Intelligent waterway control system for cleaning vehicle and cleaning vehicle

Abstract

The present invention relates to the technical field of cleaning vehicles, and in particular to an intelligent waterway control system for cleaning vehicles and a cleaning vehicle. The intelligent waterway control system for cleaning vehicles includes a water tank, a power pump, a pipe network, a water hammer elimination component and a controller; the water hammer elimination component is arranged on the main pipe and is located between the power pump and all the first branches and the main pipe connection points; the water hammer elimination component includes a main body, an elastic member, a plug, a piston rod and an air source; a first cavity and a plurality of second cavities are provided in the main body, the first cavity is connected to the main pipe, each second cavity is connected to the water tank, and the first cavity and the second cavity are connected through a waterway flow channel; the elastic member, the plug, the piston rod and the second cavity correspond one to one, and the elastic member, the plug and the piston rod are arranged in the corresponding second cavity to eliminate the "water hammer effect". The water hammer elimination component eliminates the "water hammer effect" in the pipe network by utilizing the elastic force of the elastic member itself to deliver the water flow impact, thereby avoiding damage to the pipe network and increasing the service life.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning vehicles, and in particular to an intelligent waterway control system for a cleaning vehicle and a cleaning vehicle. Background Art

[0002] A cleaning vehicle is a service vehicle that has multiple spraying and water transport functions according to different usage environments and purposes, integrating multiple functions into one.

[0003] When an open valve suddenly closes or a water pump stops during vehicle operation, the water flow exerts pressure on the valve or pump. Because the pipe walls are smooth, the subsequent water flow, under the influence of inertia, quickly reaches its maximum velocity, resulting in a greater impact and potentially damaging effects. Therefore, mitigating the damage caused by this "water hammer effect" to waterway systems is an urgent issue. Summary of the Invention

[0004] (1) The problem to be solved by the present invention is to reduce the destructive effect of the "water hammer effect" on the water system of a cleaning vehicle.

[0005] (2) Technical solution

[0006] In order to solve the above technical problems, an embodiment of the present invention provides an intelligent waterway control system for a washing vehicle, which is used for washing vehicles. The intelligent waterway control system for a washing vehicle includes a water tank, a power pump, and a pipe network. The pipe network includes a main pipe and a first branch pipe. One end of the main pipe is connected to the water tank, and the other end branches into a plurality of first branches. The power pump is provided on the main pipe.

[0007] Includes: water hammer elimination components and controller;

[0008] The water hammer elimination assembly is provided on the main line and is located between the power pump and all the first branches and the connection points of the main line; the water hammer elimination assembly includes a main body, an elastic member, a plug, a piston rod and an air source;

[0009] The main body is provided with a first cavity and a plurality of second cavities, and any two of the second cavities are independently provided. The first cavity is connected to the main pipe, and each of the second cavities is connected to the water tank; the first cavity and the second cavity are connected through a water channel;

[0010] The elastic member, the plug and the piston rod correspond to each other one by one; a groove is provided on the inner wall of the second cavity, and the groove is arranged opposite to the connection between the second cavity and the water channel; one end of the piston rod is connected to the plug, and the other end is located in the groove, and a closed air chamber is formed between the piston rod and the bottom wall of the groove, the air chamber is connected to the air source, and the air chamber is provided with a pressure relief valve connected to the outside; air is ventilated into the air chamber by the air source, which can drive the piston rod to slide, so that the plug can close the connection between the second cavity and the water channel; the elastic member is a compression spring, the elastic member is sleeved on the piston rod, and one end of the elastic member is connected to the plug, and the other end is connected to the outer edge of the groove;

[0011] The elastic coefficients of the elastic members in each second cavity are different; the air source and each pressure relief valve are electrically connected to the controller, and the controller controls the air source to adjust the pressure in each air chamber according to the pressure in the pipeline network, and controls the pressure relief valve to open or close.

[0012] Furthermore, a first sealing ring is sleeved on one end of the piston rod located in the groove.

[0013] Furthermore, a first annular groove is provided at one end of the piston rod located in the groove, and the first sealing ring is provided in the first annular groove.

[0014] Furthermore, a second sealing ring is provided on the end surface of the plug facing the connection between the second cavity and the water channel, and when the plug seals the connection between the second cavity and the water channel, the second sealing ring surrounds the circumference of the connection between the second cavity and the water channel.

[0015] Furthermore, a second groove is provided on the end surface of the plug facing the connection point between the second cavity and the water channel, and the second sealing ring is provided in the second groove.

[0016] Furthermore, the pressure relief valve is a one-way valve.

[0017] Furthermore, the water hammer elimination assembly further includes a bellows corresponding to the piston rod;

[0018] One end of the bellows is connected to the plug, and the other end is connected to the outer edge of the groove. The piston rod and the elastic member are both located in the bellows.

[0019] Furthermore, all the second cavities are arranged around the circumference of the first cavity.

[0020] Furthermore, the gas source is compressed air.

[0021] Another embodiment of the present invention further provides a cleaning vehicle, comprising the cleaning vehicle intelligent waterway control system described in any of the above embodiments.

[0022] Beneficial effects of the present invention:

[0023] and a control panel that is located adjacent to the water pump, wherein the control panel has a first end connected to the water pump, and the second end has a second end connected to the water pump, wherein the control panel has a first end connected to the water pump, and the second end has a second end connected to the water pump. and a tube connecting the dischar e side of the pump with a check valve in the form of a plug, and a check valve in the form of a plug in a bag, wherein the pump is closed by a check valve in the bag and a check valve in the bag is closed.

[0024] The water hammer reduction assembly utilizes the inherent elastic force of the elastic element to transfer water flow impact, thereby eliminating the "water hammer effect" in the pipe network, preventing damage to the pipe network and extending its service life. The provision of multiple second cavities, each containing an elastic element with a different elastic modulus, and coordination with a controller can enhance the effectiveness of the water hammer reduction assembly and prevent failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the structure of an intelligent waterway control system for a cleaning vehicle provided by an embodiment of the present invention;

[0027] Figure 2 A schematic structural diagram of a water hammer elimination assembly provided in an embodiment of the present invention.

[0028] Icons: 11-water tank; 12-power pump; 13-main line; 14-first branch line; 15-second branch line; 16-sprinkler; 17-solenoid valve;

[0029] 2-water hammer elimination assembly; 21-main body; 211-first cavity; 212-second cavity; 213-water channel; 214-groove; 215-air chamber; 216-pressure relief hole; 22-elastic member; 23-plug; 24-piston rod; 25-bellows. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described 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.

[0031] like Figures 1 to 2As shown, one embodiment of the present invention provides an intelligent waterway control system for a washing vehicle, which is used for washing vehicles; the intelligent waterway control system for a washing vehicle includes a water tank 11, a power pump 12 and a pipe network; the pipe network includes a main pipe 13 and a first branch pipe 14; one end of the main pipe 13 is connected to the water tank 11, and the other end branches out a plurality of the first branches 14, and the power pump 12 is arranged on the main pipe 13; and includes: a water hammer elimination component 2 and a controller; the water hammer elimination component 2 is arranged on the main pipe 13, and is located between the power pump 12 and all the first branches 14 and The main line 13 is connected to the water hammer elimination component 2; the water hammer elimination component 2 includes a main body 21, an elastic member 22, a plug 23, a piston rod 24 and an air source; a first cavity 211 and a plurality of second cavities 212 are provided in the main body 21, and any two of the second cavities 212 are independently provided, the first cavity 211 is connected to the main line 13, and each of the second cavities 212 is connected to the water tank 11; the first cavity 211 and the second cavity 212 are connected through the water channel 213; the elastic member 22, the plug 23 and the piston rod 24 are connected to each other. Correspondingly, a groove 214 is provided on the inner wall of the second cavity 212, and the groove 214 is arranged opposite to the connection between the second cavity 212 and the water channel 213. One end of the piston rod 24 is connected to the plug 23, and the other end is located in the groove 214, and a closed air chamber 215 is formed between the piston rod 24 and the bottom wall of the groove 214. The air chamber 215 is connected to the air source, and the air chamber 215 is provided with a pressure relief valve connected to the outside world. The air source is used to ventilate the air chamber 215, which can drive the piston rod 24 to slide, so that the plug 23 can It is capable of sealing the connection between the second cavity 212 and the water channel 213; the elastic member 22 is a compression spring, the elastic member 22 is sleeved on the piston rod 24, and one end of the elastic member 22 is connected to the plug 23, and the other end is connected to the outer edge of the groove 214; the elastic coefficients of the elastic members 22 in each second cavity 212 are different; the air source and each pressure relief valve are electrically connected to the controller, and the controller controls the air source according to the pressure in the pipeline network to adjust the pressure in each air chamber 215, and controls the pressure relief valve to open or close.

[0032] The embodiment of the present invention provides an intelligent water system control system for a cleaning vehicle, which is applied to a cleaning vehicle. The intelligent water system control system for a cleaning vehicle includes a water tank 11, a power pump 12, and a pipe network. The water tank 11, the power pump 12, and the pipe network are all arranged on the cleaning vehicle. The water tank 11 is used to store water for cleaning the vehicle. The pipe network includes a main line 13 and a plurality of first branches 14. One end of the main line 13 is connected to the water tank 11, and the other end can be divided into a plurality of first branches 14 through a tee or a cross-way diversion pipe fitting. The power pump 12 is arranged on the main line 13 and is used to provide power for the flow of water in the pipe network. Optionally, in this embodiment, the end of the first branch 14 away from the main line 13 can also be divided into a plurality of second branches 15. A nozzle 16 is provided at the end of the second branch 15 away from the first branch 14. An independent solenoid valve 17 is provided on each second branch 15 to control the on and off of the water flow in the second branch 15.

[0033] Furthermore, the intelligent waterway control system for a cleaning vehicle provided in an embodiment of the present invention also includes a water hammer elimination component 2 and a controller. The water hammer elimination component 2 is provided on the main line 13 and is used to eliminate the "water hammer effect" generated by the water flow in the pipe network when the water pump power is adjusted or the solenoid valve 17 on the second branch line 15 is closed. The controller is used to control the operation of the water hammer elimination component 2 according to the pressure in the pipe network. Specifically, the water hammer elimination component 2 includes a main body 21, an elastic member 22, a plug 23, a piston rod 24, and an air source. The main body 21 is made of metal and contains a first cavity 211 and multiple second cavities 212. All second cavities 212 are preferably arranged around the circumference of the first cavity 211 to facilitate the manufacture of the main body 21 and to facilitate the communication between the first cavity 211 and the second cavity 212. Each second cavity 212 is independently provided, that is, any two second cavities 212 are not connected to each other. Each second cavity 212 is connected to the first cavity 211 through an independent water channel 213, so that after the water in the main line 13 enters the first cavity 211, it can enter each second cavity 212 through the water channel 213. The number of elastic members 22, plugs 23 and piston rods 24 is the same as the number of second cavities 212, and each second cavity 212 is provided with an elastic member 22, a plug 23 and a piston rod 24. The plug 23 is used to control whether the corresponding second cavity 212 is connected to the first cavity 211. A groove 214 is provided on the inner wall of the second cavity 212, and the groove 214 is arranged opposite to the connection point between the second cavity 212 and the water channel 213. One end of the piston rod 24 is connected to the plug 23, and the other end is slidably arranged in the groove 214. When in use, the piston rod 24 can drive the plug 23 to slide, thereby controlling the connection state between the corresponding second cavity 212 and the first cavity 211. The outer edge of the end of the piston rod 24 located within the groove 214 is sealed against the groove 214, thereby forming a sealed air chamber 215 between the bottom wall of the groove 214 and the end surface of the piston rod 24 facing away from the plug 23. The air chambers 215 formed in each second cavity 212 are connected to an air source; each air chamber 215 is also provided with a pressure relief hole 216 that communicates with the outside world. A pressure relief valve is provided at each pressure relief hole 216 to control whether the air chamber 215 is connected to the outside world. The pressure relief valve and the air source work together to control the pressure within the air chamber 215. The plug 23 is used to open or close the connection between the second cavity 212 and the water channel 213. Preferably, the area of ​​the end surface of the plug 23 facing the connection between the second cavity 212 and the water channel 213 is larger than the area of ​​the connection between the second cavity 212 and the water channel 213. The plug 23 closes the connection between the second cavity 212 and the water channel 213 by abutting against the outer edge of the connection between the second cavity 212 and the water channel 213. Preferably, the end surface of the plug 23 is sealed against the outer edge of the connection between the second cavity 212 and the water channel 213 to improve the sealing effect of the plug 23.The elastic member 22 is a compression spring. It is mounted on the piston rod 24 and one end is connected to the plug 23 by means of a snap connection, welding, or abutment. The other end of the elastic member 22 is connected to the outer edge of the groove 214 by means of a snap connection, welding, or abutment. During use, the water flow in the first cavity 211 impacts the plug 23, compressing the elastic member 22. The elastic member 22 offsets the impact of the water flow through its own elastic force, thereby eliminating the "water hammer effect" generated in the pipe network. The elastic coefficients of the elastic members 22 in each second cavity are different. The controller can control the corresponding second cavity to communicate with the first cavity according to the pressure state in the pipe network to eliminate the "water hammer effect." This prevents the elastic member 22 from failing due to a large water impact, or prevents the water hammer elimination assembly 2 from being unusable due to a small water impact.

[0034] In the initial state, the controller controls the air source to inject gas into each air chamber 215, and the piston rod 24 slides toward the connection between the second cavity 212 and the water channel 213, so that the plug 23 can close the connection between the second cavity 212 and the water channel 213. At this time, the water in the first cavity 211 cannot enter the second cavity 212. When the pump power decreases or some nozzles 16 on the second branch 15 need to be closed (i.e., the solenoid valve 17 on the second branch 15 is closed), the elastic member 22 in a certain second cavity 212 is used to eliminate the water hammer effect. At this time, the controller controls the air source to stop injecting gas into the air chamber 215 in the second cavity 212 and simultaneously opens the pressure relief valve of the air chamber 215 in the second cavity 212. At this time, the pressure in the air chamber 215 in the second cavity 212 is balanced with the external pressure. Under the impact of the water in the first cavity 211, the piston rod 24 slides, and the plug 23 no longer blocks the connection between the second cavity 212 and the water channel 213. The water flow impacts the plug 23, causing the compression spring to continue to compress. The compression spring then uses its own elastic force to offset the impact of the water flow, thereby eliminating the "water hammer effect." The water entering the second cavity 212 will flow back into the water tank 11 to avoid wasting water resources.

[0035] In this embodiment, since the pipeline network has multiple second branches 15, when in use, the corresponding second cavities 212 can be controlled to operate according to the number of disconnected second branches 15; for example, when one or two second branches 15 are closed, it corresponds to one of the second cavities 212; when three to four second branches 15 are closed, it corresponds to one of the second cavities 212; when the power of the power pump 12 is reduced, it corresponds to one of the second cavities 212.

[0036] Optionally, in this embodiment, when it is necessary to close the solenoid valve 17 on the second branch 15, the corresponding second cavity 212 can be controlled to operate in advance by the controller, and then the solenoid valve 17 can be controlled to close, so as to eliminate the impact of the "water hammer effect" on the pipes in the pipeline network to the greatest extent.

[0037] In an intelligent waterway control system for a cleaning vehicle, an embodiment of the present invention provides a water hammer elimination component 2. By utilizing the inherent elastic force of an elastic member 22 to transmit water flow shock, the component eliminates the "water hammer effect" in the pipe network, preventing damage to the pipe network and increasing its service life. The provision of multiple second cavities 212, each containing an elastic member 22 with a different elastic coefficient, and coordinated with a controller, enhances the effectiveness of the water hammer elimination component 2 and prevents failure.

[0038] Optionally, in this embodiment, the above-mentioned controller can be a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0039] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, one end of the piston rod 24 located in the groove 214 is sleeved with a first sealing ring to improve the sealing performance of the air chamber 215 and prevent water from entering the air chamber 215 .

[0040] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, a first annular groove is provided at one end of the piston rod 24 located in the groove 214 , and the first sealing ring is provided in the first annular groove.

[0041] Preferably, in this embodiment, a first annular groove is provided on the circumferential side of the piston rod 24, and a first sealing ring is provided in the first annular groove, thereby improving the stability of the first sealing ring, improving the sealing of the air chamber 215, and preventing water in the pipeline network from entering the air chamber 215.

[0042] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, a second sealing ring is provided on the end surface of the plug 23 facing the connection between the second cavity 212 and the water channel 213, and when the plug 23 seals the connection between the second cavity 212 and the water channel 213, the second sealing ring surrounds the circumference of the connection between the second cavity 212 and the water channel 213.

[0043] In this embodiment, preferably, a second sealing ring is provided on the end surface of the plug 23 facing the connection between the second cavity 212 and the water channel 213 to improve the sealing performance of the plug 23 at the connection between the second cavity 212 and the water channel 213.

[0044] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, a second groove is provided on the end surface of the plug 23 facing the connection between the second cavity 212 and the water channel 213, and the second sealing ring is provided in the second groove.

[0045] In this embodiment, preferably, a second groove is provided on the end surface of the plug 23 facing the connection between the second cavity 212 and the water channel 213, and the second groove is used to fix the second sealing ring, thereby improving the stability of the second sealing ring and improving the sealing effect.

[0046] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, the pressure relief valve is a one-way valve, thereby preventing impurities in the external air from entering the air chamber 215.

[0047] The embodiment of the present invention provides an intelligent waterway control system for a cleaning vehicle, such as Figures 1 to 2 As shown, the water hammer suppression assembly 2 further includes a bellows 25 corresponding to the piston rod 24; one end of the bellows 25 is connected to the plug 23, and the other end is connected to the outer edge of the groove 214. The piston rod 24 and the elastic member 22 are both located within the bellows 25. The placement of the piston rod 24 and the compression spring within the bellows 25 can provide a certain degree of protection for the compression spring and the piston rod 24, preventing them from being impacted by water flow.

[0048] In the intelligent waterway control system for a cleaning vehicle provided by an embodiment of the present invention, preferably, the air source is compressed air.

[0049] Another embodiment of the present invention further provides a cleaning vehicle, comprising the cleaning vehicle intelligent waterway control system described in any of the above embodiments.

[0050] In the description of the present invention, it should be noted that the terms "upper" and "lower" and other terms indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or they can refer to connections between the internal parts of two components. A person of ordinary skill in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent waterway control system for a washing vehicle, used for washing a vehicle; the intelligent waterway control system for the washing vehicle comprises a water tank (11), a power pump (12) and a pipe network; the pipe network comprises a main pipe (13) and a first branch pipe (14); one end of the main pipe (13) is connected to the water tank (11), and the other end branches out into a plurality of the first branch pipes (14); the power pump (12) is arranged on the main pipe (13); It is characterized by: include: Water hammer relief assembly (2) and controller; The water hammer elimination assembly (2) is provided on the main line (13) and is located between the power pump (12) and the connection points between all the first branches (14) and the main line (13); the water hammer elimination assembly (2) comprises a main body (21), an elastic member (22), a plug (23), a piston rod (24) and an air source; A first cavity (211) and a plurality of second cavities (212) are provided in the main body (21), and any two of the second cavities (212) are independently provided. The first cavity (211) is in communication with the main pipe (13), and each of the second cavities (212) is in communication with the water tank (11); the first cavity (211) and the second cavity (212) are in communication with each other via a water channel (213); The elastic member (22), the plug (23) and the piston rod (24) correspond to each other one by one; a groove (214) is provided on the inner wall of the second cavity (212), and the groove (214) is arranged opposite to the connection between the second cavity (212) and the water channel (213); one end of the piston rod (24) is connected to the plug (23), and the other end is located in the groove (214), and a closed air chamber (215) is formed between the piston rod (24) and the bottom wall of the groove (214), and the air chamber (215) is connected to the air source. The air chamber (215) is connected to the outside, and the air chamber (215) is provided with a pressure relief valve connected to the outside; the air is ventilated into the air chamber (215) through the air source, which can drive the piston rod (24) to slide, so that the plug (23) can close the connection between the second cavity (212) and the water channel (213); the elastic member (22) is a compression spring, the elastic member (22) is sleeved on the piston rod (24), and one end of the elastic member (22) is connected to the plug (23), and the other end is connected to the outer edge of the groove (214); The elastic coefficients of the elastic members (22) in each second cavity (212) are different; the gas source and each pressure relief valve are electrically connected to the controller, and the controller controls the gas source according to the pressure in the pipe network to adjust the pressure in each gas chamber (215) and controls the pressure relief valve to open or close.

2. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: One end of the piston rod (24) located in the groove (214) is sleeved with a first sealing ring.

3. The intelligent waterway control system for a cleaning vehicle according to claim 2, characterized in that: A first annular groove is provided at one end of the piston rod (24) located in the groove (214), and the first sealing ring is provided in the first annular groove.

4. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: A second sealing ring is provided on the end surface of the plug (23) facing the connection point between the second cavity (212) and the water channel (213), and when the plug (23) seals the connection point between the second cavity (212) and the water channel (213), the second sealing ring surrounds the circumference of the connection point between the second cavity (212) and the water channel (213).

5. The intelligent waterway control system for a cleaning vehicle according to claim 4, characterized in that: A second groove is provided on the end surface of the plug (23) facing the connection point between the second cavity (212) and the water channel (213), and the second sealing ring is provided in the second groove.

6. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: The pressure relief valve is a one-way valve.

7. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: The water hammer elimination assembly (2) further includes a bellows (25) corresponding to the piston rod (24); One end of the bellows (25) is connected to the plug (23), and the other end is connected to the outer edge of the groove (214). The piston rod (24) and the elastic member (22) are both located in the bellows (25).

8. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: All of the second cavities (212) are arranged around the circumference of the first cavity (211).

9. The intelligent waterway control system for a cleaning vehicle according to claim 1, characterized in that: The gas source is compressed air.

10. A cleaning vehicle, characterized in that: It comprises the intelligent waterway control system for a cleaning vehicle as described in any one of claims 1 to 9.

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