A control method for avoiding obstacles by a cleaning vehicle arm frame

Abstract

The application discloses a kind of control methods for cleaning vehicle arm frame to evade obstacles, it is related to cleaning vehicle technical field, the method includes the following steps: step one: the distance between the vehicle body and wall is detected by distance sensor arranged on the vehicle body, to provide basic parameters for the extension of cleaning component;Step two: then the cleaning component is extended out of the vehicle body by horizontal pushing component, the distance between the vehicle body and wall is detected in the application, so that the cleaning component can be smoothly extended and contacted with the wall, the cleaning component is always attached to the wall by setting buffer spring, small amplitude deviation of vehicle does not affect the cleaning effect, the pressure suffered by cleaning component can also be monitored in real time, to avoid excessive force on cleaning component, in addition, the cleaning roller in washing unit can be partially offset, so as to carry out local obstacle avoidance processing, so that the entire cleaning surface is more attached to the actual surface of the wall, effectively improve the cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of cleaning vehicle technology, specifically a control method for the boom of a cleaning vehicle to avoid obstacles. Background Technology

[0002] With the rapid development of urbanization and the continuous improvement of people's environmental awareness, the demand for sanitation equipment is constantly growing. To improve the driving environment and enhance driving safety, the demand for cleaning sound barriers and tunnel facades is increasing daily. However, traditional methods using ordinary cleaning trucks in conjunction with manual labor are inefficient and unsafe. Patent CN215593831U discloses a boom for a dual-brush tunnel cleaning truck. Two cleaning brushes can be installed via connecting seats at both ends of the connecting rod, increasing the cleaning width of the wall in a single pass and improving work efficiency. A drive motor allows the base to slide on a base slide, facilitating adjustment and control of the boom's position. A rotary reducer drives the vertical boom to rotate, changing the direction of the cleaning brushes. This allows for cleaning of both sides of the tunnel (left and right) without changing vehicle direction, without affecting normal traffic flow, improving the device's practicality. Adjusting the extension and retraction of the hydraulic cylinders allows for raising and lowering one end of the horizontal extension hydraulic cylinder, thus adjusting the cleaning angle.

[0003] As can be clearly seen from the above, the existing cleaning rollers of the cleaning truck need to be in close contact with the wall. However, the wall is not a flat structure. As the vehicle moves forward, the distance between the cleaning rollers and the wall will vary, which is not conducive to ensuring the cleaning effect. When the distance is far, the pressure between the cleaning rollers and the wall is small, and the cleaning brush has limited effect. When the distance is close, the cleaning brush is over-compressed, which seriously damages the cleaning brush and affects the cleaning effect.

[0004] Based on this, a control method for the boom of a cleaning vehicle to avoid obstacles is provided, which can eliminate the drawbacks of existing devices. Summary of the Invention

[0005] The purpose of this invention is to provide a control method for a cleaning vehicle boom to avoid obstacles, so as to solve the problems in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A control method for a cleaning vehicle boom to avoid obstacles includes the following steps: Step 1: Detect the distance between the vehicle body and the wall using a distance sensor installed on the vehicle body to provide basic parameters for the extension of the cleaning components;

[0008] Step 2: Then, the cleaning component is extended out of the vehicle body by the horizontal pushing component, so that the cleaning component can perform cleaning operations on the wall;

[0009] Step 3: When the cleaning components are cleaning, the buffer unit on the cleaning components can provide cushioning, eliminating the need for the vehicle to frequently adjust the working distance.

[0010] Based on the above technical solutions, the present invention also provides the following optional technical solutions:

[0011] In one alternative embodiment: the horizontal pushing component includes a storage cavity disposed inside the vehicle body, a horizontal sliding seat slidably disposed at the bottom of the storage cavity, two vertically arranged lifting plates disposed at the upper end of the horizontal sliding seat, the two ends of the horizontal sliding seat slidingly contacting the inner wall of the storage cavity, a horizontal screw hole disposed at the middle position of the horizontal sliding seat, a first screw being fitted in the horizontal screw hole, one end of the first screw being connected and fixed to the output end of a horizontal motor on the storage cavity, and the other end of the first screw being rotatably connected to a fixed block on the storage cavity.

[0012] In one alternative embodiment: the cleaning component includes a vertical slide mounted on a lifting plate, the vertical slide being slidably fitted onto the lifting plate, the vertical slide being connected to a lifting pusher for driving its up and down movement, the upper end of the vertical slide being connected to a cleaning frame via a buffer unit, the cleaning frame being a rectangular box with one open end facing the wall, a cleaning motor being provided at the upper end of the cleaning frame, a drive shaft being provided at the output end of the cleaning motor, the lower end of the drive shaft being connected and fixed to the upper end of the cleaning shaft, the cleaning shaft being provided with multiple scrubbing units for directly scrubbing the wall, and a water spraying unit being provided on one side of the cleaning frame for spraying water toward the scrubbing unit positions.

[0013] In one alternative: the outer end of the cleaning frame is provided with at least one first obstacle avoidance bracket, and the end of the first obstacle avoidance bracket is rotatably provided with a first obstacle avoidance wheel that fits against the wall.

[0014] In one alternative embodiment: the washing unit includes multiple obstacle avoidance ring grooves disposed on the drive shaft, each obstacle avoidance ring groove is fitted with a cleaning roller, the diameter of the center hole of the cleaning roller is twice the diameter of the obstacle avoidance ring groove, the position of the center hole of the cleaning roller is connected to the outside of the obstacle avoidance ring groove through multiple local obstacle avoidance springs, the arc surface of the cleaning roller is provided with a brush mounting groove, the outside of the brush mounting groove is provided with a rotating ring that contacts the wall, the brush mounting groove is provided with multiple cleaning brushes for cleaning the wall, and the length of the cleaning brushes extends out of the brush mounting groove.

[0015] In one alternative embodiment: the water spraying unit includes a vertical spray pipe disposed at the opening of the cleaning frame, and multiple cleaning nozzles are evenly spaced on the surface of the vertical spray pipe. The upper end of the vertical spray pipe is connected to a buffer box on the vehicle body through a water supply hose. The water inlet of the buffer box is connected to the drain of the water pump, and the water inlet of the water pump is connected to a water tank on the upper part of the vehicle body.

[0016] In one alternative: the buffer unit includes at least two buffer guide rods disposed on the outside of the vertical slide, the cleaning frame is provided with a guide plate on the side facing the vertical slide, the end of the guide plate is provided with a horizontal sliding hole that matches the buffer guide rod, the outer end of the buffer guide rod is slidably disposed in the horizontal sliding hole, and the vertical slide and the guide plate are connected and fixed by a buffer spring.

[0017] In one alternative: a pressure sensor is provided on the surface of the vertical slide where the buffer spring is located to detect the pressure on the cleaning component. The driver can judge the pressure on the cleaning component by observing the pressure value.

[0018] In one alternative: the lifting pusher includes a vertically arranged second screw, which passes through a vertical screw hole on a vertical slide block. The upper end of the second screw is rotatably connected to a fixed block on the outside of the lifting vertical plate, and the lower end of the second screw is connected to a lifting motor for driving its rotation.

[0019] In one alternative: multiple ball bearing cavities are arrayed on the outer side of the rotating ring on the cleaning roller, and a steel ball is fitted in each ball bearing cavity, so that the cleaning roller can move vertically. The lower end of the drive shaft is provided with a sliding cavity, which is slidably engaged with the upper end of the cleaning shaft. The outer side of the cleaning shaft is provided with a limiting protrusion, and the inner wall of the sliding cavity of the limiting protrusion is provided with a limiting groove that matches the limiting protrusion. The outer side of the cleaning shaft is provided with a floating groove, and the inner wall of the cleaning frame is provided with a floating pin extending to the inner wall of the floating groove. The lower end of the cleaning shaft is slidably connected to the sliding hole at the upper end of the cleaning frame. A support ring is rotatably provided at the lower end of the cleaning shaft, and the support ring is connected to the bottom of the cleaning frame through a support spring.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. This invention detects the distance between the vehicle body and the wall, allowing the cleaning component to extend smoothly and contact the wall. By setting a buffer spring, the cleaning component is kept in close contact with the wall. Small deviations of the vehicle will not affect the cleaning effect. The pressure on the cleaning component can also be monitored in real time to avoid excessive force on the cleaning component. In addition, the cleaning roller in the washing unit can be partially offset to perform local obstacle avoidance, making the entire cleaning surface more closely fit the actual surface of the wall, effectively improving the cleaning effect.

[0022] 2. By constructing a longitudinally moving structure, the present invention enables the cleaning unit to move vertically for brushing while rotating for cleaning, thereby further improving the cleaning effect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure on the other side of the present invention.

[0025] Figure 3 This is a schematic diagram of the lower structure of the present invention.

[0026] Figure 4 This is a schematic diagram of the cleaning shaft structure of the present invention.

[0027] Figure 5 This is a schematic diagram of the cleaning roller structure of the present invention.

[0028] Figure 6 This is a schematic diagram of the optimized drive shaft structure of the present invention.

[0029] Figure 7 This is a schematic diagram of the optimized structure of the cleaning roller of the present invention.

[0030] Figure 8 This is a schematic diagram of the optimized structure of the lower end of the cleaning shaft according to the present invention.

[0031] Figure reference numerals: 11. Vehicle body; 12. Water tank; 13. Water pump; 14. Buffer box; 15. First screw; 16. Second screw; 17. Horizontal sliding seat; 18. Lifting motor; 19. Lifting vertical plate; 20. Cleaning frame; 21. First obstacle avoidance wheel; 22. First obstacle avoidance bracket; 23. Cleaning nozzle; 24. Vertical spray pipe; 26. Drive shaft; 27. Buffer spring; 28. Buffer guide rod; 29. ​​Vertical sliding seat; 30. Water supply hose; 31. Horizontal motor; 32. Receiving cavity; 33. Cleaning shaft; 34. Obstacle avoidance ring groove; 35. Partial obstacle avoidance spring; 36. Cleaning roller; 37. Cleaning brush; 38. Brush mounting groove; 39. Floating slide; 40. Limiting protrusion; 41. Floating pin. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0033] Example 1

[0034] In one embodiment, such as Figures 1-5 As shown, a control method for a cleaning vehicle boom to avoid obstacles includes the following steps: Step 1: The distance between the vehicle body and the wall is detected by a distance sensor installed on the vehicle body 11, providing basic parameters for the extension of the cleaning component;

[0035] Step 2: Then, the cleaning component is extended out of the vehicle body 11 by the horizontal pushing component, so that the cleaning component can perform cleaning operations on the wall;

[0036] Step 3: When the cleaning components are being cleaned, the buffer unit on the cleaning components can provide cushioning, eliminating the need for the vehicle to frequently adjust the working distance;

[0037] The horizontal pushing component includes a storage cavity 32 disposed inside the vehicle body 11. A horizontal sliding seat 17 is slidably disposed at the bottom of the storage cavity 32. Two vertically arranged lifting plates 19 are disposed at the upper end of the horizontal sliding seat 17. The two ends of the horizontal sliding seat 17 are in sliding contact with the inner wall of the storage cavity 32. A horizontal screw hole is disposed in the middle of the horizontal sliding seat 17. A first screw 15 is fitted in the horizontal screw hole. One end of the first screw 15 is connected and fixed to the output end of the horizontal motor 31 on the storage cavity 32. The other end of the first screw 15 is rotatably connected to the fixed block on the storage cavity 32. In this way, the horizontal motor 31 can drive the first screw 15 to rotate relative to the horizontal sliding seat 17. Under the action of the screw, the horizontal sliding seat 17 slides along the inner wall of the storage cavity 32, thereby providing the power for the cleaning component to extend.

[0038] The cleaning component includes a vertical slide 29 mounted on a lifting plate 19. The vertical slide 29 is slidably mounted on the lifting plate 19. The vertical slide 29 is connected to a lifting pusher for driving its up and down movement. The upper end of the vertical slide 29 is connected to a cleaning frame 20 via a buffer unit. The cleaning frame 20 is a rectangular box with one open end, and the opening of the cleaning frame 20 faces the wall. A cleaning motor is mounted on the upper end of the cleaning frame 20, and a drive shaft 26 is mounted on the output end of the cleaning motor. The lower end of the drive shaft 26 is connected and fixed to the upper end of the cleaning shaft 33. The cleaning shaft 33 is equipped with multiple scrubbing units for directly scrubbing the wall. A water spraying unit is also mounted on one side of the cleaning frame 20 for spraying water toward the scrubbing units. In this way, the wall is cleaned by the scrubbing units.

[0039] It should be noted that there are two sets of cleaning boxes 20 here, so that the offset of the two washing units can be adjusted to work on walls of different heights.

[0040] At least one first obstacle avoidance bracket 22 is provided at the outer end of the cleaning frame 20. The end of the first obstacle avoidance bracket 22 is rotatably provided with a first obstacle avoidance wheel 21 that fits against the wall. This allows the cleaning frame 20 to always maintain a certain distance from the wall, thereby avoiding the protrusion from affecting the operation of the cleaning frame 20 and achieving a certain obstacle avoidance effect.

[0041] The washing unit includes multiple obstacle avoidance grooves 34 disposed on the drive shaft 26. Each obstacle avoidance groove 34 is fitted with a cleaning roller 36. The diameter of the center hole of the cleaning roller 36 is twice the diameter of the obstacle avoidance groove 34. The center hole of the cleaning roller 36 is connected to the outside of the obstacle avoidance groove 34 through multiple local obstacle avoidance springs 35. The cleaning roller 36 has a brush mounting groove 38 on its arc surface. A rotating ring is rotatably disposed on the outside of the brush mounting groove 38 to contact the wall. Multiple cleaning brushes 37 for cleaning the wall are disposed in the brush mounting groove 38. The length of the cleaning brushes 37 extends out of the brush mounting groove 38. During operation, the brush mounting groove 38 is in contact with the wall, so that only the part of the cleaning brushes 37 that extends out of the brush mounting groove 38 contacts the wall. When a protruding obstacle is to be raised, there is a sufficient gap between the cleaning roller 36 and the obstacle avoidance groove 34, so that the cleaning roller 36 can partially avoid the obstacle.

[0042] The cleaning method described in this application can be matched with the shape of the wall, allowing for better cleaning of the wall;

[0043] The water spraying unit includes a vertical spray pipe 24 located at the opening of the cleaning frame 20. Multiple cleaning nozzles 23 are evenly spaced on the surface of the vertical spray pipe 24. The upper end of the vertical spray pipe 24 is connected to the buffer box 14 on the vehicle body 11 through a water supply hose 30. The water inlet of the buffer box 14 is connected to the drain of the water pump 13. The water inlet of the water pump 13 is connected to the water tank 12 at the top of the vehicle body 11. In this way, the water pump 13 can continuously send cleaning water into the vertical spray pipe 24 and then spray it toward the wall to assist in cleaning.

[0044] The buffer unit includes at least two buffer guide rods 28 disposed on the outside of the vertical slide 29. The cleaning frame 20 is provided with a guide plate on the side facing the vertical slide 29. The end of the guide plate is provided with a horizontal sliding hole that matches the buffer guide rod 28. The outer end of the buffer guide rod 28 is slidably disposed in the horizontal sliding hole. The vertical slide 29 and the guide plate are connected and fixed by a buffer spring 27. When the cleaning component receives pressure from the wall, the buffer guide rod 28 can slide along the horizontal sliding hole to perform obstacle avoidance and buffering.

[0045] It should be noted that a pressure sensor is provided on the surface of the vertical slide 29 where the buffer spring 27 is located, which is used to detect the pressure on the cleaning component. The driver can judge the pressure on the cleaning component by observing the pressure value, and thus make emergency adjustments to the distance between the vehicle and the wall.

[0046] The lifting pusher includes a vertically arranged second screw 16, which passes through a vertical screw hole on the vertical slide 29. The upper end of the second screw 16 is rotatably connected to a fixing block on the outside of the lifting vertical plate 19, and the lower end of the second screw 16 is connected to a lifting motor 18 for driving its rotation. The lifting motor 18 drives the second screw 16 to rotate relative to the lifting vertical plate 19. Under the action of the screw, the vertical slide 29 slides along the surface of the lifting vertical plate 19, thereby adjusting the height of the cleaning component.

[0047] Example 2

[0048] Figure 6-8 As shown, the difference from Embodiment 1 is that multiple ball bearing cavities are arrayed on the outer side of the rotating ring on the cleaning roller 36, and a steel ball is fitted in each ball bearing cavity, which allows the cleaning roller 36 to move vertically. The lower end of the drive shaft 26 is provided with a sliding cavity, which slides in cooperation with the upper end of the cleaning shaft 33. The outer side of the cleaning shaft 33 is provided with a limiting protrusion 40, and the inner wall of the sliding cavity of the limiting protrusion 40 is provided with a limiting groove that matches the limiting protrusion 40. The outer side of the cleaning shaft 33 is provided with a floating groove 39, and the inner wall of the cleaning frame 20 is provided with a floating pin extending to the inner wall of the floating groove 39. Shaft 41, the lower end of the cleaning shaft 33 is slidably disposed with the sliding hole at the upper end of the cleaning frame 20, and a support ring is provided at the lower end of the cleaning shaft 33. The support ring is connected to the bottom of the cleaning frame 20 through a support spring. In this way, when the drive shaft 26 drives the cleaning shaft 33 to rotate, the cleaning shaft 33 can rotate with it. When the cleaning shaft 33 rotates, the floating pin 41 will generate a thrust on the inner wall of the floating slide groove 39, thereby causing the cleaning shaft 33 to slide up and down along the sliding cavity of the drive shaft 26. In this way, the cleaning brush 37 can rotate and clean while also moving vertically, further improving the cleaning effect.

[0049] The above embodiment discloses a control method for a cleaning vehicle boom to avoid obstacles. A distance sensor mounted on the vehicle body 11 detects the distance between the vehicle body and the wall, providing basic parameters for the extension of the cleaning component. Then, a horizontal pushing component extends the cleaning component out of the vehicle body 11, allowing the cleaning component to clean the wall. Two sets of cleaning frames 20 are provided, allowing adjustment of the staggered range of the two washing units to work on walls of different heights. During operation, the brush mounting slot 38 is flush with the wall, ensuring that the cleaning brush 37 always extends beyond the wall. The mounting groove 38 contacts the wall. When a protruding obstacle is to be raised, there is a sufficient gap between the cleaning roller 36 and the obstacle avoidance ring groove 34. This allows the cleaning roller 36 to partially avoid the obstacle. When the drive shaft 26 drives the cleaning shaft 33 to rotate, the cleaning shaft 33 can rotate with it. When the cleaning shaft 33 rotates, the floating pin 41 will generate a thrust on the inner wall of the floating slide groove 39, so that the cleaning shaft 33 slides up and down along the sliding cavity of the drive shaft 26. In this way, the cleaning brush 37 can move vertically while rotating and cleaning, which further improves the cleaning effect.

[0050] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A control method for a cleaning vehicle boom to avoid obstacles, characterized in that: Includes the following steps: Step 1: The distance between the vehicle body and the wall is detected by a distance sensor installed on the vehicle body (11) to provide basic parameters for the extension of the cleaning components; Step 2: Then, the cleaning component is extended out of the vehicle body (11) by the horizontal pushing component, so that the cleaning component can clean the wall; Step 3: When the cleaning components are performing cleaning operations, the buffer unit on the cleaning components provides cushioning, eliminating the need for the vehicle to frequently adjust the working distance; The cleaning component includes a vertical slide (29) mounted on a lifting plate (19). The vertical slide (29) is slidably mounted on the lifting plate (19). The vertical slide (29) is connected to a lifting pusher for driving its up and down movement. The upper end of the vertical slide (29) is connected to a cleaning frame (20) via a buffer unit. The cleaning frame (20) is a rectangular box with one end open. The opening of the cleaning frame (20) faces the wall. A cleaning motor is provided at the upper end of the cleaning frame (20). A drive shaft (26) is provided at the output end of the cleaning motor. The lower end of the drive shaft (26) is connected and fixed to the upper end of the cleaning shaft (33). The cleaning shaft (33) is provided with multiple scrubbing units for directly scrubbing the wall. A water spraying unit for spraying water toward the scrubbing unit is also provided on one side of the cleaning frame (20). The washing unit includes multiple obstacle avoidance ring grooves (34) set on the drive shaft (26). Each obstacle avoidance ring groove (34) is fitted with a cleaning roller (36). The diameter of the center hole of the cleaning roller (36) is twice the diameter of the obstacle avoidance ring groove (34). The center hole of the cleaning roller (36) is connected to the outside of the obstacle avoidance ring groove (34) through multiple local obstacle avoidance springs (35). The arc surface of the cleaning roller (36) is provided with a brush mounting groove (38). A rotating ring that contacts the wall is rotatably provided on the outside of the brush mounting groove (38). Multiple cleaning brushes (37) for cleaning the wall are provided in the brush mounting groove (38). The length of the cleaning brushes (37) extends out of the brush mounting groove (38).

2. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 1, characterized in that, The horizontal pushing component includes a storage cavity (32) inside the vehicle body (11). A horizontal sliding seat (17) is slidably provided at the bottom of the storage cavity (32). Two vertically arranged lifting plates (19) are provided at the upper end of the horizontal sliding seat (17). The two ends of the horizontal sliding seat (17) are in sliding contact with the inner wall of the storage cavity (32). A horizontal screw hole is provided in the middle of the horizontal sliding seat (17). A first screw (15) is fitted in the horizontal screw hole. One end of the first screw (15) is connected and fixed to the output end of the horizontal motor (31) on the storage cavity (32). The other end of the first screw (15) is rotatably connected to the fixed block on the storage cavity (32).

3. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 1, characterized in that, The cleaning frame (20) has at least one first obstacle avoidance bracket (22) at its outer end, and the end of the first obstacle avoidance bracket (22) is rotatably provided with a first obstacle avoidance wheel (21) that fits against the wall.

4. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 1, characterized in that, The water spraying unit includes a vertical spray pipe (24) set at the opening of the cleaning frame (20). Multiple cleaning nozzles (23) are evenly spaced on the surface of the vertical spray pipe (24). The upper end of the vertical spray pipe (24) is connected to the buffer box (14) on the vehicle body (11) through a water supply hose (30). The water inlet end of the buffer box (14) is connected to the drain end of the water pump (13). The water inlet end of the water pump (13) is connected to the water tank (12) at the top of the vehicle body (11).

5. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 1, characterized in that, The buffer unit includes at least two buffer guide rods (28) disposed on the outside of the vertical slide (29). The cleaning frame (20) is provided with a guide plate on the side facing the vertical slide (29). The end of the guide plate is provided with a horizontal sliding hole that matches the buffer guide rod (28). The outer end of the buffer guide rod (28) is slidably disposed in the horizontal sliding hole. The vertical slide (29) and the guide plate are connected and fixed by a buffer spring (27).

6. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 5, characterized in that, A pressure sensor is provided on the surface of the vertical slide (29) where the buffer spring (27) is located, which is used to detect the pressure on the cleaning component. The driver can judge the pressure on the cleaning component by observing the pressure value.

7. The control method for the boom of a cleaning vehicle to avoid obstacles according to claim 1, characterized in that, The lifting pusher includes a vertically arranged second screw (16), which passes through a vertical screw hole on a vertical slide (29). The upper end of the second screw (16) is rotatably connected to a fixed block on the outside of the lifting vertical plate (19), and the lower end of the second screw (16) is connected to a lifting motor (18) for driving its rotation.

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