A control method and control system of a sanitation sweeper with anti-collision buffer device

Abstract

The application provides a control method and control system of a sanitation sweeper with an anti-collision buffer device. The sanitation sweeper comprises a sweeper body, a box, a box door rotatably arranged at the rear of the box and driven to swing by a swing driving device, and a controller. The anti-collision buffer device comprises an anti-collision buffer block rotatably arranged at the rear lower part of the box door on one side. The rear of the box door is provided with a turnover driving device for driving the anti-collision buffer block to turn over to a horizontal state or a vertical state. The sweeper body is provided with a horizontal sensing device and a discharging sensing device. The anti-collision buffer block is sensed by the horizontal sensing device when it is turned over downward to the horizontal state. The box is sensed by the discharging sensing device when it is lowered to the position. The box is provided with an opening door sensing device and a vertical sensing device. The opening door sensing device senses when the box door is opened to the position. The vertical sensing device senses when the anti-collision buffer block is turned over upward to the vertical state. Thus, the safety of user operation of the anti-collision buffer device is improved, and the whole vehicle failure rate is reduced.

Description

Technical Field

[0001] This invention relates to the field of sanitation sweepers, specifically to a control method and control system for a sanitation sweeper equipped with a collision avoidance and buffer device. Background Technology

[0002] To prevent rear-end collisions between vehicles traveling at excessive speeds and those performing sanitation work, sanitation sweepers are typically equipped with a tilting, horizontal anti-collision buffer device at the rear. This device reduces the impact of rear-end collisions and minimizes damage to personnel, vehicles, and equipment. When not in use, the anti-collision buffer device is tilted vertically and placed behind the rear door.

[0003] However, the added anti-collision buffer devices often lack a safety limit system, causing them to interfere with or collide with the sanitation sweeper's body, rear guardrail, chassis beam, and ground, resulting in equipment damage. In addition, the installation method of the added rear protective buffer device and the rear door of the body is not reasonably designed, affecting the normal operation of the sanitation sweeper's rear door and material box.

[0004] The purpose of this invention is to design a control method and control system for a sanitation sweeper with a safety limit control and anti-collision buffer device, addressing the problems existing in the prior art. Summary of the Invention

[0005] This invention provides a control method and control system for a sanitation sweeper with a collision avoidance buffer device, which can effectively solve the above-mentioned problems.

[0006] This invention is implemented as follows:

[0007] A control method for a sanitation sweeper with a collision avoidance buffer device, the sanitation sweeper including a sweeper body, a box rotatably mounted on the sweeper body and driven to rise and fall by an unloading drive device, a box door rotatably mounted at the rear of the box and driven to swing open and close by a swing drive device, and a controller. The collision avoidance buffer device includes a collision avoidance buffer block rotatably mounted on one side of the lower rear side of the box door. The rear of the box door is provided with a flipping drive device for driving the collision avoidance buffer block to flip to a lateral or vertical position. The sweeper body is provided with a lateral sensor and an unloading sensor. The device is configured such that when the anti-collision buffer block is flipped downwards to a horizontal position, it is sensed by the horizontal sensor; when the box body is lowered to the correct position, it is sensed by the unloading sensor. The box body is equipped with a door opening sensor and a vertical sensor. When the box door is opened to the correct position, it is sensed by the door opening sensor; when the anti-collision buffer block is flipped upwards to a vertical position, it is sensed by the vertical sensor. The unloading drive device, swing drive device, flip drive device, vertical sensor, horizontal sensor, door opening sensor, and unloading sensor are communicatively connected to the controller.

[0008] The control method includes:

[0009] When the sweeper vehicle is performing sweeping operations, the following is executed:

[0010] S11, Obtain the signal of the anti-collision buffer block descending. When the unloading sensor senses the box and the lateral sensor does not sense the anti-collision buffer block, the controller determines that the box has descended to the position and the anti-collision buffer block is not in a lateral state. The controller then drives the anti-collision buffer block to flip downward through the flipping drive device.

[0011] S12, When the lateral sensing device senses the anti-collision buffer block, the controller determines that the anti-collision buffer block is flipped downward to the lateral state, and stops driving the anti-collision buffer block to flip downward through the flipping drive device, so that the anti-collision buffer block is blocked at the rear of the sweeper body.

[0012] When the sweeper vehicle finishes its sweeping work, the following is executed:

[0013] S21, Obtain the signal for the anti-collision buffer block to rise, and drive the anti-collision buffer block to flip upward through the flipping drive device;

[0014] S22, when the vertical sensing device senses the anti-collision buffer block, the controller determines that the anti-collision buffer block is flipped upward to a vertical state, and stops driving the anti-collision buffer block to flip upward through the flipping driving device, so that the anti-collision buffer block is stored in the rear side of the box door;

[0015] When the sweeper is unloading materials, the following is executed:

[0016] S31, Obtain the signal for the anti-collision buffer block to rise, and drive the anti-collision buffer block to flip upward through the flipping drive device;

[0017] S32, when the vertical sensing device senses the anti-collision buffer block, the controller determines that the anti-collision buffer block is flipped upward to a vertical state, and stops driving the anti-collision buffer block to flip upward through the flipping drive device, so that the anti-collision buffer block is stored in the rear side of the box door;

[0018] S33, Obtain the unloading signal, drive the box door to swing upward and open through the swing drive device, when the door opening sensor detects the box door, the controller determines that the box door is in place, and the unloading drive device drives the box body to rotate to the tilted unloading state.

[0019] Furthermore, the tilting drive device includes a tilting frame and several tilting cylinders. One end of the tilting frame is connected to the end of the anti-collision buffer block, and the other end is hinged to the lower end of the box door. The upper ends of the several tilting cylinders are hinged to the upper rear side of the box door, and the lower ends are hinged to the tilting frame. When the telescopic end of the tilting cylinder extends, it drives the tilting frame to tilt the anti-collision buffer block downward. When the telescopic end of the tilting cylinder retracts, it drives the tilting frame to tilt the anti-collision buffer block upward. The left and right sides of the sweeper body are symmetrically provided with beams. The rear sides of the two beams are connected with a rear crossbeam. The rear crossbeam is provided with guide holes running through it. The front side of the rear crossbeam is provided with several limiting plates and a pin that slides through the limiting plates and is driven to move laterally by the limiting drive device. The lateral sensing device is provided on the top of the rear crossbeam. The side of the tilting frame away from the anti-collision buffer block is provided with a perforated ear plate corresponding to the guide hole and a lateral sensing plate corresponding to the lateral sensing device.

[0020] S12 specifically includes: when the lateral sensing device senses the lateral sensing plate, it determines that the anti-collision buffer block is flipped downward to a lateral state, the flipping driving device stops driving the anti-collision buffer block to flip downward, so that the anti-collision buffer block is blocked at the rear side of the sweeper body, the flipping frame abuts against the rear side of the rear crossbeam, and the perforated ear plate passes through the guide hole to the front side of the rear crossbeam, and the limiting driving device drives the pin to move laterally through the perforated ear plate, thereby limiting the anti-collision buffer block.

[0021] Furthermore, the telescopic end of the limiting drive device is provided with a limiting sensing plate, and the front side of the rear crossbeam is provided with a limiting sensing device that cooperates with the limiting sensing plate. When the limiting sensing device senses the limiting sensing plate, the telescopic end of the limiting drive device retracts and the pin disengages from the perforated ear plate.

[0022] S21 and S31 specifically include: acquiring a signal indicating that the anti-collision buffer block is rising; if the limit sensor detects the limit sensor plate, the flipping drive device drives the anti-collision buffer block to flip upward; if the limit sensor does not detect the limit sensor plate, the limit drive device drives the pin to move laterally until the limit sensor detects the limit sensor plate, then it is determined that the pin is disengaged from the perforated ear plate, and the flipping drive device drives the anti-collision buffer block to flip upward.

[0023] Furthermore, the box body is located on top of the two main beams and hinged to the rear side of the two main beams at its bottom rear side. The unloading drive device is an unloading cylinder located inside the sweeper body and hinged upward to the front part of the bottom side of the box body. The unloading sensor is located on top of the main beams. The bottom of the box body is provided with an unloading sensor plate corresponding to the unloading sensor. The swing drive device is a swing cylinder with its upper end hinged to the upper part of the rear side of the box body and its lower end hinged to the lower part of the rear side of the box door. The door opening sensor is located on the upper part of the rear side of the box body. The swing cylinder is provided with a door opening sensor plate corresponding to the door opening sensor.

[0024] Furthermore, the sweeper body is equipped with a touch screen display and an operation switch for sending the anti-collision buffer block rising or falling signals. An electronic arrow indicator light is provided at the upper rear of the box. The touch screen display, operation switch, and electronic arrow indicator light are communicatively connected to the controller.

[0025] Furthermore, the vertical sensing device is a proximity switch and is located on the upper rear side of the box door. The side of the anti-collision buffer block is provided with a vertical sensing plate corresponding to the vertical sensing device. The side of the anti-collision buffer block away from the box door is provided with several automatically inflatable safety airbags. The controller includes a timing module that is communicatively connected to the vertical sensing device.

[0026] Specifically, S22 and S32 include: when the vertical sensing device senses that the vertical sensing plate is approaching and the approach value is less than a preset approach value range, it determines that the anti-collision buffer block is flipped upward to a vertical state, and the flipping driving device stops driving the anti-collision buffer block to flip upward, so that the anti-collision buffer block is stored in the back of the box door, and the box door and the anti-collision buffer block are connected by a safety rope;

[0027] Following S22, the following is also included:

[0028] S23, the vertical sensing device senses the distance of the vertical sensing plate in real time. When the distance is greater than the first preset distance, the timing module starts timing. When the distance is greater than the second preset distance, the timing module stops timing. If the timing duration of the timing module is less than 0.8 times the preset safe duration T, it is determined that the anti-collision buffer block quickly flips downward and falls. Several airbags automatically inflate, thereby deploying several airbags and padding the bottom of the anti-collision buffer block.

[0029] Furthermore, each of the several tilting cylinders has a horizontally arranged connecting rod fixed to its rear side. The side of the anti-collision buffer block is provided with several deceleration devices corresponding to the several connecting rods. The deceleration device includes two vertically distributed brackets and two deceleration gears disposed in the two brackets and rotatably connected to the two brackets on both sides through a rotating shaft. A deceleration spring with one end fixedly connected to the bracket is tightly fitted on the rotating shaft. The upper and lower surfaces of the connecting rods are provided with rack portions that can mesh with the two deceleration gears. During the process of the anti-collision buffer block tilting upward to a vertical state, the rack portions slowly mesh and insert between the two deceleration gears. The deceleration gears and the rotating shaft rotate relative to the deceleration spring.

[0030] S23 further includes:

[0031] As the anti-collision buffer block rapidly flips downwards and falls until the distance between the vertical sensing device and the vertical sensing plate is greater than a second preset distance, the rack drives the reduction gear to rotate rapidly, which in turn drives the rotating shaft to rotate rapidly. Through friction, the reduction spring is tightened, and the speed of the reduction gear quickly drops to zero and engages with and locks with the rack, causing the anti-collision buffer block to stop flipping downwards. As the reduction spring slowly resets, the reduction gear slowly resumes rotation and then slowly disengages from the rack, causing the anti-collision buffer block to slowly flip downwards until the rack is completely disengaged from the two reduction gears and falls. This allows the airbags sufficient time to inflate and deploy, then be placed at the bottom of the anti-collision buffer block.

[0032] A control system for a sanitation sweeper with a collision avoidance buffer device, characterized in that the control system applies the control method described above.

[0033] The beneficial effects of this invention are:

[0034] 1. This invention, through the addition of a vertical sensing device, a horizontal sensing device, a door opening sensing device, and a material unloading sensing device, enables the following: When the sweeper needs to lower the anti-collision buffer block during sweeping operations, the system first senses whether the container is in the lowered position (not tilted for unloading) and whether the anti-collision buffer block is not in a horizontal position before executing the downward flipping action of the anti-collision buffer block. This prevents the user from lowering the anti-collision buffer block before it is in the lowered position or before it has been flipped to a horizontal position, which could cause the anti-collision buffer block to interfere with or be damaged by the ground. When the sweeper needs to tilt the container for unloading, the system first controls and senses whether the anti-collision buffer block is flipped upward and stored behind the container door. It then senses whether the container door is fully open before controlling the container to rotate to the tilted unloading position for unloading. This prevents the container from tilting for unloading before the anti-collision buffer block is retracted or the container door is fully open, which could cause the container to rotate and interfere with the ground or the vehicle body, resulting in collisions or damage to the container or the anti-collision buffer block. This improves the safety of sanitation sweepers during operation by using anti-collision buffer devices, while also enhancing the safety of users operating the devices, preventing damage to the anti-collision buffer blocks or the housing during operation, and reducing the overall vehicle failure rate.

[0035] 2. This invention, through the addition of a timing module and airbags in conjunction with a vertical sensing device, enables the anti-collision buffer block to rapidly flip downwards and fall onto the following vehicle when the sweeper is rear-ended by a vehicle, causing damage to the extension end of the tilting cylinder and resulting in locking failure or safety rope pull failure. This allows the airbags to cushion the impact, preventing serious injury to the following vehicle and its driver. Thus, while improving the sweeper's own safety by adding an anti-collision buffer block, it also reduces the danger posed by the buffer block to the outside world after an accident.

[0036] 3. This invention, through the addition of a connecting rod and a reduction gear, allows the rack to slowly engage or disengage between the two reduction gears during the normal upward or downward rotation of the anti-collision buffer block driven by the tilting cylinder. Therefore, the reduction gears, shaft, and reduction spring can rotate relative to each other, and the reduction gear does not reduce speed. When the sweeper is rear-ended, causing the anti-collision buffer block to rapidly tilt downward, the rack and reduction gear work together to ensure the buffer block quickly tilts downward until it is no longer detected by the vertical sensing device. The downward flipping is paused, and then slowly flipped downwards until the rack and reduction gear are completely disengaged before falling. This avoids the collision buffer block falling directly and quickly, which could lead to a dangerous situation where the airbags do not have enough time to fully deploy before the buffer block hits the vehicle behind. Thus, while adding a collision buffer block to improve the safety of the sweeper itself, the addition of a timing module and airbags reduces the danger posed by the collision buffer block to the outside world after an accident, while also improving the stability and practicality of the airbags' operation, further ensuring the safety of the collision buffer block during use. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the anti-collision buffer block of the sanitation sweeper provided by the present invention in a vertical state.

[0039] Figure 2 This is a schematic diagram of the anti-collision buffer block of the sanitation sweeper provided by the present invention in a horizontal position.

[0040] Figure 3 A partial structural schematic diagram of the rear crossbeam, tilting frame, and anti-collision buffer block provided for this invention.

[0041] Figure 4 This is a partial structural schematic diagram of the rear crossbeam, tilting frame, and anti-collision buffer block provided by the present invention from another perspective.

[0042] Figure 5 This is a structural schematic diagram of the connecting rod and deceleration device provided by the present invention.

[0043] Figure 6 This is a schematic diagram of the deceleration device provided by the present invention.

[0044] Figure 7This is a schematic diagram of the module connection of a sanitation sweeper with anti-collision buffer device provided by the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, 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 one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] Example 1

[0048] Reference Figure 1-7As shown, a control method for a sanitation sweeper with a collision avoidance buffer device is disclosed. The sanitation sweeper includes a sweeper body 1, a box 2 rotatably mounted on the sweeper body 1 and driven to rise and fall by an unloading drive device, a box door 3 rotatably mounted at the rear of the box 2 and driven to swing open and close by a swing drive device 21, and a controller. The sweeper body 1 includes a driver's cab, sweeping mechanism, etc. The collision avoidance buffer device includes a collision avoidance buffer block 4 rotatably mounted on one side of the lower rear side of the box door 3. Specifically, the collision avoidance buffer block 4 includes a frame and a pad block disposed within the frame. The rear of the box door 3 is provided with a flipping drive device 5 for driving the collision avoidance buffer block 4 to flip to a horizontal or vertical state. The sweeper body 1 is provided with a horizontal sensor 6 and an unloading sensor 7. When the collision avoidance buffer block 4 is flipped to a horizontal or vertical state, the sensor will automatically flip the buffer block 4 to a horizontal or vertical state. When the buffer block 4 flips downward to the horizontal position, it is sensed by the horizontal sensing device 6. When the box 2 descends to the position, it is sensed by the unloading sensing device 7. The box 2 is equipped with a door opening sensing device 8 and a vertical sensing device 9. When the box door 3 is opened to the position, it is sensed by the door opening sensing device 8. When the anti-collision buffer block 4 flips upward to the vertical position, it is sensed by the vertical sensing device 9. The unloading drive device, swing drive device 21, flip drive device 5, vertical sensing device 9, horizontal sensing device 6, door opening sensing device 8, and unloading sensing device 7 are communicatively connected to the controller. The vertical sensing device 9, horizontal sensing device 6, door opening sensing device 8, and unloading sensing device 7 can all be set as proximity switches or other existing sensing devices, such as distance sensors.

[0049] The control method includes:

[0050] When the sweeper vehicle 1 is performing sweeping work, the following is executed:

[0051] S11, Obtain the descent signal of the anti-collision buffer block 4. When the unloading sensor 7 senses the box 2 and the lateral sensor 6 does not sense the anti-collision buffer block 4, the controller determines that the box 2 has descended to the position and the anti-collision buffer block 4 is not in a lateral state. The controller then drives the anti-collision buffer block 4 to flip downward through the flipping drive device 5.

[0052] S12, when the lateral sensing device 6 senses the anti-collision buffer block 4, the controller determines that the anti-collision buffer block 4 is flipped downward to the lateral state, and stops driving the anti-collision buffer block 4 to flip downward through the flipping drive device 5, so that the anti-collision buffer block 4 is positioned behind the sweeper body 1 to reduce the impact force on the sweeper body 1 after being rear-ended by a vehicle, and reduce the damage to the driver and the sweeper body 1;

[0053] When the sweeper vehicle 1 finishes its sweeping work, the following is executed:

[0054] S21, Obtain the rising signal of the anti-collision buffer block 4, and drive the anti-collision buffer block 4 to flip upward through the flipping drive device 5;

[0055] S22, when the vertical sensing device 9 senses the anti-collision buffer block 4, the controller determines that the anti-collision buffer block 4 is flipped upward to a vertical state, and stops driving the anti-collision buffer block 4 to flip upward through the flipping drive device 5, so that the anti-collision buffer block 4 is stored in the rear of the box door 3 to avoid the rear-mounted anti-collision buffer block 4 from obstructing the movement of the sweeper body 1;

[0056] When the sweeper body 1 unloads materials, the following is executed:

[0057] S31, Obtain the rising signal of the anti-collision buffer block 4, and drive the anti-collision buffer block 4 to flip upward through the flipping drive device 5;

[0058] S32, when the vertical sensing device 9 senses the anti-collision buffer block 4, the controller determines that the anti-collision buffer block 4 is flipped upward to a vertical state, and stops driving the anti-collision buffer block 4 to flip upward through the flipping driving device 5, so that the anti-collision buffer block 4 is stored in the rear side of the box door 3;

[0059] S33, Obtain the unloading signal, drive the box door 3 to swing upward and open through the swing drive device 21, when the door opening sensor 8 senses the box door 3, the controller determines that the box door 3 is opened in place, and the unloading drive device drives the box body 2 to rotate to the tilted unloading state.

[0060] The above-described structure and method, through the addition of vertical sensing device 9, horizontal sensing device 6, door opening sensing device 8, and unloading sensing device 7, ensures that when the sweeper body 1 needs to lower the anti-collision buffer block 4 during sweeping operations, it first senses and determines that the container body 2 has descended to its designated position (not in an inclined unloading state), and that the anti-collision buffer block 4 is not in a horizontal position, before executing the downward flipping action of the anti-collision buffer block 4. This prevents the user from lowering the anti-collision buffer block 4 before the container body 2 has descended to its designated position or before the anti-collision buffer block 4 has already been flipped to a horizontal position, thus preventing accidents caused by the user lowering the anti-collision buffer block 4. The anti-collision buffer block 4 is damaged after interfering with or scraping against the ground. When the sweeper body 1 needs to tilt the box 2 for unloading, the system first controls and senses the anti-collision buffer block 4 to flip upwards and retract to the rear of the box door 3. It then senses whether the box door 3 is fully open before controlling the box 2 to rotate to the tilting unloading position. This prevents the box 2 from tilting before the anti-collision buffer block 4 is retracted or the box door 3 is fully open, which could cause the box 2 to rotate and interfere with the ground or vehicle body, resulting in collisions or damage to the box 2 or the anti-collision buffer block 4. Therefore, the anti-collision buffer device improves the safety of the sanitation sweeper during operation and enhances the safety of the user operating the device, preventing damage to the anti-collision buffer block 4 or the box 2 during operation and reducing the overall vehicle failure rate.

[0061] To improve the stability of the anti-collision buffer block 4 when it is in a lateral state, the sweeper body 1 is provided with symmetrical beams 11 on the left and right sides, and a rear crossbeam 12 is connected to the rear side of the two beams 11. The rear crossbeam 12 is provided with guide holes 121 running through it from front to back. The front side of the rear crossbeam 12 is provided with several limiting plates 13 and a pin 15 that slides through the several limiting plates 13 and is driven to move laterally from left to right by the limiting drive device 14. The lateral sensing device 6 is provided on the top of the rear crossbeam 12. The side of the flipping frame 51 away from the anti-collision buffer block 4 is provided with a perforated ear plate 511 corresponding to the guide hole 121 and a lateral sensing plate 512 corresponding to the lateral sensing device 6.

[0062] S12 specifically includes: when the lateral sensing device 6 senses the lateral sensing plate 512, it determines that the anti-collision buffer block 4 is flipped downwards to a lateral state, and the flipping drive device 5 stops driving the anti-collision buffer block 4 to flip downwards, so that the anti-collision buffer block 4 is positioned at the rear side of the sweeper body 1, the flipping frame 51 abuts against the rear side of the rear crossbeam 12, and the perforated ear plate 511 passes through the guide hole 121 to the front side of the rear crossbeam 12, and the limiting drive device 14 drives the pin. The 15-axis transversely penetrates the perforated ear plate 511, thereby limiting the anti-collision buffer block 4 and preventing it from shaking during the operation of the sweeper body 1. At the same time, the anti-collision buffer block 4 is laterally abutted against the rear side of the rear crossbeam 12. When rear-ended by a vehicle, the anti-collision buffer block 4 can not only uniformly buffer and consume the collision kinetic energy, but also transmit the force of the anti-collision buffer block 4 to the two side beams 11 through the rear crossbeam 12, thereby improving the consumption effect of collision kinetic energy and increasing the support strength of the sweeper body 1 for the anti-collision buffer block 4.

[0063] To further improve the control safety of the anti-collision buffer block 4, a limit sensing plate 141 is provided on the telescopic end of the limit drive device 14, and a limit sensing device 10 that cooperates with the limit sensing plate 141 is provided on the front side of the rear crossbeam 12. When the limit sensing device 10 senses the limit sensing plate 141, the telescopic end of the limit drive device 14 retracts and the pin 15 disengages from the perforated ear plate 511. The limit drive device 14 can be configured as a limit cylinder.

[0064] S21 and S31 specifically include: acquiring the rising signal of the anti-collision buffer block 4; if the limit sensor 10 senses the limit sensor plate 141, the flipping drive device 5 drives the anti-collision buffer block 4 to flip upward; if the limit sensor 10 does not sense the limit sensor plate 141, the limit drive device 14 drives the pin 15 to move laterally until the limit sensor 10 senses the limit sensor plate 141, and determines that the pin 15 is disengaged from the perforated ear plate 511, the flipping drive device 5 drives the anti-collision buffer block 4 to flip upward, thereby ensuring that the pin 15 is not locked in the anti-collision buffer block 4 before driving the anti-collision buffer block 4 to flip upward, so as to avoid interference between the flipping action of the pin 15 and the anti-collision buffer block 4 and cause damage.

[0065] Specifically, the housing 2 is located on top of the two main beams 11 and hinged to the rear side of the two main beams 11 at its bottom rear side. The unloading drive device is an unloading cylinder located inside the sweeper body 1 and hinged to the front bottom side of the housing 2 at its telescopic end. The unloading sensor 7 is located on top of the main beams 11. The bottom of the housing 2 is provided with an unloading sensor plate 22 corresponding to the unloading sensor 7. When the unloading sensor 7 senses the unloading sensor plate 22, it determines that the telescopic end of the unloading cylinder retracts, causing the housing 2 to rotate and descend to the lowered position. When the unloading sensor 7 does not sense the unloading sensor plate 22, it determines that the unloading cylinder... The telescopic end of the cylinder extends and drives the box body 2 to rotate to the tilted unloading state. The swing drive device 21 is a swing cylinder with its upper end hinged to the upper rear side of the box body 2 and its lower end hinged to the lower rear side of the box door 3. The door opening sensor 8 is located on the upper rear side of the box body 2. The swing cylinder is equipped with a door opening sensor plate 211 corresponding to the door opening sensor 8. When the door opening sensor 8 senses the door opening sensor plate 211, it determines that the telescopic end of the swing cylinder retracts and drives the box door 3 to swing upward and open to the position. When the door opening sensor 8 does not sense the door opening sensor plate 211, it determines that the box door 3 has not swung open to the position.

[0066] To improve the ease of controlling the anti-collision buffer block 4, the sweeper body 1 is equipped with a touch screen and an operating switch for sending up or down signals to the anti-collision buffer block 4. An electronic arrow indicator light is located at the upper rear of the housing 2. The touch screen, operating switch, and electronic arrow indicator light are communicatively connected to the controller, allowing the driver to easily view the working status of each device or operate them accordingly via the touch screen and operating switch. Specifically, the controller is a vehicle-mounted controller and includes an input port, an output port, and a CAN interface. The operating switch, vertical sensor 9, horizontal sensor 6, door opening sensor 8, unloading sensor 7, and limit sensor 10 are communicatively connected to the controller's input port. The unloading drive device, swing drive device 21, tilt drive device 5, limit drive device 14, airbag 42, and electronic arrow indicator light are communicatively connected to the controller's output port. The touch screen includes a human-machine interface display screen and a CAN panel, both with CAN interfaces. The CAN interfaces of the human-machine interface display screen and the CAN panel are communicatively connected to the controller's CAN interface via a CAN bus.

[0067] Specifically, the vertical sensing device 9 is a proximity switch and is located on the upper rear side of the door 3. The flipping drive device 5 includes a flipping frame 51 and several flipping cylinders 52. One end of the flipping frame 51 is connected to the end of the anti-collision buffer block 4, and the other end is hinged to the lower end of the door 3. The upper ends of the several flipping cylinders 52 are hinged to the upper rear side of the door 3, and the lower ends are hinged to the flipping frame 51. When the telescopic end of the flipping cylinder 52 extends, it drives the flipping frame 51 to flip the anti-collision buffer block 4 downward. When the telescopic end of the flipping cylinder 52 retracts, it drives the flipping frame 51 to flip the anti-collision buffer block 4 upward. The side of the anti-collision buffer block 4 is provided with a vertical sensing plate 41 corresponding to the vertical sensing device 9, so that the flipping position of the upper end of the anti-collision buffer block 4 can be detected by the cooperation of the vertical sensing device 9 and the vertical sensing plate 41.

[0068] Specifically, S22 and S32 include: when the vertical sensing device 9 senses that the vertical sensing plate 41 is approaching and the approach value is less than a preset approach value range, it is determined that the anti-collision buffer block 4 is flipped upward to a vertical state, and the flipping driving device 5 stops driving the anti-collision buffer block 4 to flip upward, so that the anti-collision buffer block 4 is stored in the rear side of the box door 3, and the box door 3 and the anti-collision buffer block 4 are connected by a safety rope;

[0069] However, when the sweeper vehicle 1 finishes its sweeping work and stops at the roadside or is driving normally, there is a possibility that it may be rear-ended by a vehicle and hit the lower end of the anti-collision buffer block 4, causing damage to the telescopic end of the tilting cylinder 52, breakage or dislocation of the safety rope, etc. At this time, the anti-collision buffer block 4 will quickly tilt downward and fall down to hit the vehicle behind, posing a great safety hazard.

[0070] Therefore, in order to solve the above-mentioned safety hazards, the anti-collision buffer block 4 is provided with several automatically inflatable safety airbags 42 on the side away from the box door 3, and the controller includes a timing module that is communicatively connected to the vertical sensing device 9; the safety airbag 42 is prior art, specifically including airbags, gas generators, etc., and its main structure is not the main improvement point of this application, so it will not be described in detail here;

[0071] Following S22, the following is also included:

[0072] S23, the vertical sensing device 9 senses the distance of the vertical sensing plate 41 in real time. When the distance is greater than a first preset distance, the timing module starts timing; when the distance is greater than a second preset distance, the timing module stops timing. If the timing duration of the timing module is less than 0.8 times the preset safety duration T, it is determined that the anti-collision buffer block 4 quickly flips downward and falls, and several airbags 42 automatically inflate, thereby deploying several airbags 42 and placing them at the bottom of the anti-collision buffer block 4. Specifically, the first preset distance is the distance of the vertical sensing plate 41 sensed by the vertical sensing device 9 when the anti-collision buffer block 4 is in a vertical state, and the second preset distance is the distance when the anti-collision buffer block 4 flips downward to the vertical sensing plate 41 that the vertical sensing device 9 can no longer sense. The preset safety duration T can be based on the normal state. The timing is obtained during the process of the anti-collision buffer block 4 being flipped downward by the flipping cylinder 52. When the vertical sensing device 9 senses that the distance to the vertical sensing plate 41 is greater than the first preset distance, the timing module starts timing. When the distance is greater than the second preset distance, the timing module stops timing, thereby obtaining the preset safety duration T. For example, under normal conditions, after the flipping cylinder 52 drives the anti-collision buffer block 4 to flip downward by 30°, the vertical sensing device 9 just fails to sense the vertical sensing plate 41, and the safety duration T is 3 seconds. In the above step S23, if the timing duration t of the timing module is less than 2.4 seconds, it is determined that the anti-collision buffer block 4 is rapidly flipped downward and falling. Thus, under the premise of eliminating errors, the fault detection is achieved by comparing the timing duration t of the timing module with the safety duration T, and the operation of automatically deploying the airbag 42 for protection is executed.

[0073] The above-mentioned structure and method, through the addition of a timing module and airbags 42 in conjunction with the vertical sensing device 9, enable the following situation: when the sweeper body 1 is rear-ended by a vehicle and the lower end of the anti-collision buffer block 4 is damaged, resulting in the failure of the locking mechanism of the tilting cylinder 52 and the failure of the safety rope, the anti-collision buffer block 4 will quickly tilt downward and fall onto the following vehicle. This will be buffered by several airbags 42, avoiding serious injury to the following vehicle and its driver. Thus, while improving the safety of the sweeper body 1 itself by adding anti-collision buffer block 4, the danger posed by the anti-collision buffer block 4 to the outside world after an accident is reduced.

[0074] Example 2

[0075] Because the anti-collision buffer block 4 flips downwards very quickly, in order to avoid a situation where some airbags 42 have not fully inflated and deployed before the anti-collision buffer block 4 hits the following vehicle, the difference between this embodiment and embodiment one is as follows:

[0076] A plurality of the tilting cylinders 52 are respectively fixed with horizontally arranged connecting rods 521 on the rear side of their cylinder bodies. The side of the anti-collision buffer block 4 is provided with a plurality of reduction devices 43 corresponding to the plurality of connecting rods 521. The reduction device 43 includes two vertically distributed brackets 431 and two reduction gears 432 disposed in the two brackets 431 and rotatably connected to the two brackets 431 on both sides through rotating shafts 433. Specifically, the brackets 431 are configured as perforated U-shaped frames with openings facing away from the anti-collision buffer block 4. A deceleration spring 434, one end of which is fixedly connected to the bracket 431, is tightly fitted on the rotating shaft 433. The upper and lower surfaces of the connecting rod 521 are provided with rack portions 5211 that can mesh with the two deceleration gears 432. During the process of the anti-collision buffer block 4 flipping upward to a vertical state or flipping downward to a horizontal state, the rack portion 5211 slowly engages and inserts into or slowly disengages from the two deceleration gears 432. The deceleration gears 432 and the rotating shaft 433 can rotate relative to the deceleration spring 434.

[0077] S23 further includes:

[0078] As the anti-collision buffer block 4 rapidly flips downwards and falls to the point where the vertical sensing device 9 detects that the distance to the vertical sensing plate 41 is greater than a second preset distance, the rack portion 5211 drives the reduction gear 432 to rotate rapidly, which in turn drives the rotating shaft 433 to rotate rapidly, tightening the reduction spring 434 through friction. The speed of the reduction gear 432 rapidly drops to zero and engages with and locks with the rack portion 5211, causing the anti-collision buffer block 4 to stop flipping downwards. As the reduction spring 434 slowly resets, the reduction gear 432 slowly resumes rotation and then slowly disengages from the rack portion 5211, causing the anti-collision buffer block 4 to slowly flip downwards until the rack portion 5211 is completely disengaged from the two reduction gears 432 and falls. This allows several airbags 42 sufficient time to inflate and deploy, then be placed at the bottom of the anti-collision buffer block 4.

[0079] The above structure and method, through the addition of connecting rod 521 and reduction device 43, allow the rack portion 5211 to slowly engage or disengage between the two reduction gears 432 during the normal upward flipping to a vertical state or downward flipping to a horizontal state driven by the flipping cylinder 52. Therefore, the reduction gears 432 and the rotating shaft 433 can rotate relative to the reduction spring 434, and the reduction device 43 does not perform a deceleration function. When the sweeper body 1 is rear-ended, causing the anti-collision buffer block 4 to quickly flip downward and fall, the rack portion 5211 and the reduction device 43 work together to achieve the rapid downward flipping and falling of the anti-collision buffer block 4 to a vertical position. The device pauses its downward rotation momentarily after failing to detect the vertical sensor plate 41, and then slowly rotates downward until the rack part 5211 and the reduction gear 432 are completely disengaged before it falls downward. This avoids the collision buffer block 4 falling directly and quickly, which could lead to a dangerous situation where several airbags 42 do not have enough time to fully deploy before the collision buffer block 4 hits the vehicle behind. Thus, while adding the collision buffer block 4 to improve the safety of the sweeper vehicle 1 itself, the addition of a timing module and airbags 42 reduces the danger posed by the collision buffer block 4 to the outside world after an accident, while improving the stability and practicality of the airbags 42 in functioning, further ensuring the safety of the collision buffer block 4 during use.

[0080] A control system for a sanitation sweeper with a collision avoidance buffer device, wherein the control system applies the control method described above.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A control method for a sanitation sweeper vehicle with a collision avoidance buffer device, characterized in that, The sanitation sweeper includes a sweeper body (1), a box body (2) rotatably mounted on the sweeper body (1) and driven to rise and fall by an unloading drive device, a box door (3) rotatably mounted at the rear of the box body (2) and driven to swing open and close by a swing drive device (21), and a controller. The anti-collision buffer device includes an anti-collision buffer block (4) rotatably mounted on one side of the lower rear side of the box door (3). The rear of the box door (3) is provided with a flipping drive device (5) for driving the anti-collision buffer block (4) to flip to a horizontal or vertical state. The sweeper body (1) is provided with a horizontal sensor (6) and an unloading sensor (7). When the anti-collision buffer block (4) moves downward... When flipped to the horizontal state, it is sensed by the horizontal sensing device (6). When the box (2) is lowered to the position, it is sensed by the unloading sensing device (7). The box (2) is provided with a door opening sensing device (8) and a vertical sensing device (9). When the box door (3) is opened to the position, it is sensed by the door opening sensing device (8). When the anti-collision buffer block (4) is flipped upward to the vertical state, it is sensed by the vertical sensing device (9). The unloading drive device, swing drive device (21), flip drive device (5), vertical sensing device (9), horizontal sensing device (6), door opening sensing device (8), and unloading sensing device (7) are communicatively connected to the controller. The control method includes: When the sweeper vehicle (1) is performing sweeping work, the following is executed: S11, Obtain the descent signal of the anti-collision buffer block (4). When the unloading sensor (7) senses the box (2) and the lateral sensor (6) does not sense the anti-collision buffer block (4), the controller determines that the box (2) has descended to the position and the anti-collision buffer block (4) is not in a lateral state. The controller then drives the anti-collision buffer block (4) to flip downward through the flipping drive device (5). S12, when the lateral sensing device (6) senses the anti-collision buffer block (4), the controller determines that the anti-collision buffer block (4) is flipped downward to the lateral state, and stops driving the anti-collision buffer block (4) to flip downward through the flipping drive device (5), so that the anti-collision buffer block (4) is blocked on the rear side of the sweeper body (1). When the sweeper vehicle (1) finishes its sweeping work, the following is executed: S21, obtain the rising signal of the anti-collision buffer block (4), and drive the anti-collision buffer block (4) to flip upward through the flipping drive device (5); S22, when the vertical sensing device (9) senses the anti-collision buffer block (4), the controller determines that the anti-collision buffer block (4) is flipped upward to the vertical state, and stops driving the anti-collision buffer block (4) to flip upward through the flipping drive device (5), so that the anti-collision buffer block (4) is stored behind the box door (3); When the sweeper body (1) unloads materials, the following is executed: S31, Obtain the rising signal of the anti-collision buffer block (4), and drive the anti-collision buffer block (4) to flip upward through the flipping drive device (5); S32, when the vertical sensing device (9) senses the anti-collision buffer block (4), the controller determines that the anti-collision buffer block (4) is flipped upward to the vertical state, and stops driving the anti-collision buffer block (4) to flip upward through the flipping drive device (5), so that the anti-collision buffer block (4) is stored behind the box door (3); S33, Obtain the unloading signal, drive the box door (3) to swing upward and open through the swing drive device (21), when the door opening sensor (8) senses the box door (3), the controller determines that the box door (3) is opened in place, and the unloading drive device drives the box body (2) to rotate to the tilt unloading state.

2. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 1, characterized in that, The overturning drive device (5) includes an overturning frame (51) and several overturning cylinders (52). One end of the overturning frame (51) is connected to the end of the anti-collision buffer block (4), and the other end is hinged to the lower end of the box door (3). The upper ends of the several overturning cylinders (52) are hinged to the upper rear side of the box door (3), and the lower ends are hinged to the overturning frame (51). When the telescopic end of the overturning cylinder (52) extends, it drives the overturning frame (51) to drive the anti-collision buffer block (4) to flip downward. When the telescopic end of the overturning cylinder (52) retracts, it drives the overturning frame (51) to drive the anti-collision buffer block (4) to flip upward. The left and right sides of the sweeper body (1) are symmetrical. The rear beam (11) is connected to the rear side of the two main beams (11) and a rear crossbeam (12) is provided. The rear crossbeam (12) is provided with a guide hole (121) running through it. The front side of the rear crossbeam (12) is provided with several limiting plates (13) and a pin (15) that slides through the several limiting plates (13) and is driven to move left and right by the limiting drive device (14). The lateral sensing device (6) is provided on the top of the rear crossbeam (12). The side of the flipping frame (51) away from the anti-collision buffer block (4) is provided with a perforated ear plate (511) corresponding to the guide hole (121) and a lateral sensing plate (512) corresponding to the lateral sensing device (6). S12 specifically includes: when the lateral sensing device (6) senses the lateral sensing plate (512), it determines that the anti-collision buffer block (4) is flipped downward to the lateral state, the flipping drive device (5) stops driving the anti-collision buffer block (4) to flip downward, so that the anti-collision buffer block (4) is blocked on the rear side of the sweeper body (1), the flipping frame (51) abuts against the rear side of the rear crossbeam (12), and the perforated ear plate (511) passes through the guide hole (121) to the front side of the rear crossbeam (12), and the limiting drive device (14) drives the pin (15) to move laterally through the perforated ear plate (511), thereby limiting the anti-collision buffer block (4).

3. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 2, characterized in that, The telescopic end of the limiting drive device (14) is provided with a limiting sensor plate (141), and the front side of the rear crossbeam (12) is provided with a limiting sensor device (10) that cooperates with the limiting sensor plate (141). When the limiting sensor device (10) senses the limiting sensor plate (141), the telescopic end of the limiting drive device (14) retracts and the pin (15) disengages from the perforated ear plate (511). S21 and S31 specifically include: acquiring the rising signal of the anti-collision buffer block (4); if the limit sensor (10) senses the limit sensor plate (141), the flipping drive device (5) drives the anti-collision buffer block (4) to flip upward; if the limit sensor (10) does not sense the limit sensor plate (141), the limit drive device (14) drives the pin (15) to move laterally until the limit sensor (10) senses the limit sensor plate (141), and then determines that the pin (15) is disengaged from the perforated ear plate (511), and the flipping drive device (5) drives the anti-collision buffer block (4) to flip upward.

4. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 2, characterized in that, The box body (2) is located on the top of the two main beams (11) and its bottom rear side is hinged to the rear side of the two main beams (11). The unloading drive device is an unloading cylinder located inside the sweeper body (1) and its telescopic end is hinged to the front bottom side of the box body (2). The unloading sensor (7) is located on the top of the main beam (11). The bottom of the box body (2) is provided with an unloading sensor plate (22) corresponding to the unloading sensor (7). The swing drive device (21) is a swing cylinder with its upper end hinged to the upper rear side of the box body (2) and its lower end hinged to the lower rear side of the box door (3). The door opening sensor (8) is located on the upper rear side of the box body (2). The swing cylinder is provided with a door opening sensor plate (211) corresponding to the door opening sensor (8).

5. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 1, characterized in that, The sweeper body (1) is equipped with a touch screen and an operation switch for sending the rise or fall signal of the anti-collision buffer block (4). The upper rear end of the box (2) is equipped with an electronic arrow indicator light. The touch screen, operation switch and electronic arrow indicator light are communicatively connected to the controller.

6. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 2, characterized in that, The vertical sensing device (9) is a proximity switch and is located on the upper rear side of the door (3). The side of the anti-collision buffer block (4) is provided with a vertical sensing plate (41) corresponding to the vertical sensing device (9). The side of the anti-collision buffer block (4) away from the door (3) is provided with several automatically inflatable safety airbags (42). The controller includes a timing module that is communicatively connected to the vertical sensing device (9). S22 and S32 specifically include: when the vertical sensing device (9) senses that the vertical sensing plate (41) is approaching and the approach value is less than the preset approach value range, it determines that the anti-collision buffer block (4) is flipped upward to the vertical state, and the flipping driving device (5) stops driving the anti-collision buffer block (4) to flip upward, so that the anti-collision buffer block (4) is stored in the back of the box door (3), and the box door (3) and the anti-collision buffer block (4) are connected by a safety rope. Following S22, the following is also included: S23, the vertical sensing device (9) senses the distance of the vertical sensing plate (41) in real time. When the distance is greater than the first preset distance, the timing module starts timing. When the distance is greater than the second preset distance, the timing module ends timing. If the timing duration of the timing module is less than 0.8 times the preset safe duration T, it is determined that the anti-collision buffer block (4) will quickly flip down and fall. Several airbags (42) will automatically inflate, thereby causing several airbags (42) to unfold and be placed at the bottom of the anti-collision buffer block (4).

7. The control method for a sanitation sweeper with a collision avoidance buffer device as described in claim 6, characterized in that, A plurality of the tilting cylinders (52) are respectively fixed with horizontally arranged connecting rods (521) on the rear side of the cylinder body. The side of the anti-collision buffer block (4) is provided with a plurality of deceleration devices (43) corresponding to the plurality of connecting rods (521). The deceleration device (43) includes two supports (431) distributed vertically, and two reduction gears (432) disposed in the two supports (431) and rotatably connected to the two supports (431) on both sides through a rotating shaft (433). The rotating shaft (433) A deceleration spring (434) with one end fixedly connected to the bracket (431) is tightly fitted on the upper part. The upper and lower surfaces of the connecting rod (521) are provided with rack parts (5211) that can mesh with the two deceleration gears (432). During the process of the anti-collision buffer block (4) flipping upward to a vertical state, the rack part (5211) slowly meshes and inserts between the two deceleration gears (432). The deceleration gears (432) and the rotating shaft (433) rotate relative to the deceleration spring (434). S23 further includes: As the anti-collision buffer block (4) rapidly flips downwards and falls to the point where the vertical sensing device (9) senses that the distance to the vertical sensing plate (41) is greater than the second preset distance, the rack part (5211) drives the reduction gear (432) to rotate rapidly, which in turn drives the rotating shaft (433) to rotate rapidly and tightens the reduction spring (434) through friction. The speed of the reduction gear (432) drops rapidly to zero and engages with and locks with the rack part (5211), causing the anti-collision buffer block (4) to stop flipping downwards. During the process of the reduction spring (434) slowly resetting, the reduction gear (432) slowly resumes rotation and then slowly disengages from the rack part (5211), causing the anti-collision buffer block (4) to slowly flip downwards until the rack part (5211) is completely disengaged from the two reduction gears (432) and falls down, so that several airbags (42) have enough time to inflate and deploy and then be placed at the bottom of the anti-collision buffer block (4).

8. A control system for a sanitation sweeper with a collision avoidance buffer device, characterized in that, The control system applies the control method as described in any one of claims 1-7.

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