A sanitation sweeper and a boarding system for the sanitation sweeper

Abstract

The present invention provides a sanitation sweeper and a boarding system for its sanitation sweeping machinery, and relates to the technical field of sanitation sweepers. The boarding system includes a sweeping brush assembly and a suction nozzle assembly, a first electrostatic hydraulic actuator coupled to the sweeping brush assembly, a first motor controller electrically connected to the first electrostatic hydraulic actuator, a second electrostatic hydraulic actuator coupled to the suction nozzle assembly, a second motor controller electrically connected to the second electrostatic hydraulic actuator, a vehicle controller electrically connected to the first motor controller and the second motor controller, respectively, and batteries electrically connected to the first motor controller, the second motor controller, and the vehicle controller, respectively. The boarding system also includes a first displacement sensor coupled to the first electrostatic hydraulic actuator, a second displacement sensor coupled to the second motor controller, and a pressure sensor coupled to the sweeping brush assembly. The first displacement sensor, the second displacement sensor, and the pressure sensor are electrically connected to the vehicle controller, respectively.

Description

Technical Field

[0001] The present invention relates to the technical field of sanitation sweepers, and in particular to a boarding system of a sanitation sweeper. Background Art

[0002] The hydraulic valves in traditional integrated hydraulic systems create flow resistance within the system during operation, leading to pressure loss. This loss means the hydraulic pump must generate more pressure to overcome the system resistance, increasing overall system energy consumption. Electrification and energy efficiency are inevitable development trends.

[0003] In integrated valve-controlled systems, the opening and closing of different valves can be affected by manufacturing and design differences, resulting in uneven flow distribution within the system. This unevenness can cause some actuators to receive excessive fluid flow while others receive insufficient fluid flow, impacting the overall accuracy of the system. Furthermore, due to differences in valve manufacturing and installation precision, positional errors can occur when controlling flow. This can cause the valve to fail to open or close accurately, impacting the performance of the hydraulic system.

[0004] Different valves in an integrated valve-controlled system may have different response times. This difference in response time may cause some valves to lag in operation when synchronized operation is required, reducing the accuracy and synchronization of the system. Traditional valve-controlled cylinder systems typically include a large number of hydraulic valves and piping, which increases the complexity of the system, making maintenance and troubleshooting complicated and requiring more time and expertise.

[0005] In view of this, the applicant filed this application after studying the existing technology. Summary of the Invention

[0006] The present invention provides a boarding system for a sanitation sweeper to improve at least one of the above-mentioned technical problems.

[0007] In the first aspect, the present invention provides a boarding system for a sanitation cleaning machine of a sanitation sweeper, which includes a sweeping brush assembly and a suction nozzle assembly that can be configured on the sanitation sweeper in a manner that allows them to move up and down, a first electrostatic hydraulic actuator coupled to the sweeping brush assembly, a first motor controller electrically connected to the first electrostatic hydraulic actuator, a second electrostatic hydraulic actuator coupled to the suction nozzle assembly, a second motor controller electrically connected to the second electrostatic hydraulic actuator, a whole vehicle controller electrically connected to the first motor controller and the second motor controller, respectively, and batteries electrically connected to the first motor controller, the second motor controller and the whole vehicle controller, respectively.

[0008] The vehicle boarding system further includes a first displacement sensor coupled to the first electrostatic hydraulic actuator, a second displacement sensor coupled to the second motor controller, and a pressure sensor coupled to the sweeping brush assembly. The first displacement sensor, the second displacement sensor, and the pressure sensor are electrically connected to the vehicle controller, respectively.

[0009] The first electrostatic hydraulic actuator is configured to drive the sweeping brush assembly to move up and down. The second electrostatic hydraulic actuator is configured to drive the suction nozzle assembly to move up and down. The first displacement sensor is configured to detect the position of the output end of the first electrostatic hydraulic actuator. The second displacement sensor is configured to detect the position of the output end of the second electrostatic hydraulic actuator. The pressure sensor is configured to detect the pressure applied by the sweeping brush assembly when sweeping a road surface.

[0010] In a second aspect, the present invention provides a sanitation sweeper, which includes a boarding system for a sanitation sweeper of the sanitation sweeper as described in any paragraph of the first aspect.

[0011] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0012] The present invention utilizes first and second electrostatic hydraulic actuators to drive the position of the sweeping brush assembly and suction nozzle assembly, respectively. A bidirectional servo motor connected to a bidirectional hydraulic pump controls flow and pressure. A motor controller controls the forward and reverse rotation of the motor to control the extension and retraction of the hydraulic cylinder's extension rod. Displacement sensors and pressure sensors detect the actuator's extension and retraction, as well as the pressure on the sweeping brush wire. This information is fed back to the vehicle controller, which then uses the motor controller to achieve more precise control of the electrostatic hydraulic actuator's extension and retraction.

[0013] Compared to traditional valve-controlled hydraulic systems, electrostatic hydraulic actuator systems utilize energy more efficiently, significantly improving the system's energy efficiency. Furthermore, electrostatic hydraulic actuator systems offer faster response times and higher control precision. Compared to traditional valve-controlled hydraulic systems, the electrostatic hydraulic actuator of the present invention improves system energy efficiency and offers faster response times, making it ideally suited for use in sanitation machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 It is a structural diagram of the boarding system.

[0016] Figure 2 It is a side view of the sanitation sweeper.

[0017] Markings in the figure: 1-sweeping brush assembly, 2-suction nozzle assembly. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1 and Figure 2 The first embodiment of the present invention provides a boarding system for a sanitation sweeper of a sanitation sweeper, which includes a sweeping brush assembly 1 and a suction nozzle assembly 2 that can be configured on the sanitation sweeper in a manner that allows them to move up and down, a first electrostatic hydraulic actuator coupled to the sweeping brush assembly 1, a first motor controller electrically connected to the first electrostatic hydraulic actuator, a second electrostatic hydraulic actuator coupled to the suction nozzle assembly 2, a second motor controller electrically connected to the second electrostatic hydraulic actuator, a vehicle controller electrically connected to the first motor controller and the second motor controller, respectively, and batteries electrically connected to the first motor controller, the second motor controller, and the vehicle controller, respectively.

[0020] The vehicle boarding system further includes a first displacement sensor coupled to the first electrostatic hydraulic actuator, a second displacement sensor coupled to the second motor controller, and a pressure sensor coupled to the sweeping brush assembly 1. The first displacement sensor, the second displacement sensor, and the pressure sensor are electrically connected to the vehicle controller, respectively.

[0021] The first electrostatic hydraulic actuator is configured to drive the sweeping brush assembly 1 to move up and down. The second electrostatic hydraulic actuator is configured to drive the suction nozzle assembly 2 to move up and down. The first displacement sensor is configured to detect the position of the output end of the first electrostatic hydraulic actuator. The second displacement sensor is configured to detect the position of the output end of the second electrostatic hydraulic actuator. The pressure sensor is configured to detect the pressure applied by the sweeping brush assembly 1 when sweeping a road surface.

[0022] Preferably, the sweep brush assembly 1 includes a sweep brush mounting seat coupled to the output end of the first electrostatic hydraulic actuator, a sweep brush movable seat coupled to the sweep brush mounting seat for vertical movement, an elastic member coupled between the sweep brush mounting seat and the movable brush seat, a sweep brush drive motor coupled to the movable brush seat, and a sweep brush disc coupled to the output end of the sweep brush drive motor. The pressure sensor is coupled to the elastic member to detect the pressure applied to the sweep brush disc during sweep operation.

[0023] Specifically, the battery is the power source of the entire vehicle, which is used to provide the vehicle with power for traveling and operating. The motor controller is used to control the outlet flow of the hydraulic pump, and adjust the outlet pressure of the pump by controlling the motor speed to achieve the ideal oil discharge volume, thereby realizing precise adjustment of the extension and contraction amount of the electrostatic hydraulic actuator. The vehicle controller is used to control the actuator of the entire vehicle and adjust the actuator by receiving information from the sensor. The displacement sensor is used to receive the specific displacement information of the electrostatic hydraulic actuator, transmit the displacement information to the vehicle controller, and realize precise adjustment of the displacement of the electrostatic hydraulic actuator through the motor controller. The pressure sensor is mainly used to measure the pressure on the sweeping disc brush wire, and to adjust the extension and contraction amount (displacement) of the electrostatic hydraulic actuator in real time through pressure feedback.

[0024] Compared to traditional valve-controlled hydraulic systems used in sanitation machinery, electrostatic hydraulic actuators (EHAs) offer faster response times for cylinder extension and retraction control, improving system efficiency. Compared to traditional valve-controlled hydraulic systems, electrostatic hydraulic actuators (EHAs) intelligently manage hydraulic energy distribution through an electronic control unit (ECU). When the actuator needs to move, the system only supplies the necessary hydraulic energy, avoiding unnecessary fluid flow and reducing fluid flow resistance within the system. This precise energy distribution minimizes fluid flow resistance within the system and reduces pressure loss.

[0025] The electrostatic hydraulic actuator (EHA) in this embodiment of the present invention utilizes closed-loop control, with sensors providing real-time feedback on actuator position and status. This closed-loop control system allows for more precise adjustment of hydraulic energy supply. Furthermore, the closed pump control system directly controls the output of the relatively fast hydraulic pump, enabling the system to rapidly adjust fluid flow to meet real-time control requirements.

[0026] Based on the above embodiment, in an optional embodiment of the present invention, the first electrostatic hydraulic actuator includes a first motor, a first hydraulic pump coupled to the first motor, and a first actuator coupled to the first hydraulic pump. The first motor is electrically connected to the first motor controller. The first actuator is coupled to the sweeping brush assembly 1. The first displacement sensor is configured to detect the position of the output end of the first actuator. Preferably, the first motor and the second motor are bidirectional servo motors, which are used to provide power to the first hydraulic pump and the second hydraulic pump, respectively. The hydraulic pump is driven by the motor.

[0027] The second electrostatic hydraulic actuator includes a second motor, a second hydraulic pump coupled to the second motor, and a second actuator coupled to the second hydraulic pump. The second motor is electrically connected to the second motor controller. The second actuator is coupled to the suction nozzle assembly 2. The second displacement sensor is configured to detect the position of the output end of the second actuator. Preferably, the first and second hydraulic pumps are bidirectional hydraulic pumps, respectively configured to supply hydraulic oil to the first and second actuators. They serve as the power source for the hydraulic system of the sanitation machinery.

[0028] Specifically, the battery provides energy for the entire vehicle. Coordinated control of the motor controller and the vehicle controller enables the motor to reach a desired speed, driving the hydraulic pump to operate and power the first and second electrostatic-hydraulic actuators. Using the hydraulic cylinder of the electrostatic-hydraulic actuator system as the actuator reduces energy loss, making the system more energy-efficient and providing improved response speed, making it more suitable for use in sanitation machinery.

[0029] Pump-controlled, direct-drive electrostatic hydraulic actuators offer advantages such as high integration, energy efficiency, and reliability, making them a natural fit for the development of sanitation machinery. Electrostatic hydraulic actuators are highly efficient and reliable, locally closed hydraulic systems consisting of a motor, pump, actuator, and fuel tank. They utilize an electric pump to provide hydraulic power, allowing the pump's output to be adjusted based on actual demand. Compared to traditional hydraulic systems, this approach utilizes energy more efficiently, improving the system's energy efficiency. Electrostatic hydraulic actuators utilize an electric pump to provide hydraulic power, allowing the pump's output to be adjusted based on actual demand, allowing for more efficient energy utilization and improving the system's energy efficiency.

[0030] In an alternative embodiment of the present invention, the electrostatic hydraulic actuator employs a closed-loop pump control system, utilizing an electric pump to provide hydraulic power. The pump's output can be adjusted based on actual needs, effectively achieving efficient energy utilization. Furthermore, the closed-loop pump control system directly controls the output of the hydraulic pump, which operates at a relatively high speed, enabling rapid adjustments to fluid flow. The EHA hydraulic system utilizes closed-loop control, with sensors providing real-time feedback on actuator position and status. This results in a fast response speed for the entire system, demonstrating its practical value.

[0031] It should be noted that the forward load condition is when the direction of movement of the hydraulic cylinder is the same as the direction of the load. The reverse load condition is when the direction of movement of the hydraulic cylinder is opposite to the direction of the load. During the forward load condition (such as the lowering of the disc brush and the suction nozzle), the bidirectional hydraulic pump pumps the hydraulic oil from the rod chamber to the rodless chamber. During the reverse load condition (such as the lifting of the disc brush and the suction nozzle), the bidirectional hydraulic pump pumps the hydraulic oil from the rodless chamber to the rod chamber. The bidirectional hydraulic pump is driven by the forward and reverse rotation of the servo motor to supply oil to the two oil chambers respectively, realizing the extension and retraction of the hydraulic rod, thereby completing the lowering and lifting of the disc brush and the suction nozzle. Compared with the traditional valve control system that controls the inevitable fluid resistance of liquid flow by opening and closing the valve, it can achieve improved energy utilization and make the entire system more energy-efficient.

[0032] The control method of the boarding system includes the following steps.

[0033] When the sanitation sweeper is in a forward-loading condition of lowering the sweeping brush assembly 1 and the suction nozzle assembly 2 to start working on a flat road section, the process includes steps S01 to S03.

[0034] S01, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate forward, so as to pump oil from the rod chamber of the first actuator and the second actuator to the rodless chamber to extend the hydraulic rod, thereby driving the sweeping brush assembly 1 and the suction nozzle assembly 2 to descend respectively.

[0035] S02. Based on the first displacement sensor and the second displacement sensor, when it is detected that the first electrostatic-hydraulic actuator and the second electrostatic-hydraulic actuator are extended to a preset position, the first motor and the second motor are locked.

[0036] S03. When it is detected that the pressure value of the pressure sensor is within the normal working range, the sweeping brush assembly 1 and the suction nozzle assembly 2 start cleaning.

[0037] Specifically, when the electrostatic-hydraulic actuator is in a forward-load condition on a flat road (with the disc brush and suction nozzle lowered simultaneously), the bidirectional servo motor is controlled to rotate forward, simultaneously driving the bidirectional hydraulic pump. Based on the sweeper's operating rules, an appropriate amount of oil is supplied to the actuator's rodless chamber, pushing the hydraulic rod to extend, completing the hydraulic rod extension action. At this point, the motor locks and stops, preventing the actuator from continuing to move due to external factors. When the displacement sensor detects that the electrostatic-hydraulic actuator's real-time extension and retraction amount matches the set value and the pressure sensor on the disc brush wire provides normal pressure information, the sweeper resumes normal operation.

[0038] When the sanitation sweeper is in the reverse load condition of retracting the sweeping brush assembly 1 and the suction nozzle assembly 2 after finishing work on a flat road section, the process includes step S04 and step S05.

[0039] S04, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate in the opposite direction, so as to pump oil from the rodless chamber of the first actuator and the second actuator to the rod chamber to retract the hydraulic rod, thereby driving the sweeping brush assembly 1 and the suction nozzle assembly 2 to rise and retract respectively.

[0040] S05. Based on the first displacement sensor and the second displacement sensor, when it is detected that the first electrostatic-hydraulic actuator and the second electrostatic-hydraulic actuator are retracted to the preset position, and when it is detected that the pressure value of the pressure sensor is within the normal storage range, the first motor and the second motor are controlled to lock to end the cleaning work.

[0041] Specifically, when the electrostatic-hydraulic actuator is in reverse load operation (with the disc brush and suction nozzle lifted simultaneously) on a flat surface, the bidirectional servo motor is controlled to rotate in reverse, simultaneously driving the bidirectional hydraulic pump to rotate in the opposite direction. Based on the sweeper's operating rules, an appropriate amount of oil is supplied to the actuator's rod chamber, retracting the hydraulic rod. When the displacement sensor detects that the actuator's real-time extension and retraction matches the set value and the pressure sensor on the disc brush wire provides normal feedback, the motor locks and stops, allowing the sweeper to continue normal operation.

[0042] When the sanitation sweeper is in a forward-loading condition where the road section turns from a downhill section to a flat section, from a flat section to an uphill section, or when the road surface has potholes, the process includes step S06 and step S07.

[0043] S06. Based on a pit-down movement signal manually issued by the driver or a pressure signal from the pressure sensor, the first motor controller controls the first motor to rotate forward, thereby pumping oil from the rod chamber of the first actuator to the rodless chamber, extending the hydraulic rod by a first preset length, thereby lowering the sweeping brush assembly 1 to a first preset height. Preferably, the first preset height is 5.8 cm.

[0044] S07. When it is determined that the pressure value of the pressure sensor is within a normal working range, the first motor is controlled to lock, so that the sweeping brush assembly 1 and the suction nozzle assembly 2 can perform normal cleaning operations.

[0045] When the sanitation sweeper is in a downhill section to a flat section, a flat section to an uphill section, or a road pothole, step S08 is also included.

[0046] S08. When it is determined that the pressure value of the pressure sensor is less than the normal operating range, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate forward, so as to pump oil from the rod chamber of the first actuator and the second actuator to the rodless chamber, respectively, so that the hydraulic rod extends a first preset length, so that the sweeping brush assembly 1 and the suction nozzle assembly 2 respectively descend to a first preset height, until the pressure value of the pressure sensor is within the normal operating range, the first motor and the second motor are controlled to lock, so that the sweeping brush assembly 1 and the suction nozzle assembly 2 can perform normal cleaning operations.

[0047] Specifically, the sweeping brush directly contacts the floor during operation, while the suction nozzle is positioned at a certain distance from the floor and can provide suction within this distance. Therefore, in this embodiment, when the sanitation sweeper encounters a pothole or a transition between an uphill and downhill slope, where the vehicle body is elevated and the sweeping brush is off the ground, the sweeping brush assembly 1 is first controlled to move up and down. If this movement still does not meet the requirements, the suction nozzle is then moved to further ensure cleaning results.

[0048] When the electrostatic-hydraulic actuator is in a down-load condition (the disc brush and the suction nozzle are lowered at the same time) encountering a pothole on the road or when the road turns from a downhill section to a flat section or from a flat section to an uphill section, the vehicle controller receives the displacement and pressure feedback information from the first displacement sensor, the pressure sensor and the second displacement sensor as well as the driver's visual information. According to the operating rules of the sweeper, the first motor controller and the second motor controller are used to accurately adjust the extension and retraction of the first electrostatic-hydraulic actuator and the second electrostatic-hydraulic actuator to control the sweeping disc and the suction nozzle to continue to be lowered to maintain the normal operation of the sanitation sweeper.

[0049] It should be noted that after extensive research, based on the existing operating rules of sanitation sweepers and combined with a wide range of domestic road information, the inventor found that the depth of potholes on the road generally does not exceed 7 cm, and the slope of sloping sections generally does not exceed 45°. Combined with the size of the sweeping disc device and through theoretical calculations, it is found that in most cases, if the sweeping device continues to be lowered 5.8 cm, the normal operation of the sanitation sweeper can be maintained and the cleaning task can be ensured to be completed smoothly.

[0050] When the sanitation sweeper is in a reverse load condition with a raised road surface, the process includes steps S09 to S11.

[0051] S09. Based on a manually-initiated projection retraction signal from the driver or a pressure signal from the pressure sensor, the first motor controller controls the first motor to rotate in the opposite direction, thereby pumping oil from the rodless chamber of the first actuator to the rod chamber, retracting the hydraulic rod to a second preset length, thereby raising the sweeping brush assembly 1 to a second preset height. Preferably, the second preset height is 4.8 cm.

[0052] S10. When it is determined that the pressure value of the pressure sensor is within a normal working range, the first motor is controlled to enable the sweeping brush assembly 1 and the suction nozzle assembly 2 to perform a cleaning operation.

[0053] S11. When it is determined that the pressure value of the pressure sensor is greater than the normal operating range, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate in the opposite direction, so as to pump oil from the rodless chamber of the first actuator and the second actuator to the rod chamber, respectively, so that the hydraulic rod retracts the second preset length, so that the sweeping brush assembly 1 and the suction nozzle assembly 2 rise to the second preset height respectively, until the pressure value of the pressure sensor is within the normal operating range, and then the first motor and the second motor are controlled to lock, so that the sweeping brush assembly 1 and the suction nozzle assembly 2 can perform normal cleaning operations.

[0054] Specifically, since the suction nozzle itself is at a certain distance from the ground, if the obstacle is low, it will not interfere with the suction nozzle. However, when the obstacle is high, the suction nozzle needs to move together with the disc brush to ensure normal operation.

[0055] When the electrostatic-hydraulic actuator is in a reverse load condition (the disc brush and the suction nozzle are lifted at the same time) when passing through a speed bump section, the vehicle controller receives displacement and pressure feedback information from the first displacement sensor, pressure sensor and second displacement sensor as well as visual information based on the driver. According to the operating rules of the sweeper, the first motor controller and the second motor controller are used to accurately adjust the extension and retraction of the first electrostatic-hydraulic actuator and the second electrostatic-hydraulic actuator to control the retraction and lifting of the sweeping disc and the suction nozzle to maintain the normal operation of the sanitation sweeper.

[0056] It should be noted that after extensive research, based on the existing operating rules of sanitation sweepers and combined with a wide range of domestic road information, the inventor found that the maximum height of protrusions such as speed bumps on the road generally does not exceed 5 cm. Combined with the size of the sweeping disc device and through theoretical calculations, it is concluded that in most cases, as long as the sweeping device is retracted upwards by 4.8 cm, the sanitation machinery sweeping device can be prevented from colliding with the speed bump and causing damage, maintaining the normal operation of the sanitation sweeper and ensuring the smooth completion of the cleaning task.

[0057] When the sanitation sweeper is in the forward loading condition of lowering the suction nozzle assembly 2 in the initial suction-only, non-sweeping working mode, the process includes step S12 and step S13.

[0058] S12. The second motor controller controls the second motor to rotate in the forward direction to pump oil from the rod chamber of the second actuator to the rodless chamber to extend the hydraulic rod, thereby driving the suction nozzle assembly 2 to descend.

[0059] S13. Based on the second displacement sensor, when it is detected that the second electrostatic hydraulic actuator extends to a preset position, the second motor is locked and controls the suction nozzle assembly 2 to start cleaning.

[0060] Specifically, in certain seasons, when cleaning softer waste like leaves, a suction-only mode can be used. In this case, only the electrostatic-hydraulic actuator that controls the lowering and lifting of the suction nozzle needs to operate, while the electrostatic-hydraulic actuator that controls the disc brush does not need to operate.

[0061] In this embodiment of the present invention, the first and second electrostatic hydraulic actuators respectively drive the position of the sweeping brush assembly 1 and the suction nozzle assembly 2. A bidirectional servo motor connected to a bidirectional hydraulic pump controls flow and pressure. A motor controller controls the forward and reverse rotation of the motor to control the extension and retraction of the hydraulic cylinder extension rod. The first and second displacement sensors measure the specific extension and retraction of the first and second electrostatic hydraulic actuators, respectively, to verify whether their real-time extension and retraction meet set values ​​suitable for sweeping operations. If they meet the set values, the electrostatic hydraulic actuators continue to operate. If not, control signals are sent again, thereby achieving closed-loop control of the extension and retraction of the electrostatic hydraulic actuators. The pressure sensor primarily measures the pressure on the sweeping brush wires, and pressure feedback is used to adjust the extension and retraction of the electrostatic hydraulic actuators in real time. The displacement sensor and pressure sensor detect the actuator extension and retraction and the pressure on the sweeping brush wires. This information is fed back to the vehicle controller and then to the motor controller, enabling more precise control of the extension and retraction of the electrostatic hydraulic actuators.

[0062] Compared to traditional valve-controlled hydraulic systems, electrostatic hydraulic actuator systems utilize energy more efficiently, significantly improving the system's energy efficiency. Furthermore, electrostatic hydraulic actuator systems offer faster response times and higher control precision. Compared to traditional valve-controlled hydraulic systems, the electrostatic hydraulic actuators of the present invention improve system energy efficiency and offer faster response times, making them ideally suited for the operating conditions of sanitation machinery.

[0063] Embodiment 2: An embodiment of the present invention provides a sanitation sweeper, which includes a sanitation sweeper boarding system as described in any section of embodiment 1.

[0064] In the several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or can be implemented using a combination of dedicated hardware and computer instructions.

[0065] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0066] If the functions are implemented in the form of software modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks. It should be noted that, in this document, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. Without further constraints, an element defined by the phrase "comprises a..." does not preclude the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0067] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0068] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0069] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0070] The "first" and "second" mentioned in the embodiments are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or precedence of "first" and "second" can be interchanged where appropriate. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0071] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A boarding system for a sanitation sweeper, characterized in that: The present invention comprises a sweeping brush assembly and a suction nozzle assembly that can be configured in an upward and downwardly movable manner on a sanitation sweeper, a first electrostatic hydraulic actuator coupled to the sweeping brush assembly, a first motor controller electrically connected to the first electrostatic hydraulic actuator, a second electrostatic hydraulic actuator coupled to the suction nozzle assembly, a second motor controller electrically connected to the second electrostatic hydraulic actuator, a vehicle controller electrically connected to the first motor controller and the second motor controller, respectively, and batteries electrically connected to the first motor controller, the second motor controller, and the vehicle controller, respectively. The vehicle boarding system further includes a first displacement sensor coupled to the first electrostatic hydraulic actuator, a second displacement sensor coupled to the second motor controller, and a pressure sensor coupled to the sweeping brush assembly; the first displacement sensor, the second displacement sensor, and the pressure sensor are electrically connected to the vehicle controller, respectively; The first electrostatic hydraulic actuator is configured to drive the sweeping brush assembly to move up and down; the second electrostatic hydraulic actuator is configured to drive the suction nozzle assembly to move up and down; The first displacement sensor is configured to detect a position of an output end of the first electrostatic hydraulic actuator; The second displacement sensor is configured to detect the position of the output end of the second electrostatic hydraulic actuator; the pressure sensor is configured to detect the pressure when the sweeping brush assembly sweeps the road surface; The first electrostatic hydraulic actuator includes a first motor, a first hydraulic pump coupled to the first motor, and a first actuator coupled to the first hydraulic pump; The first motor is electrically connected to the first motor controller; The first actuator is coupled to the sweeping brush assembly; the first displacement sensor is configured to detect a position of an output end of the first actuator; The second electrostatic hydraulic actuator includes a second motor, a second hydraulic pump coupled to the second motor, and a second actuator coupled to the second hydraulic pump; The second motor is electrically connected to the second motor controller; the second actuator is engaged with the nozzle assembly; The second displacement sensor is configured to detect a position of an output end of the second actuator; The first motor and the second motor are bidirectional servo motors, respectively used to provide power to the first hydraulic pump and the second hydraulic pump; The first hydraulic pump and the second hydraulic pump are bidirectional hydraulic pumps, respectively used to supply hydraulic oil to the first actuator and the second actuator; The control method of the vehicle boarding system includes the following steps: when the sanitation sweeper is in a forward-loading condition from a downhill section to a flat section, from a flat section to an uphill section, or when the road surface is pothole-prone: S06. Based on a pit-down movement signal manually issued by a driver or a pressure signal from the pressure sensor, the first motor controller controls the first motor to rotate forward, thereby pumping oil from the rod chamber of the first actuator to the rodless chamber, thereby extending the hydraulic rod by a first preset length, thereby lowering the sweeping brush assembly to a first preset height; wherein the first preset height is 5.8 cm; S07. When it is determined that the pressure value of the pressure sensor is within a normal operating range, controlling the first motor to lock so that the sweeping brush assembly and the suction nozzle assembly can perform normal cleaning operations; S08. When it is determined that the pressure value of the pressure sensor is less than the normal operating range, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate forward, so as to pump oil from the rod chamber of the first actuator and the second actuator to the rodless chamber, respectively, so that the hydraulic rod extends a first preset length, so that the sweeping brush assembly and the suction nozzle assembly respectively descend to a first preset height, until the pressure value of the pressure sensor is within the normal operating range, the first motor and the second motor are controlled to lock, so that the sweeping brush assembly and the suction nozzle assembly can perform normal cleaning operations.

2. The boarding system of a sanitation sweeper according to claim 1, characterized in that: The sweeping brush assembly includes a sweeping brush fixing seat connected to the output end of the first electrostatic hydraulic actuator, a sweeping brush movable seat connected to the sweeping brush fixing seat and movable brush seat, an elastic member connected between the sweeping brush fixing seat and the sweeping brush movable seat, a sweeping brush driving motor connected to the sweeping brush movable seat, and a sweeping brush disc connected to the output end of the sweeping brush driving motor; The pressure sensor is connected to the elastic member to detect the pressure applied to the brush plate during the brushing operation.

3. The boarding system of a sanitation sweeper according to claim 1, characterized in that: The control method of the boarding system includes: When the sanitation sweeper is on a flat road section and starts working in the forward loading state of lowering the sweeping brush assembly and the suction nozzle assembly, the following steps are included: S01, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate in the forward direction, so as to pump oil from the rod chamber of the first actuator and the second actuator to the rodless chamber, respectively, so as to extend the hydraulic rod, thereby respectively driving the sweeping brush assembly and the suction nozzle assembly to descend; S02. When the first electrostatic hydraulic actuator and the second electrostatic hydraulic actuator are detected to be extended to a preset position based on the first displacement sensor and the second displacement sensor, the first motor and the second motor are locked; S03. When it is detected that the pressure value of the pressure sensor is within a normal operating range, the sweeping brush assembly and the suction nozzle assembly start cleaning; When the sanitation sweeper is in the reverse load condition of retracting the sweeping brush assembly and the suction nozzle assembly after finishing work on a flat road section, the following steps are included: S04: The first motor controller and the second motor controller respectively control the first motor and the second motor to rotate in opposite directions, so as to pump oil from the rodless chambers of the first actuator and the second actuator to the rod chambers, respectively, to retract the hydraulic rods, thereby respectively driving the sweeping brush assembly and the suction nozzle assembly to rise and retract; S05. Based on the first displacement sensor and the second displacement sensor, when it is detected that the first electrostatic-hydraulic actuator and the second electrostatic-hydraulic actuator are retracted to the preset position, and when it is detected that the pressure value of the pressure sensor is within the normal storage range, the first motor and the second motor are controlled to lock to end the cleaning work.

4. The boarding system of a sanitation sweeper according to any one of claims 1 to 3, characterized in that: The control method of the boarding system includes: When the sanitation sweeper is in reverse load condition with raised road surface, the following steps are included: S09. Based on a manually-generated projection retraction signal from a driver or a pressure signal from the pressure sensor, the first motor controller controls the first motor to rotate in the opposite direction, thereby pumping oil from the rodless chamber of the first actuator to the rod chamber, retracting the hydraulic rod to a second preset length, thereby raising the sweeping brush assembly to a second preset height; wherein the second preset height is 4.8 cm. S10. When it is determined that the pressure value of the pressure sensor is within a normal operating range, controlling the first motor to enable the sweeping brush assembly and the suction nozzle assembly to perform a cleaning operation; S11. When it is determined that the pressure value of the pressure sensor is greater than the normal operating range, the first motor controller and the second motor controller respectively control the first motor and the second motor to rotate in the opposite direction, so as to pump oil from the rodless chamber of the first actuator and the second actuator to the rod chamber, respectively, so that the hydraulic rod retracts the second preset length, so that the sweeping brush assembly and the suction nozzle assembly respectively rise to the second preset height, until the pressure value of the pressure sensor is within the normal operating range, and then the first motor and the second motor are controlled to lock, so that the sweeping brush assembly and the suction nozzle assembly can perform normal cleaning operations.

5. The boarding system of a sanitation sweeper according to any one of claims 1 to 3, characterized in that: The control method of the on-board system further includes: When the sanitation sweeper is in the forward loading condition of lowering the suction nozzle assembly in the initial suction-only working mode, the following steps are included: S12, the second motor controller controls the second motor to rotate forward to pump oil from the rod chamber of the second actuator to the rodless chamber to extend the hydraulic rod, thereby driving the suction nozzle assembly to descend; S13. Based on the second displacement sensor, when it is detected that the second electrostatic hydraulic actuator extends to a preset position, the second motor is locked and controls the suction nozzle assembly to start cleaning.

6. A sanitation sweeper, characterized in that: A boarding system for a sanitation sweeping machine comprising a sanitation sweeper as described in any one of claims 1 to 5.

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