is formed between the platform body (21) and the cantilever beam (22). The third power mechanism (13) is mounted on the cantilever beam (22). The working mechanism includes a working boom (16) and a mechanism hinged to the working boom. (16) The rear roller brush assembly (15) at the end, the working boom (16) includes at least two boom sections that are hinged end to end in sequence, the boom section at the front end is mounted on the slewing platform on the cantilever beam (22), the third power mechanism (13) can drive the slewing platform to rotate so as to drive the entire working boom (16) to rotate; the wall washing vehicle also includes a water system, the water system is used to deliver high pressure water to the working mechanism to pre-wet the brush and clean the wall surface, the water system includes a water pump and a pumping hydraulic assembly that drives the water pump to rotate, the first power mechanism (12) provides driving power to the pumping hydraulic assembly, thereby driving the water pump to rotate, the high pressure water reaches the nozzle of the working mechanism through a preset height and sprays out to perform cleaning operations; The power control method of the wall washer includes: Obtain the current working posture of the wall washing vehicle and the obstacle information at the wall surface to be cleaned; Based on the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned, the first power mechanism (12) and the third power mechanism (13) are controlled to provide driving power; The first power mechanism (12) is an auxiliary engine. The cleaning modes of the wall washing vehicle include an inner wall cleaning mode, an outer wall cleaning mode, and a simultaneous inner and outer wall cleaning mode. Each of the cleaning modes has the following two situations: When the wall washing vehicle is cleaning the wall surface and there are no obstacles and no obstacle avoidance is required during the cleaning process, the position of the obstacle avoidance platform (20) does not change. Only the first power mechanism (12) and the third power mechanism (13) need to cooperate to drive the working mechanism to achieve the cleaning operation. When the wall washing vehicle encounters obstacles while cleaning the wall and needs to avoid them during the cleaning process, the first power mechanism (12) is activated to drive the obstacle avoidance platform (20) to move, thereby achieving the obstacle avoidance function; at the same time, the first power mechanism (12) and the third power mechanism (13) cooperate to drive the working mechanism to perform the cleaning operation.

2. The power control method for the wall washer truck according to claim 1, characterized in that, The step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power based on the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned includes: When the wall washing vehicle is cleaning the inner wall surface and there are no obstacles on the wall surface to be cleaned, the third power mechanism (13) is controlled to drive the working mechanism to reach the cleaning operation position. The first power mechanism (12) and the third power mechanism (13) are activated simultaneously to drive the working mechanism to start the cleaning operation.

3. The power control method for the wall washer truck according to claim 1, characterized in that, The wall washing vehicle also includes a front roller brush assembly (14) installed in front of the chassis (10), and the step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power according to the working posture of the wall washing vehicle and the obstacle information on the wall surface to be cleaned further includes: When the wall washing vehicle is cleaning the inner wall surface and there are no obstacles on the wall surface to be cleaned, the first power mechanism (12) is controlled to drive the front roller brush assembly (14) to perform the inner wall surface cleaning operation.

4. The power control method for the wall washer truck according to claim 1, characterized in that, The step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power based on the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned further includes: When the wall washing vehicle is cleaning the interior wall surface and there are obstacles on the wall surface to be cleaned, the location information of the obstacles is obtained in real time during the cleaning operation. Based on the location information of the obstacle, the first power mechanism (12) is controlled to drive the obstacle avoidance platform (20) to move, so as to adjust the distance between the obstacle avoidance platform (20) and the inner wall.

5. The power control method for the wall washer truck according to claim 1, characterized in that, The step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power based on the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned includes: When the wall washing vehicle is cleaning the exterior wall and there are no obstacles on the wall to be cleaned, the first power mechanism (12) is controlled to operate, so as to drive the obstacle avoidance platform (20) to be lifted to the preset working height; The obstacle avoidance platform (20) is moved by the first power mechanism (12) so that the distance between the obstacle avoidance platform (20) and the outer wall reaches the preset working distance; The third power mechanism (13) is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

6. The power control method for the wall washer truck according to claim 3, characterized in that, The step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power based on the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned includes: When the wall washing vehicle cleans the inner and outer walls at the same time, and there are no obstacles on the wall to be cleaned, the first power mechanism (12) is controlled to move to drive the front roller brush assembly (14) to the inner wall cleaning operation position. The obstacle avoidance platform (20) is driven to move to the preset working position on the outer wall by the first power mechanism (12); The third power mechanism (13) is activated to drive the working mechanism to the cleaning position and perform the cleaning operation.

7. The power control method for the wall washer truck according to claim 1, characterized in that, The platform body (21) includes multiple telescopic main arms. One end of each main arm near the cantilever beam is connected to an obstacle avoidance shaft. The obstacle avoidance shaft is telescopically inserted into the cantilever beam (22). The step of controlling the first power mechanism (12) and the third power mechanism (13) to provide driving power according to the working posture of the wall washing vehicle and the obstacle information on the wall to be cleaned includes: When the wall washing vehicle is cleaning the exterior wall or cleaning both the interior and exterior walls at the same time, if there are obstacles on the wall to be cleaned, the information of the obstacles in front of the obstacle avoidance platform (20) is obtained in real time during the cleaning operation. When performing obstacle avoidance, the third power mechanism (13) and the first power mechanism (12) cooperate to drive the corresponding obstacle avoidance shaft to retract.

8. The power control method for the wall washer according to any one of claims 1 to 7, characterized in that, The power control method for the wall washer also includes the following steps: When the power output of the third power mechanism (13) is abnormal, the power transmission between the first power mechanism (12) and the working mechanism is switched to the connected state; The first power mechanism (12) drives the working mechanism to move to the working position and perform cleaning operations.

9. The power control method for the wall-washing cart according to any one of claims 1 to 7, characterized in that, The power system also includes a second power mechanism (11) mounted on the chassis (10), and the power control method of the wall washing vehicle further includes the following steps: Determine whether the wall-washing vehicle is in operation mode; When the wall washing vehicle is in non-operation mode, the second power mechanism (11) is controlled to drive the chassis (10) to travel at high speed according to the first vehicle speed; When the wall washing vehicle is in operation mode, the second power mechanism (11) is controlled to drive the chassis (10) to travel at the second speed; Wherein, the first vehicle speed is greater than the second vehicle speed.

10. A wall-washing cart, characterized in that, The power drive is performed using the power control method according to any one of claims 1 to 9.

11. The wall-washing cart according to claim 10, characterized in that, The third power mechanism (13) includes: Oil pump; A rotary drive element for driving the oil pump to supply oil to the actuator; and The power battery provides power to the rotating drive component.

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