Ditch cleaning apparatus, control method, control system, and readable storage medium

Abstract

The application discloses a side ditch cleaning equipment, a control method, a control system and a readable storage medium, relates to the field of highway side ditch cleaning, and aims to improve the walking accuracy of the side ditch cleaning equipment in the side ditch. The side ditch cleaning equipment comprises a first crawler mechanism, a second crawler mechanism, a first connecting piece, a second connecting piece and a detection mechanism. The first end of the first connecting piece is connected with the first crawler mechanism. The third end of the second connecting piece is rotatably connected with the second end of the first connecting piece, and the fourth end of the second connecting piece is connected with the second crawler mechanism; the included angle between the first connecting piece and the second connecting piece is greater than 0° and less than or equal to 180°. The detection mechanism is installed on the first crawler mechanism. The technical scheme is that the detection mechanism is installed on the first crawler mechanism, and whether the side ditch cleaning equipment is inclined during walking can be judged. After the side ditch cleaning equipment is inclined, the driving direction of the side ditch cleaning equipment can be adjusted in time, so that the side ditch cleaning equipment can walk in a straight line in the side ditch.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of highway ditch cleaning, in particular to a ditch cleaning device, a control method, a control system and a readable storage medium. BACKGROUND

[0002] Highways are an important part of modern transportation infrastructure, playing a vital role in promoting economic development, strengthening regional ties and improving transportation efficiency. The rapid expansion of China's highway network has significantly shortened travel time and promoted economic activity along major transportation corridors. Efficient transportation of goods and personnel on highways has made a significant contribution to China's economic growth.

[0003] However, in the related art, there are some challenges in maintaining highways, especially cleaning ditches along the shoulders of highways. Adequate drainage is crucial for the normal operation and life of highways, which helps to prevent flooding, erosion and road damage. Cleaning and maintaining ditches on both sides of the highway is crucial to ensure effective drainage during heavy rain and storms. However, cleaning these ditches can face many difficulties.

[0004] The main challenge in cleaning the ditches on both sides of the highway is the garbage, weeds and branches in the ditches. These substances can block the ditches, hinder water flow, and increase the risk of flooding.

[0005] The inventors found that at least the following problems exist in the prior art: the length of the highway is very long, and the length of the ditch matched with it is also very long, the cleaning workload is large, and in the related art, only manual cleaning of the ditch can be relied on, and the cleaning efficiency is very low. SUMMARY

[0006] The present application provides a ditch cleaning device, a control method, a control system and a readable storage medium to improve the accuracy of the ditch cleaning device walking in the ditch.

[0007] The present application provides a ditch cleaning device, comprising:

[0008] The first track mechanism is configured to be walkable;

[0009] The second track mechanism is arranged in parallel with the first track mechanism;

[0010] The first connecting piece comprises a first end and a second end; the first end is connected with the first track mechanism; the second track mechanism is also configured to be walkable;

[0011] A second connecting member includes a third end and a fourth end; the third end is rotatably connected to the second end of the first connecting member, and the fourth end is connected to the second track mechanism; an included angle between the first connecting member and the second connecting member is greater than 0° and less than or equal to 180°; and

[0012] A detection mechanism is installed on and carried by the first track mechanism, and is configured to detect a distance between the first track mechanism and an edge of a ditch.

[0013] In some embodiments, the number of detection mechanisms is two, and the first track mechanism is located between the two detection mechanisms; the two detection mechanisms are configured to detect distances between the first track mechanism and two inner walls of the ditch.

[0014] In some embodiments, the two detection mechanisms are symmetrically distributed with respect to a center line of a width direction of the first track mechanism.

[0015] In some embodiments, the detection mechanism includes:

[0016] A mounting member is fixedly connected to the first track mechanism;

[0017] A support is rotatably connected to one end of the mounting member;

[0018] A hydraulic system includes a cylinder; one end of the cylinder is rotatably connected to the mounting member, and the other end of the cylinder is rotatably connected to the support;

[0019] A detection wheel is installed on the other end of the support; and

[0020] A detection sensor is installed on the mounting member, and is configured to detect a position of the cylinder.

[0021] In some embodiments, a central axis of the detection wheel is along a vertical direction.

[0022] In some embodiments, the hydraulic system further includes:

[0023] A pump is configured to provide oil;

[0024] An oil tank is configured to provide oil to the pump;

[0025] An electromagnetic reversing valve includes an oil inlet, an oil return, a first working oil outlet, and a second working oil outlet; the oil inlet is in communication with an outlet of the pump; the first working oil outlet is in communication with a rodless cavity of the cylinder, the second working oil outlet is in communication with a rod cavity of the cylinder, and the oil return of the electromagnetic reversing valve is in communication with the oil tank; and

[0026] A drain valve is provided between the outlet of the pump and the tank.

[0027] In some embodiments, the hydraulic system further comprises:

[0028] A balance valve is provided between the first working oil port of the electromagnetic reversing valve, the second working oil port of the electromagnetic reversing valve, the rodless chamber of the oil cylinder and the rod chamber of the oil cylinder.

[0029] In some embodiments, the detection sensor comprises a position sensor.

[0030] The embodiment of the present application further provides a control method of the ditch cleaning equipment, comprising the following steps:

[0031] The ditch cleaning equipment provided by any of the technical solutions of the present application is started, wherein the first crawler mechanism is located in the ditch, and the second crawler mechanism is located outside the ditch.

[0032] Whether the ditch cleaning equipment is inclined is determined according to detection information of a detection mechanism installed on the first crawler mechanism.

[0033] If the ditch cleaning equipment is inclined, whether the ditch cleaning equipment is inclined towards the second crawler mechanism is determined.

[0034] If the ditch cleaning equipment is inclined towards the second crawler mechanism, the walking speed of the first crawler mechanism is reduced, or the walking speed of the second crawler mechanism is increased.

[0035] In some embodiments, if the ditch cleaning equipment is inclined away from the second crawler mechanism, the walking speed of the first crawler mechanism is increased, or the walking speed of the second crawler mechanism is reduced.

[0036] In some embodiments, the first crawler mechanism is provided with two detection mechanisms, wherein a detection mechanism located between the first crawler mechanism and the second crawler mechanism is a first detection mechanism, and the other is a second detection mechanism; whether the ditch cleaning equipment is inclined is determined in the following manner:

[0037] If the first detection mechanism is triggered, the ditch cleaning equipment is inclined towards the second crawler mechanism; if the second detection mechanism is triggered, the ditch cleaning equipment is inclined away from the second crawler mechanism.

[0038] The embodiment of the present application further provides a control system of the ditch cleaning equipment, comprising:

[0039] a memory; and

[0040] A processor coupled to the memory, the processor configured to perform the method for controlling a ditch cleaning device based on instructions stored in the memory.

[0041] The embodiment of the present application also provides a computer readable storage medium, which has a computer program stored thereon, and the program is executed by a processor to implement the method for controlling a ditch cleaning device.

[0042] The ditch cleaning device provided by the technical scheme has the first crawler mechanism located inside the ditch and the second crawler mechanism located on the roadbed of the expressway. The first crawler mechanism and the second crawler mechanism cooperate to improve the stability of the ditch cleaning device. The roadbed of the expressway has few impurities, and the second crawler mechanism can basically ensure straight driving. The environment inside the ditch is relatively complex, and various kinds of garbage may exist, such as human-made garbage, accumulated sand in desert and gobi areas, soil blocks, and weeds growing inside the ditch. The first crawler mechanism is originally set to drive straight along the length direction of the expressway, but it is extremely likely to deviate due to the influence of the garbage. The technical scheme of the embodiment of the present application is provided with a detection mechanism for the first crawler mechanism. According to the detection structure of the detection mechanism, it can be judged whether the ditch cleaning device deviates during driving. After the ditch cleaning device deviates, the driving direction of the ditch cleaning device can be adjusted in time to improve the straightness of the first crawler mechanism of the ditch cleaning device during driving in the ditch. The ditch cleaning device has a machine tool capable of sweeping and collecting garbage in the ditch. The ditch cleaning device drives straight along the length direction of the expressway, which can greatly improve the sweeping efficiency and cleanliness of the machine tool. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the principles of the present application, and do not limit the present application in any manner. In the drawings:

[0044] Figure 1 It is a structural schematic diagram of the expressway.

[0045] Figure 2 It is a front view schematic diagram of the position relationship between the ditch cleaning device provided by the embodiment of the present application and the ditch without a detection mechanism.

[0046] Figure 3 It is a front view schematic diagram of the position relationship between the ditch cleaning device provided by the embodiment of the present application and the ditch.

[0047] Figure 4 It is a top view schematic diagram of the position relationship between the ditch cleaning device provided by the embodiment of the present application and the ditch.

[0048] Figure 5 This is a top view schematic diagram of the detection mechanism of the ditch cleaning equipment provided in an embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the hydraulic system of the ditch cleaning equipment provided in an embodiment of the present invention.

[0050] Figure 7 This is a schematic diagram of the control method for the ditch cleaning equipment provided in an embodiment of the present invention.

[0051] Figure label:

[0052] 10. Road surface; 20. Slope; 30. Roadbed; 40. Side ditch;

[0053] 1. First track mechanism; 2. Second track mechanism; 3. First connecting component; 4. Second connecting component; 5. Detection mechanism;

[0054] 51. Mounting component; 52. Bracket; 53. Hydraulic system; 54. Detector wheel; 55. Detector sensor; 56. First detection mechanism; 57. Second detection mechanism; 58. Ear plate;

[0055] 531. Hydraulic cylinder; 532. Pump; 533. Oil tank; 534. Solenoid directional valve; 535. Oil drain valve; 536. Balance valve; 537. Oil cooler. Detailed Implementation

[0056] The following is combined with Figures 1-7 The technical solutions provided by this invention will be described in more detail below. The descriptions of exemplary embodiments are merely illustrative and are in no way intended to limit this disclosure or its application or use. This disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make this disclosure thorough and complete, and to fully express the scope of this disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0057] The terms “first,” “second,” and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as “including” or “contains” mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0058] In the present disclosure, when it is described that a specific device is located between a first device and a second device, there can be or can not be an intervening device between the specific device and the first device or the second device. When it is described that a specific device is connected to another device, the specific device can be directly connected to the other device without an intervening device, or can not be directly connected to the other device with an intervening device.

[0059] All the terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as understood by those skilled in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that the terms defined in general dictionaries should be interpreted in the meanings consistent with the meanings in the context of related technologies, and should not be interpreted in idealized or excessively formalized meanings, unless otherwise explicitly defined herein.

[0060] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but are considered part of the specification where appropriate.

[0061] The dimensions of the various parts shown in the drawings are not necessarily to scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated description thereof is appropriately omitted.

[0062] The inventors have studied the construction of expressways in detail. Referring to Figure 1 , an expressway includes an expressway pavement 10 for vehicle travel, slopes 20 located on both sides of the expressway pavement 10, a roadbed 30 located at the bottom of the slopes 20, and a ditch 40 located at the bottom of the roadbed 30 and recessed downward. The ditch cleaning device is used to clean garbage, weeds, and branches in the drainage ditch 40 on both sides of the expressway. The drainage ditch 40 has a substantially inverted trapezoidal shape and is used for drainage. Due to the narrow space on both sides of the ditch 40 and the protruding drainage pipe inside the ditch 40, the internal environment of the drainage ditch 40 is variable, and the driving of the ditch cleaning device adopts a single-track driving scheme at the bottom of the ditch 40, referring to Figure 2 , specifically, a track is placed at the bottom of the ditch 40, and another track is provided at the shoulder of the roadbed 30 of the ditch 40, and the ditch cleaning device is realized by the two tracks. The ditch cleaning vehicle adopts this walking mechanism, which can increase the passability and applicability of the ditch cleaning vehicle driving in the ditch 40.

[0063] The ditch cleaning device can clean the ditch 40 while walking in the ditch 40, and can clean the silt and garbage in the ditch 40, and can also remove the weeds and branches around the ditch 40. In this way, the driving operation can be freed from manual operation, and the operator can concentrate on operating the tool to clean the ditch 40. During the automatic driving of the ditch cleaning device, the ditch cleaning device may deviate. Therefore, the embodiment of the present application provides the following technical solutions.

[0064] Referring to Figures 3-5 The embodiment of the present application provides a ditch cleaning device, which comprises a first crawler mechanism 1, a second crawler mechanism 2, a first connecting piece 3, a second connecting piece 4 and a detection mechanism 5. The first crawler mechanism 1 and the second crawler mechanism 2 are both configured to be walkable. The second crawler mechanism 2 is arranged in parallel with the first crawler mechanism 1. The first connecting piece 3 comprises a first end and a second end; the first end is connected with the first crawler mechanism 1. The second connecting piece 4 comprises a third end and a fourth end; the third end is rotatably connected with the second end of the first connecting piece 3, and the fourth end is connected with the second crawler mechanism 2; the included angle between the first connecting piece 3 and the second connecting piece 4 is greater than 0° and less than or equal to 180°. The detection mechanism 5 is installed on the first crawler mechanism 1 and is carried by the first crawler mechanism 1, and the detection mechanism 5 is configured to detect the distance between the first crawler mechanism 1 and the edge of the ditch 40.

[0065] The connecting part between the first crawler mechanism 1 and the second crawler mechanism 2 is the first connecting piece 3 and the second connecting piece 4. The first connecting piece 3 and the second connecting piece 4 can rotate relative to each other, which makes the first crawler mechanism 1 and the second crawler mechanism 2 can be located at different working heights. Specifically, during the working process of the ditch cleaning device, the first crawler mechanism 1 is located in the ditch 40, and the second crawler mechanism 2 is located on the roadbed 30 of the highway. The position of the first crawler mechanism 1 is lower than the position of the second crawler mechanism 2. Figure 3 The relative position relationship between the first crawler mechanism 1 and the second crawler mechanism 2 is clearly shown.

[0066] The first connecting piece 3 and the second connecting piece 4 are both rod members, and are hinged. Through the hinge of the first connecting piece 3 and the second connecting piece 4, the ditch 40 with different depths can be automatically adapted. The first connecting piece 3 and the second connecting piece 4 have different included angles when the first crawler mechanism 1 is located in the ditch 40 with different depths.

[0067] The structures of the first crawler mechanism 1 and the second crawler mechanism 2 can be the same, for example, each comprises a crawler frame and a crawler installed on the crawler frame. The crawler frame of the first crawler mechanism 1 is used to install the detection mechanism 5.

[0068] The side ditch cleaning equipment provided by the technical scheme has the detection mechanism 5 installed on the first crawler mechanism 1 in the side ditch 40. The detection mechanism 5 can detect the relative position and distance between the first crawler mechanism 1 and the inner wall of the side ditch 40. When the side ditch cleaning equipment inclines during driving, the side ditch cleaning equipment can automatically drive forward along the side ditch 40 and automatically correct the deviation, thereby achieving the purpose of automatically driving along the track of the side ditch 40.

[0069] In some embodiments, the number of detection mechanisms 5 is two, and the first crawler mechanism 1 is located between the two detection mechanisms 5. The two detection mechanisms 5 are configured to detect the distance between the first crawler mechanism 1 and the two inner walls of the side ditch 40. By providing two detection mechanisms 5, it can be detected in time that the first crawler mechanism 1 is too close to the inner wall of the side ditch 40.

[0070] Referring to Figure 4 In some embodiments, the two detection mechanisms 5 are symmetrically distributed relative to the center line W of the width direction of the first crawler mechanism 1. The detection mechanism 5 located on the left side of the first crawler mechanism 1 is used to detect the distance between the first crawler mechanism 1 and the left inner wall of the side ditch 40. The detection mechanism 5 located on the right side of the first crawler mechanism 1 is used to detect the distance between the first crawler mechanism 1 and the right inner wall of the side ditch 40. The two detection mechanisms 5 work separately, and generally, the two detection mechanisms 5 on both sides will not be triggered at the same time. If the two detection mechanisms 5 are triggered at the same time, it indicates that the width of the side ditch 40 is too narrow.

[0071] In some embodiments, the detection mechanism 5 includes a mounting piece 51, a bracket 52, a hydraulic system 53, a detection wheel 54, and a detection sensor 55. The mounting piece 51 is fixedly connected with the first crawler mechanism 1. The mounting piece 51 is specifically, for example, a strip-shaped mounting plate. The bracket 52 is specifically, for example, an elongated rod. One end of the bracket 52 is rotatably connected with the mounting piece 51, and the hinge shaft is S0. The other end of the bracket 52 is rotatably provided with the detection wheel 54, and the hinge shaft is S1. The hydraulic system 53 includes a hydraulic cylinder 531. One end of the hydraulic cylinder 531 is rotatably connected with the mounting piece 51, and the hinge shaft is S2. The other end of the hydraulic cylinder 531 is rotatably connected with the middle position of the bracket 52, and the hinge shaft is S3. An ear plate 58 is installed on the outer wall of the middle position of the bracket 52 to facilitate the connection of the hydraulic cylinder 531. The hinge position C of the hydraulic cylinder 531 and the bracket 52 is C. The distance between the hinge position C and the detection wheel 54 is less than the distance between the hinge position C and the hinge point B. This arrangement makes it easier for the hydraulic cylinder 531 to drive the bracket 52 to rotate. The detection wheel 54 is installed on the other end of the bracket 52. The detection wheel 54 rotates freely relative to the bracket 52 to reduce the resistance received by the side ditch cleaning equipment during the adjustment of the position of the first crawler mechanism 1. The detection sensor 55 is installed on the mounting piece 51, and the detection sensor 55 is configured to detect the position of the hydraulic cylinder 531.

[0072] Referring toFigure 4 and Figure 5 , the oil cylinder 531 rotates around the hinge point A during the telescopic movement, the rotation of the oil cylinder 531 pushes the bracket 52 to rotate around the hinge point B, and then the horizontal distance L of the detection wheel 54 at the other end of the bracket 52 relative to the mounting frame changes. As shown by the arrow of the rotation direction, taking the oil cylinder 531 on the left side of the first track mechanism 1 as an example, if the oil cylinder 531 rotates clockwise around the hinge point A, the detection wheel 54 is extended and moves towards S1, and the horizontal distance L becomes larger. If the oil cylinder 531 rotates clockwise around the hinge point A, the detection wheel 54 is retracted and moves towards S2, and the horizontal distance L becomes smaller. Figure 4

[0073] The function of the hydraulic system 53 is to keep the oil cylinder 531 in the original position without external force, such as Figure 4 the position shown in the figure. During the walking process of the ditch cleaning device, if an obstacle affects the first track mechanism 1, so that the first track mechanism 1 cannot walk in a straight line, but deviates to the left side of the ditch 40 as shown in Figure 4 , the detection wheel 54 of the left detection mechanism 5 may abut against the left inner wall of the ditch 40. After the detection wheel 54 of the left detection mechanism 5 abuts against the left inner wall of the ditch 40, if the first track mechanism 1 continues to tilt to the left, the left inner wall of the ditch 40 will press the detection wheel 54 of the left detection mechanism 5, and when the pressing force is greater than the holding force that keeps the oil cylinder 531 in the original position, the oil cylinder 531 will rotate counterclockwise around the hinge point A under the pressing of the pressing force. In combination with Figure 6 , after the oil cylinder 531 rotates counterclockwise, the distance between the oil cylinder 531 and the detection sensor 55 becomes smaller, and when the distance reaches the triggering value of the detection sensor 55, the detection sensor 55 is triggered, and the controller of the ditch cleaning device receives the triggering signal of the left detection sensor 55, and then judges that the first track mechanism 1 is too close to the left edge of the ditch 40, and needs to move to the right to make the first track mechanism 1 walk as much as possible in the middle of the ditch 40.

[0074] The controller then controls the walking parameters of the first track mechanism 1, i.e. the walking speed and the walking direction, until the first track mechanism 1 moves away from the left edge of the ditch 40.

[0075] When the distance between the first track mechanism 1 and the left edge of the ditch 40 increases, the pressing force of the left inner wall of the ditch 40 on the detection wheel 54 of the left detection mechanism 5 decreases, and under the action of the initial holding force of the hydraulic system 53, the left oil cylinder 531 is pushed to rotate clockwise. Specifically, it is Figure 4 , Figure 5 ​clockwise rotation in the figure until the left oil cylinder 531 leaves the left inner wall surface of the ditch 40. The left oil cylinder 531 returns to the original position under the pressure set by the hydraulic system 53.

[0076] It should be noted that the above description is an example of the first track mechanism 1 being offset to the left as shown in the figure. If the first track mechanism 1 is offset to the right as shown in the figure, the detection mechanism 5 located on the right side of the first track mechanism 1 plays a detection and adjustment role, and the principle and the above-described process are the same. Figure 4 Figure 4 It should be noted that the above description is an example of the first track mechanism 1 being offset to the left as shown in the figure. If the first track mechanism 1 is offset to the right as shown in the figure, the detection mechanism 5 located on the right side of the first track mechanism 1 plays a detection and adjustment role, and the principle and the above-described process are the same.

[0077] In some embodiments, the mounting 51, the bracket 52, and the oil cylinder 531 are located in the horizontal plane. The outer edge of the detection wheel 54 faces the side wall of the ditch 40. When the ditch cleaning device tilts during walking, the outer wall of the detection wheel 54 of the corresponding side detection mechanism 5 abuts against the inner wall of the ditch 40.

[0078] The detection mechanism 5 provided by the above technical solution does not need to be provided with a high-precision laser radar, a camera, etc. with a complex structure, nor a high-performance controller, nor a complex software algorithm. The detection mechanism 5 is basically a pure mechanical structure, which is more suitable for the complex and narrow environment of the highway ditch 40, is reliable in operation, and has clear and accurate logic for judging the tilt.

[0079] Referring to Figure 6 In some embodiments, the hydraulic system 53 further includes a pump 532, an oil tank 533, an electromagnetic reversing valve 534, and a drain valve 535. The pump 532 is configured to provide oil; the oil tank 533 is configured to provide oil to the pump 532. The electromagnetic reversing valve 534 includes an oil inlet P, an oil return T, a first working oil port A, and a second working oil port B; the oil inlet P is in communication with the outlet of the pump 532; the first working oil port A is in communication with the rodless cavity of the oil cylinder 531, and the second working oil port B is in communication with the rod cavity of the oil cylinder 531; the oil return T of the electromagnetic reversing valve 534 is in communication with the oil tank 533 through an oil cooler 537. The drain valve 535 is arranged between the outlet of the pump 532 and the oil tank 533.

[0080] During the cleaning process of the ditch cleaning device on the ditch 40, the pump 532 always provides hydraulic oil to the oil cylinder 531. The pressure of the drain valve 535 is set to a constant value. When the oil pressure of the oil output by the pump 532 is higher than the set pressure of the drain valve 535, the oil is released through the drain valve 535 to prevent the oil pressure in the oil cylinder 531 from being too large. When the oil pressure of the oil output by the pump 532 does not reach the set pressure of the drain valve 535, the oil pressure in the oil cylinder 531 can be maintained.

[0081] ​The electromagnetic reversing valve 534 is specifically a three-position four-way ring valve, and the electromagnetic reversing valve 534 reverses to realize the extension and retraction of the piston rod of the oil cylinder 531.

[0082] Referring to Figure 6 In some embodiments, the hydraulic system 53 further comprises a balance valve 536, which is arranged between the first working oil port of the electromagnetic reversing valve 534, the second working oil port of the electromagnetic reversing valve 534, the rodless cavity of the oil cylinder 531, and the rod cavity of the oil cylinder 531. The balance valve 536 can adopt an existing structure, and is used to lock the oil cylinder 531, so that the oil cylinder 531 is kept at a set position when the external force acting on the oil cylinder 531 is small or no external force is acting on the oil cylinder 531.

[0083] In some embodiments, the detection sensor 55 comprises a position sensor. The position sensor is used to detect the position of the oil cylinder 531. The position sensor can detect the position information of the oil cylinder 531 in real time, and provide a basis for judging whether the ditch cleaning device is walking in the middle position of the ditch 40. According to different working principles and detection methods, the position sensor comprises a contact sensor and a non-contact sensor.

[0084] The contact position sensor is a sensor that obtains position information by directly contacting the measured object. The contact sensor is, for example, a potentiometer or a limit switch. The potentiometer is often used to measure the rotation angle, and the position information of the oil cylinder 531 is obtained by changing the resistance through the rotation of the sliding contact of the potentiometer. The limit switch is used to detect whether the oil cylinder 531 reaches a specific position, and the limit switch is triggered when the oil cylinder 531 touches the limit switch.

[0085] The non-contact position sensor obtains the position of the object without direct contact, and is specifically, for example, a laser displacement sensor, an ultrasonic position sensor, or a photoelectric sensor. The laser sensor calculates the distance and position of the oil cylinder 531 by emitting a laser beam and measuring the time or change of the return of the light beam. The ultrasonic position sensor measures the position of the oil cylinder 531 by emitting and receiving sound waves. The photoelectric sensor determines the position of the oil cylinder 531 by emitting a light beam and detecting the reflected light intensity.

[0086] Referring to Figure 7 The embodiment of the present application also provides a ditch cleaning device control method, and the ditch cleaning device is the ditch cleaning device provided by any one of the embodiments of the present application. The ditch cleaning device control method comprises the following steps:

[0087] Step S100, starting the ditch cleaning device, wherein the first track mechanism 1 is located in the ditch 40, and the second track mechanism 2 is located outside the ditch 40.

[0088] The ditch 40 is relatively narrow, and only the first track mechanism 1 is located in the ditch 40, which can better adapt to the size of the ditch 40 to achieve cleaning of the ditch 40.

[0089] In step S200, it is determined whether the ditch cleaning device is tilted according to the detection information of the detection mechanism 5 installed on the first track mechanism 1.

[0090] The detection mechanism 5 is triggered when the first track mechanism 1 is close enough to the edge of the ditch 40, and the distance can be set as needed. After the first track mechanism 1 is close enough to the edge of the ditch 40, the detection mechanism 5 will be pressed against the side wall of the ditch 40, and the side wall will squeeze the detection mechanism 5, so that the position of the detection wheel 54 of the detection mechanism 5 changes relative to the mounting part, and then the detection sensor 55 detects the position of the detection wheel 54 and is triggered.

[0091] If the ditch cleaning device can keep straight driving, it means that the driving speeds of the first track mechanism 1 and the second track mechanism 2 are the same. If the ditch cleaning device is tilted, it means that the driving speeds of the first track mechanism 1 and the second track mechanism 2 are different.

[0092] In the above step S200, if the ditch cleaning device is tilted away from the second track mechanism 2, it means that the driving speed of the second track mechanism 2 is faster and the driving speed of the first track mechanism 1 is slower, and at this time the walking speed of the first track mechanism 1 can be increased or the walking speed of the first track mechanism 1 can be reduced.

[0093] In the above step S200, if the ditch cleaning device is tilted towards the second track mechanism 2, it means that the driving speed of the first track mechanism 1 is faster and the driving speed of the second track mechanism 2 is slower, and at this time the walking speed of the first track mechanism 1 can be reduced or the walking speed of the second track mechanism 2 can be increased.

[0094] In the above step S200, the first track mechanism 1 is provided with two detection mechanisms 5, wherein the detection mechanism 5 located between the first track mechanism 1 and the second track mechanism 2 is a first detection mechanism 56, and the other is a second detection mechanism 57. The first detection mechanism 56 and the second detection mechanism 57 can adopt the above-mentioned embodiments.

[0095] The ditch cleaning device is tilted in the following way: if the first detection mechanism 56 is triggered, the ditch cleaning device is tilted towards the second track mechanism 2. If the second detection mechanism 57 is triggered, the ditch cleaning device is tilted away from the second track mechanism 2.

[0096] In step S300, if the ditch cleaning device is tilted, it is determined whether the ditch cleaning device is tilted towards the second track mechanism 2.

[0097] Step S400, if the ditch cleaning device is inclined toward the second track mechanism 2, the walking speed of the first track mechanism 1 is reduced, or the walking speed of the second track mechanism 2 is increased.

[0098] Step S500, if the ditch cleaning device is inclined away from the second track mechanism 2, the walking speed of the first track mechanism 1 is increased, or the walking speed of the second track mechanism 2 is reduced.

[0099] The embodiment of the present application provides a ditch cleaning device control system, comprising a memory and a processor coupled to the memory, the processor is configured to execute the ditch cleaning device control method in any one of the preceding embodiments based on the instructions stored in the memory.

[0100] The memory may, for example, include system memory, fixed non-volatile storage media, etc. The system memory, for example, stores an operating system, application programs, a Boot Loader, and other programs, etc.

[0101] Some embodiments of the present disclosure also provide a computer readable storage medium having a computer program stored thereon. When the program is executed by a processor, the ditch cleaning device control method in any one of the preceding embodiments is implemented.

[0102] The processor described herein can include a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0103] The storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0104] Those skilled in the art will appreciate that the method embodiments of this disclosure can be readily implemented as method, system or computer program product. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the disclosure can take the form of a computer program product on one or more computer-usable non-transitory storage media (including but not limited to magnetic disks; optical disks; magnetic tape or other magnetic media; or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer).

[0105] The present disclosure is described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 Each flow or multiple flows and / or blocks Figure 1 Means for carrying out any one or more of the methodology steps specified in the function of any one or more of the flows or blocks.

[0106] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flow or block Figure 1 one or more blocks or blocks specified in the flow.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flow or block Figure 1 one or more blocks or blocks specified in the flow.

[0108] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the scope of protection of the present application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0109] In the description of the present application, each technical feature can be combined with other technical features as far as possible.

[0110] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A ditch cleaning device, characterized in that The utility model relates to a kind of detection mechanism for track-type tractor, comprising: First track mechanism (1) is configured as walkable; Second track mechanism (2) is arranged in parallel with the first track mechanism (1);The second track mechanism (2) is also configured as walkable; First connecting piece (3) includes first end and second end;The first end is connected with the first track mechanism (1); Second connecting piece (4) includes third end and fourth end;The third end is rotatably connected with the second end of the first connecting piece (3), and the fourth end is connected with the second track mechanism (2);The included angle of the first connecting piece (3) and the second connecting piece (4) is greater than 0 °, and less than or equal to 180 °;And Detection mechanism (5) is installed on the first track mechanism (1), and is carried by the first track mechanism (1), and the detection mechanism (5) is configured to detect the distance between the first track mechanism (1) and the edge of the ditch (40); The number of the detection mechanism (5) is two, and the first track mechanism (1) is located between the two detection mechanisms (5);Two detection mechanisms (5) are configured to detect the distance between the first track mechanism (1) and the two inner walls of the ditch (40); The detection mechanism (5) comprises: Mounting piece (51) is fixedly connected with the first track mechanism (1); Support (52) is rotatably connected with one end of the mounting piece (51); Hydraulic system (53) includes oil cylinder (531);One end of the oil cylinder (531) is rotatably connected with the mounting piece (51), and the other end of the oil cylinder (531) is rotatably connected with the support (52); Detection wheel (54) is installed on the other end of the support (52);And Detection sensor (55) is installed on the mounting piece (51), and the detection sensor (55) is configured to detect the position of the oil cylinder (531).

2. The ditch cleaning device according to claim 1, characterized in that Two detection mechanisms (5) are symmetrically distributed relative to the center line of the width direction of the first track mechanism (1).

3. The ditch cleaning device of claim 1, wherein, The central axis of the detection wheel (54) is along the vertical direction.

4. The ditch cleaning apparatus of claim 1, wherein, The hydraulic system (53) further comprises: Pump (532) is configured to provide oil; Oil tank (533) is configured to provide oil to the pump (532); Electromagnetic reversing valve (534) includes oil inlet, oil return, first working oil port and second working oil port;The oil inlet is communicated with the outlet of the pump (532);The first working oil port is communicated with the rodless cavity of the oil cylinder (531), and the second working oil port is communicated with the rod cavity of the oil cylinder (531), and the oil return of the electromagnetic reversing valve (534) is communicated with the oil tank (533);And Oil drain valve (535) is arranged between the outlet of the pump (532) and the oil tank (533).

5. The ditch cleaning device of claim 4, wherein, The hydraulic system (53) further comprises: Balance valve (536) is arranged between the first working oil port of the electromagnetic reversing valve (534), the second working oil port of the electromagnetic reversing valve (534), the rodless cavity of the oil cylinder (531) and the rod cavity of the oil cylinder (531).

6. The ditch cleaning apparatus of claim 1, wherein, The detection sensor (55) comprises a position sensor.

7. A method of controlling a ditch cleaning apparatus, characterized by, The method comprises the following steps: Start the ditch cleaning equipment according to any one of claims 1-6, wherein the first track mechanism (1) is located in the ditch (40), and the second track mechanism (2) is located outside the ditch (40); Determine whether the ditch cleaning equipment is tilted according to detection information of the detection mechanism (5) installed on the first track mechanism (1); If the ditch cleaning equipment is tilted, determine whether the ditch cleaning equipment is tilted towards the second track mechanism (2); If the ditch cleaning equipment is tilted towards the second track mechanism (2), reduce the walking speed of the first track mechanism (1), or increase the walking speed of the second track mechanism (2).

8. The gutter cleaning apparatus control method according to claim 7, characterized by, If the ditch cleaning equipment is tilted away from the second track mechanism (2), increase the walking speed of the first track mechanism (1), or reduce the walking speed of the second track mechanism (2).

9. The gutter cleaning apparatus control method according to claim 7, characterized by, The first track mechanism (1) is provided with two detection mechanisms (5), wherein the detection mechanism (5) located between the first track mechanism (1) and the second track mechanism (2) is a first detection mechanism (56), and the other is a second detection mechanism (57); the ditch cleaning equipment is determined to be tilted in the following manner: If the first detection mechanism (56) is triggered, the ditch cleaning equipment is tilted towards the second track mechanism (2); if the second detection mechanism (57) is triggered, the ditch cleaning equipment is tilted away from the second track mechanism (2).

10. A control system for a ditch cleaning device, characterized in that, comprise: a memory; and a processor coupled to the memory, the processor configured to execute a ditch cleaning equipment control method according to any one of claims 7-9 based on instructions stored in the memory.

11. A computer readable storage medium, characterized in that, a computer program stored thereon, which is executed by a processor to implement a ditch cleaning equipment control method according to any one of claims 7-9.

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