Multifunctional road maintenance vehicle

Abstract

The invention relates to the technical field of street cleaning, in particular to a multifunctional road maintenance vehicle which comprises a multifunctional road guardrail maintenance vehicle body and a guardrail cleaning module, the guardrail cleaning module comprises a pressure sensor, a photoelectric sensor and a cleaning brush control module, and the cleaning brush control module comprises a servo motor and a telescopic metal rod. The servo motor is connected with the telescopic metal rod; the pressure sensor is used for acquiring the current contact pressure between the cleaning brush and the currently cleaned guardrail, and the photoelectric sensor is used for acquiring the reflectivity index of the guardrail to be cleaned of the road section in front of the road maintenance vehicle; the cleaning brush control module controls the servo motor to operate and adjusts the length of the telescopic metal rod according to the current contact pressure and the reflectivity index, and the spacing distance and the rotating speed of the cleaning brush are adjusted. According to the embodiment of the invention, the self-adaptive cleaning capability of the road maintenance vehicle can be effectively improved, so that the guardrail cleaning effect is enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of street cleaning, and in particular to a multifunctional road maintenance vehicle. Background Art

[0002] In order to enhance the safety, smoothness and overall management efficiency of road traffic, guardrails are usually installed in the middle of the road to prevent pedestrians from crossing the road and vehicles from making illegal U-turns, and to provide visual guidance and assist drivers. Since guardrails are always in outdoor places, their surfaces are often covered with dust, rain and various stains. In order to extend the service life of guardrails, road maintenance vehicles are usually used to clean and wash them, reducing long-term maintenance costs and improving the sense of security of road users.

[0003] Existing multifunctional road guardrail maintenance vehicles are usually equipped with a brushing module, a water gun module, a detergent spraying module, etc., wherein the brushing module uses two cleaning brushes to clamp the guardrail and realizes the brushing of the guardrail by rotating the cleaning brush at high speed. In the related art, a certain type of guardrail is cleaned in a unified state. In this way, due to the different scenes in which different guardrails are located, the dirtiness of the guardrail itself and the environmental impact may vary greatly in different areas. Therefore, only using one cleaning brush state cannot effectively and adaptively clean guardrails in different dirtiness and environmental states, and the guardrail cleaning effect is poor. Summary of the invention

[0004] In order to solve the technical problem that only one cleaning brush state is used in the related art, which cannot effectively and adaptively clean the guardrails in different dirt states and environmental states, and the guardrail cleaning effect is poor, the present invention provides a multifunctional road maintenance vehicle, and the technical solution adopted is as follows:

[0005] The present invention proposes a multifunctional road maintenance vehicle, comprising a multifunctional road guardrail maintenance vehicle and a guardrail cleaning module, wherein the guardrail cleaning module comprises a pressure sensor, a photoelectric sensor and a cleaning brush control module, wherein the cleaning brush control module comprises a servo motor and a retractable metal rod, wherein the servo motor is connected to the retractable metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail currently being cleaned, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned on the road section ahead of the road maintenance vehicle; the cleaning brush control module controls the servo motor to operate and adjusts the length of the retractable metal rod, and adjusts the spacing distance and rotation speed of the cleaning brush according to the current contact pressure and the reflectivity index;

[0006] Wherein, the servo motor is controlled to operate and the length of the retractable metal rod is adjusted according to the current contact pressure and the reflectivity index, thereby adjusting the spacing distance and the rotation speed of the cleaning brush, including:

[0007] Obtaining a guardrail state index of the guardrail to be cleaned; determining an initial operating state parameter of the cleaning brush at the position of the guardrail to be cleaned by combining the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment;

[0008] Determine the degree of dirtiness of the guardrail to be cleaned according to the reflectivity index and the guardrail state index; determine the operating state adjustment index of the cleaning brush according to the degree of dirtiness and the initial operating state parameter;

[0009] The adjustment buffer time is determined according to the speed of the currently running road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, and the rotation speed of the cleaning brush is adjusted according to the running state adjustment index and the adjustment buffer time, and the servo motor is controlled to operate to adjust the spacing distance of the cleaning brush.

[0010] Furthermore, it also includes a guardrail status analysis module and a networked meteorological analysis module, wherein the guardrail status analysis module is used to obtain the historical usage time of the guardrail to be cleaned, and the meteorological analysis module is used to obtain the current environmental quality coefficient.

[0011] Further, according to the historical usage time and the environmental quality coefficient, the guardrail state index of the guardrail to be cleaned is determined, including:

[0012] Normalizing the historical usage time to obtain a time impact coefficient;

[0013] The ratio of the environmental quality coefficient to the time influence coefficient is calculated and normalized to be used as the guardrail state indicator of the guardrail to be cleaned.

[0014] Further, combining the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment, determining the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned includes:

[0015] Determine the difference in guardrail status index between the guardrail to be cleaned and the guardrail currently being cleaned, and obtain a state change coefficient;

[0016] The product of the state change coefficient and the current contact pressure is used as the current pressure adjustment value, and the sum of the current pressure adjustment value and the current contact pressure is calculated as the initial contact pressure;

[0017] The product of the state change coefficient and the current speed is used as the current speed adjustment value, and the sum of the current speed adjustment value and the current speed is calculated as the initial speed; wherein the initial contact pressure and the initial speed are used together as initial operating state parameters.

[0018] Further, determining the degree of dirtiness of the guardrail to be cleaned according to the reflectivity index and the guardrail state index includes:

[0019] Calculating the absolute value of the difference between the reflectivity index and the preset standard reflectivity of the guardrail to be cleaned as the reflectivity difference;

[0020] The ratio of the reflectivity difference to the guardrail status index is normalized and processed as the dirtiness of the guardrail to be cleaned.

[0021] Further, determining the operating state adjustment index of the cleaning brush according to the dirtiness and the initial operating state parameter includes:

[0022] Calculating the product of the dirtiness degree and the initial contact pressure as the adjusted contact pressure;

[0023] Calculating the product of the dirtiness degree and the initial rotation speed as the adjusted rotation speed;

[0024] The adjusted contact pressure and the adjusted rotation speed are used together as operating state adjustment indicators.

[0025] Furthermore, the adjusting buffer time is determined according to the speed of the currently running road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, including:

[0026] The ratio of the distance between the guardrails to be cleaned to the speed of the road maintenance vehicle is calculated to obtain the adjustment buffer time.

[0027] Further, according to the operating state adjustment index and the adjustment buffer time, the rotation speed of the cleaning brush is adjusted and the servo motor is controlled to operate to adjust the spacing distance of the cleaning brush, including:

[0028] The sum of the initial contact pressure and the adjusted contact pressure is calculated as the target contact pressure corresponding to the guardrail to be cleaned; the difference between the target contact pressure and the current contact pressure at the current moment is used as a pressure correction index; according to the value of the pressure correction index, the operation of the servo motor is adjusted, thereby adjusting the spacing distance of the cleaning brush;

[0029] The sum of the initial speed and the adjusted speed is calculated as the target speed corresponding to the guardrail to be cleaned; the difference between the target speed and the current speed at the current moment is used as the speed correction index, and the speed of the cleaning brush is adjusted according to the value of the speed correction index and the adjustment buffer time.

[0030] Further, adjusting the operation of the servo motor according to the value of the pressure correction index includes:

[0031] When the value of the pressure correction index is a positive number, the servo motor is controlled to operate to reduce the spacing distance of the cleaning brush until the pressure detected by the pressure sensor reaches the target contact pressure;

[0032] When the value of the pressure correction index is a negative number, controlling the servo motor to operate to increase the spacing distance of the cleaning brush until the pressure detected by the pressure sensor reaches the target contact pressure;

[0033] When the value of the pressure correction index is 0, the spacing distance of the cleaning brushes at the current moment is maintained.

[0034] Further, adjusting the speed of the cleaning brush according to the value of the speed correction index and the adjustment buffer time includes:

[0035] When the value of the rotation speed correction index is a positive number, the rotation speed of the cleaning brush is linearly increased to a target rotation speed within the adjustment buffer time;

[0036] When the value of the rotation speed correction index is a negative number, the rotation speed of the cleaning brush is linearly reduced to the target rotation speed within the adjustment buffer time;

[0037] When the value of the rotation speed correction index is 0, the rotation speed of the cleaning brush at the current moment is maintained.

[0038] The present invention has the following beneficial effects:

[0039] The present application configures a pressure sensor, a photoelectric sensor, and a cleaning brush control module in the guardrail cleaning module, which is used to analyze the current cleaning state and the state to be adjusted based on the current contact pressure collected by the pressure sensor and the reflectivity index collected by the photoelectric sensor, control the operation of the servo motor and adjust the length of the retractable metal rod, so as to adaptively adjust the spacing distance and rotation speed of the cleaning brush, and flexibly adjust the state of the cleaning brush itself to ensure the cleaning ability of the guardrail. At the same time, adaptively adjusting the contact pressure and rotation speed of the cleaning brush can achieve the purpose of saving energy and reducing equipment wear without causing damage to the guardrail. In summary, the embodiments of the present invention can adaptively adjust the state of the cleaning brush, effectively improve the adaptive cleaning ability of the road maintenance vehicle, and thus enhance the cleaning effect of the guardrail. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A structural diagram of a multifunctional road maintenance vehicle provided by one embodiment of the present invention;

[0042] Figure 2 A front view of the specific structure of a guardrail cleaning module provided by one embodiment of the present invention;

[0043] Figure 3 A side view of the specific structure of a guardrail cleaning module provided by one embodiment of the present invention;

[0044] Figure 4 A schematic diagram of a road maintenance vehicle cleaning state provided by an embodiment of the present invention;

[0045] Figure 5 A flowchart of a cleaning brush control method provided by one embodiment of the present invention;

[0046] Figure 6 A schematic diagram of a guardrail provided by an embodiment of the present invention;

[0047] Figure numerals: 1-water pipe inlet; 2-pressure sensor; 3-water outlet; 4-photoelectric sensor; 5-telescopic metal rod; 6-water hose; 7-water pipe; 8-cleaning brush; 9-servo motor; 10-motor guide rail; 11-extension rod. DETAILED DESCRIPTION

[0048] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a multifunctional road maintenance vehicle proposed according to the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0049] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0050] The specific scheme of a multifunctional road maintenance vehicle provided by the present invention is described in detail below with reference to the accompanying drawings.

[0051] See also Figure 1, which shows a structural diagram of a multifunctional road maintenance vehicle provided by an embodiment of the present invention, including a multifunctional road guardrail maintenance vehicle and a guardrail cleaning module, the guardrail cleaning module including a pressure sensor, a photoelectric sensor and a cleaning brush control module, wherein the cleaning brush control module includes a servo motor and a retractable metal rod, the servo motor is connected to the retractable metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail currently being cleaned, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned in the road section ahead of the road maintenance vehicle; the cleaning brush control module controls the servo motor to run and adjusts the length of the retractable metal rod according to the current contact pressure and reflectivity index, and adjusts the spacing distance and rotation speed of the cleaning brush.

[0052] Further, in some embodiments of the present invention, in combination Figure 2 and Figure 3 Conduct a specific analysis. Figure 2 A front view of the specific structure of a guardrail cleaning module provided by one embodiment of the present invention; Figure 3 A side view of the specific structure of a guardrail cleaning module provided for an embodiment of the present invention, wherein clean water and cleaning liquid flow into the water hose 6 through the water pipe inlet 1, then enter the water pipes 7 on both sides, and are sprayed out through the water nozzles 3 connected thereto. The pressure sensor 2 is installed at the connection at the top of the cleaning brushes 8 on both sides, and the contact pressure of the cleaning brush 8 is obtained by monitoring the deformation pressure at the connection. The photoelectric sensor 4 is extended by the extension rod 11 to monitor the photoelectric data on the surface of the guardrail. By driving the servo motor 9 to move along the motor guide rail 10, the metal telescopic rod 5 is driven to change, thereby controlling the spacing and pressure of the cleaning brushes 8 on both sides. At the same time, a driving motor is also installed at the top of the cleaning brush 8 to control the rotation of the cleaning brush 8, thereby combining clean water and cleaning liquid to achieve a cleaning effect.

[0053] For specific examples, see Figure 4 , Figure 4 This is a schematic diagram of a road maintenance vehicle cleaning state provided by an embodiment of the present invention. According to this courseware, the cleaning effect can be adjusted by adjusting the distance between the cleaning brushes on both sides and the rotation speed of the cleaning brushes themselves.

[0054] It should be noted that the guardrails on the road are complex and changeable. For example, some guardrails are close to intersections and have a large flow of traffic, which will cause greater contamination. During continuous rainy periods, the water on the road surface is splashed by vehicles passing by, which will also cause serious water stains. Therefore, it is impossible to achieve an adaptive cleaning effect by cleaning the guardrails based on only one state. By adjusting the state of the cleaning brush, an adaptive cleaning effect can be achieved.

[0055] Therefore, in the embodiment of the present invention, the adjustable cleaning brush is mainly used to control the pressure and speed of the cleaning brush to achieve adaptive adjustment of the cleaning effect. The specific implementation steps are as follows: Figure 5 As shown, Figure 5 A flowchart of a cleaning brush control method provided by an embodiment of the present invention includes:

[0056] S101: Obtain a guardrail state index of the guardrail to be cleaned; determine initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned based on the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment.

[0057] It should be noted that, due to the complex shape of the guardrail, the present invention can divide the guardrail into sections with the connection nodes of the guardrail as the endpoints. The structure of the connection of each section of the guardrail will change to a certain extent, and the degree of dirtiness at each position of the guardrail is different. In order not to cause damage at the connection, a smaller fixed contact pressure is generally applied to facilitate the advancement of the guardrail maintenance vehicle. However, this will result in a poor cleaning degree of the normal guardrail position, especially in areas with a high degree of dirtiness. Therefore, the present invention can perform adaptive cleaning adjustments on each section of the guardrail by dividing it into sections. Figure 6 , Figure 6 A schematic diagram of a guardrail provided for an embodiment of the present invention. To facilitate the cleaning effect of the guardrail, the embodiment of the present invention may treat a section of the guardrail, that is, the guardrail section between two adjacent guardrail connection points, as a whole and use it as the guardrail to be cleaned.

[0058] Of course, in other embodiments of the present invention, the entire guardrail may be divided into sections according to other features of the guardrail to obtain different guardrail segments, and there is no limitation to this.

[0059] It should be noted that when the current guardrail is being cleaned, a specific analysis can be performed on multiple guardrails ahead of the vehicle's driving path, that is, the guardrail status index of the guardrail to be cleaned can be obtained.

[0060] Furthermore, in some embodiments of the present invention, a guardrail status analysis module and a networked meteorological analysis module are also installed on the road maintenance vehicle. The guardrail status analysis module is used to obtain the historical usage time of the guardrail to be cleaned, and the meteorological analysis module is used to obtain the current environmental quality coefficient.

[0061] The historical usage time is the time the guardrail to be cleaned is used on the road. Since the guardrail to be cleaned will inevitably wear out during use, the state of the guardrail to be cleaned can be objectively characterized by determining the historical usage time. The historical usage time can be obtained and analyzed by the relevant road management system or other cloud.

[0062] Among them, the meteorological analysis module is used to analyze the meteorological conditions at the current moment and before the current moment to obtain the environmental quality coefficient. The environmental quality coefficient represents the corresponding environmental state. The larger the environmental quality coefficient, the better the environment. For example, the opposite of the rainfall before the current moment can be used as the environmental quality coefficient for analysis. The more rainfall there is, the greater the degree to which the corresponding guardrail is washed by sewage, and the worse the environmental quality is, that is, the smaller the environmental quality coefficient is, and the more the guardrail itself needs to be cleaned. Of course, the environmental quality coefficient includes not only rainfall factors, but also air quality, dust coefficient, etc., and there is no restriction on this.

[0063] After obtaining the historical usage time and the environmental quality coefficient, a specific analysis can be performed in combination. Further, in some embodiments of the present invention, the guardrail status index of the guardrail to be cleaned is determined based on the historical usage time and the environmental quality coefficient, including: normalizing the historical usage time to obtain the time impact coefficient; calculating the ratio of the environmental quality coefficient to the time impact coefficient, and normalizing it as the guardrail status index of the guardrail to be cleaned.

[0064] Among them, the greater the historical usage time, the greater the corresponding wear, and the more powerful cleaning is needed during the cleaning process to avoid dirt accumulation. Therefore, the historical usage time is normalized to obtain the time influence coefficient. The normalization process can be specifically a normalization method of the maximum and minimum values, or other normalization methods can be selected, and there is no restriction on this.

[0065] Among them, since the larger the value of the environmental quality coefficient, the better the corresponding environment, the ratio of the environmental quality coefficient to the historical usage time is normalized and used as the guardrail status indicator. That is, the larger the value of the guardrail status index, the better the objective condition of the guardrail itself, it is in a cleaner environment, and it is less likely to hide dirt.

[0066] It should be noted that in order to ensure that the calculation results are meaningful, when performing fractional operations in the embodiments of the present invention, when the denominator is 0, it is necessary to add a parameter adjustment factor greater than 0 to the denominator to prevent the denominator from being 0. The value of the parameter adjustment factor is set by the implementer according to actual conditions, such as 0.01, and this application does not impose any special restrictions.

[0067] Of course, in other embodiments of the present invention, the difference between the environmental quality coefficient and the time impact coefficient may also be calculated and normalized to serve as a guardrail status indicator for the guardrail to be cleaned, and there is no limitation to this.

[0068] Therefore, after determining the guardrail state index, the initial operating state parameters of the cleaning brush at the guardrail position to be cleaned can be determined in combination with the current contact pressure and the current rotation speed of the cleaning brush obtained at the current moment. The initial operating parameters are the initial values ​​of the operating state that need to be adjusted at the guardrail position to be cleaned, determined taking into account the state of the cleaning brush at the current moment. It can be understood that it is only used as an initial value for specific analysis, and other different adjustment factors will be introduced in subsequent steps to adjust the initial value. The specific process refers to the subsequent embodiments.

[0069] Furthermore, in some embodiments of the present invention, the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned are determined in combination with the guardrail state index, the current contact pressure of the cleaning brush at the current moment, and the current rotational speed, including: determining the difference in the guardrail state index between the guardrail to be cleaned and the guardrail currently being cleaned to obtain a state change coefficient; taking the product of the state change coefficient and the current contact pressure as the current pressure adjustment value, and calculating the sum of the current pressure adjustment value and the current contact pressure as the initial contact pressure; taking the product of the state change coefficient and the current rotational speed as the current rotational speed adjustment value, and calculating the sum of the current rotational speed adjustment value and the current rotational speed as the initial rotational speed; wherein the initial contact pressure and the initial rotational speed are used together as the initial operating state parameters.

[0070] In an embodiment of the present invention, the state change coefficient is obtained by calculating the difference in the guardrail state index between the guardrail to be cleaned and the guardrail currently being cleaned. That is, the larger the value of the state change index, the greater the corresponding change from the guardrail currently being cleaned to the guardrail to be cleaned.

[0071] Of course, in some other embodiments of the present invention, a specific analysis can also be performed in combination with the length from the intersection. Since the closer to the intersection, the higher the complexity of the corresponding road and the greater the traffic volume, that is, the easier it is to be affected by dirt, the larger the state change coefficient. Therefore, the sum of the difference in the guardrail state index between the guardrail to be cleaned and the guardrail currently being cleaned and the difference in the distance from the intersection can be used as the state change coefficient. Of course, in some other embodiments of the present invention, the state change coefficient can also be combined with actual geographical characteristics. For example, for various situations such as road traffic and pedestrian flow, the larger the value of the state change coefficient, the greater the difference in the guardrail state between the corresponding guardrail to be cleaned and the guardrail currently being cleaned.

[0072] It should be noted that the state change parameter can be positive or negative, that is, when the state change parameter is positive, the guardrail state index representing the guardrail to be cleaned is higher than the guardrail state index of the guardrail currently being cleaned; when the state change parameter is negative, the guardrail state index representing the guardrail to be cleaned is lower than the guardrail state index of the guardrail currently being cleaned.

[0073] In an embodiment of the present invention, the difference characteristics of the guardrail status indicators of the guardrail to be cleaned and the guardrail currently being cleaned are used to determine the current pressure adjustment value and the current speed adjustment value that need to be adjusted, and then the initial contact pressure and initial speed corresponding to the guardrail to be cleaned are determined, and they are used together as the initial operating state parameters.

[0074] S102: Determine the degree of dirtiness of the guardrail to be cleaned according to the reflectivity index and the guardrail state index; determine the operating state adjustment index of the cleaning brush according to the dirtiness and the initial operating state parameter.

[0075] In the embodiment of the present invention, during the cleaning of the guardrail to be cleaned, it is necessary to adjust the cleaning state of the cleaning brush according to the dirtiness of the guardrail to be cleaned in front collected by the sensor, so as to clean with the most appropriate contact pressure and rotation speed, improve efficiency and reduce loss. The embodiment of the present invention uses a photoelectric sensor to obtain the reflectivity index in front, and then realizes the analysis of the dirtiness according to the reflectivity index and the guardrail state index.

[0076] Furthermore, in some embodiments of the present invention, the degree of dirtiness of the guardrail to be cleaned is determined based on a reflectivity index and a guardrail status index, including: calculating the absolute value of the difference between the reflectivity index and a preset standard reflectivity of the guardrail to be cleaned as the reflectivity difference; taking the ratio of the reflectivity difference to the guardrail status index and normalizing it as the degree of dirtiness of the guardrail to be cleaned.

[0077] It should be noted that the photoelectric sensor can measure the reflectivity change of the guardrail surface and judge the degree of dirtiness according to the intensity or color change of the reflected light. Therefore, in the embodiment of the present invention, the absolute value of the difference between the reflectivity index and the preset standard reflectivity of the guardrail to be cleaned can be calculated as the reflectivity difference, where the preset standard reflectivity is the normal reflectivity of the guardrail surface in a clean state. When there is dust or stains on the guardrail surface, its corresponding reflectivity will change. The change can be characterized by the reflectivity difference, that is, the larger the reflectivity difference, the more obvious the change.

[0078] Furthermore, the embodiment of the present invention can normalize the ratio of the reflectivity difference to the guardrail status index as the degree of dirtiness of the guardrail to be cleaned. The larger the value of the degree of dirtiness, the more obvious the influence of stains and dust on the corresponding guardrail to be cleaned.

[0079] Furthermore, in some embodiments of the present invention, the operating state adjustment index of the cleaning brush is determined according to the degree of dirtiness and the initial operating state parameters, including: calculating the product of the degree of dirtiness and the initial contact pressure as the adjusted contact pressure; calculating the product of the degree of dirtiness and the initial rotational speed as the adjusted rotational speed; and using the adjusted contact pressure and the adjusted rotational speed together as the operating state adjustment index.

[0080] The greater the degree of dirtiness, the more contact pressure needs to be increased to improve the cleaning effect of the cleaning brush. The product of the degree of dirtiness and the initial contact pressure is calculated as the adjusted contact pressure. The adjusted contact pressure is the pressure value that needs to be adjusted due to the degree of dirtiness. Similarly, the product of the degree of dirtiness and the initial speed is calculated as the adjusted speed. The adjusted speed is the speed value that needs to be adjusted due to the degree of dirtiness. The adjusted contact pressure and the adjusted speed are used together as the operating status adjustment index.

[0081] S103: According to the speed of the road maintenance vehicle currently in operation and the distance between the road maintenance vehicle and the guardrail to be cleaned, the buffer time is determined and adjusted, the index and the buffer time are adjusted according to the operation status, the rotation speed of the cleaning brush is adjusted, and the servo motor is controlled to operate to adjust the interval distance of the cleaning brush.

[0082] It should be noted that, since the road maintenance vehicle is cleaning the current guardrail, and the guardrail to be cleaned is still a certain distance away from the road maintenance vehicle, it has a corresponding buffer time. Since the running speed of the road maintenance vehicle is usually uniform, the buffer time can be specifically calculated in the embodiment of the present invention.

[0083] Furthermore, in some embodiments of the present invention, the adjustment buffer time is determined according to the speed of the currently running road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, including: calculating the ratio of the distance between the guardrails to be cleaned and the speed of the road maintenance vehicle to obtain the adjustment buffer time.

[0084] The adjustment buffer time is obtained by the ratio of the length to the speed. During the adjustment buffer time, the state of the cleaning brush of the road maintenance vehicle can be adjusted from the current state to the state required for cleaning the guardrail.

[0085] Furthermore, in some embodiments of the present invention, the rotation speed of the cleaning brush is adjusted and the servo motor is controlled to operate to adjust the spacing distance of the cleaning brush according to the operating status adjustment index and the adjustment buffer time, including: calculating the sum of the initial contact pressure and the adjusted contact pressure as the target contact pressure corresponding to the guardrail to be cleaned; using the difference between the target contact pressure and the current contact pressure at the current moment as the pressure correction index; adjusting the operation of the servo motor according to the value of the pressure correction index, and then adjusting the spacing distance of the cleaning brush; calculating the sum of the initial rotation speed and the adjusted rotation speed as the target rotation speed corresponding to the guardrail to be cleaned; using the difference between the target rotation speed and the current rotation speed at the current moment as the rotation speed correction index, and adjusting the rotation speed of the cleaning brush according to the value of the rotation speed correction index and the adjustment buffer time.

[0086] It should be noted that the state adjustment of the cleaning brush requires not only increasing the contact pressure and the rotation speed, but also timely reducing the contact pressure and the rotation speed when the state of the guardrail to be cleaned is better than that of the guardrail being cleaned, so as to avoid resource consumption.

[0087] Therefore, by taking the difference between the target contact pressure and the current contact pressure at the current moment as the pressure correction index, the value of the pressure correction index can be positive or negative, and then adjusting the operation of the servo motor according to the value of the pressure correction index, including: when the value of the pressure correction index is a positive number, controlling the operation of the servo motor to reduce the spacing distance of the cleaning brushes until the pressure detected by the pressure sensor reaches the target contact pressure; when the value of the pressure correction index is a negative number, controlling the operation of the servo motor to increase the spacing distance of the cleaning brushes until the pressure detected by the pressure sensor reaches the target contact pressure; when the value of the pressure correction index is 0, maintaining the spacing distance of the cleaning brushes at the current moment.

[0088] That is, the operation of the servo motor is controlled by the positive, negative and 0 of the pressure correction index. When the value of the pressure correction index is a positive number, it means that the target contact pressure is greater than the current contact pressure at the current moment, that is, the contact pressure value needs to be increased at the current moment. Thus, the servo motor is controlled to reduce the spacing distance of the cleaning brush, thereby increasing the contact pressure. When the value of the pressure correction index is a negative number, it means that the target contact pressure is less than the current contact pressure at the current moment, that is, the contact pressure value needs to be reduced at the current moment.

[0089] It should be noted that the servo motor can adjust the length of the telescopic metal rod, and then adjust the spacing between the cleaning brushes on both sides, which is manifested in the numerical characteristics, that is, adjusting the contact pressure to the target contact pressure.

[0090] Similarly, the speed of the cleaning brush is adjusted according to the value of the speed correction index and the adjustment buffer time, including: when the value of the speed correction index is a positive number, the speed of the cleaning brush is linearly increased to the target speed within the adjustment buffer time; when the value of the speed correction index is a negative number, the speed of the cleaning brush is linearly reduced to the target speed within the adjustment buffer time; when the value of the speed correction index is 0, the speed of the cleaning brush is maintained at the current moment.

[0091] The analysis of the rotational speed is similar to that of the contact pressure, that is, by adjusting to the target rotational speed, adaptive rotational speed adjustment is achieved. It should be noted that the rotational speed can be linearly increased or decreased according to the adjustment buffer time. For example, when the adjustment buffer time is 100 seconds and the current rotational speed is 2000 revolutions per second and the target speed is 3000 revolutions per second, the current rotational speed can be increased by 10 revolutions per second, thereby achieving linear adjustment of the rotational speed.

[0092] The present application configures a pressure sensor, a photoelectric sensor, and a cleaning brush control module in the guardrail cleaning module, which is used to analyze the current cleaning state and the state to be adjusted based on the current contact pressure collected by the pressure sensor and the reflectivity index collected by the photoelectric sensor, control the operation of the servo motor and adjust the length of the retractable metal rod, so as to adaptively adjust the spacing distance and rotation speed of the cleaning brush, and flexibly adjust the state of the cleaning brush itself to ensure the cleaning ability of the guardrail. At the same time, adaptively adjusting the contact pressure and rotation speed of the cleaning brush can achieve the purpose of saving energy and reducing equipment wear without causing damage to the guardrail. In summary, the embodiments of the present invention can effectively improve the adaptive cleaning ability of the road maintenance vehicle, thereby enhancing the cleaning effect of the guardrail.

[0093] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0094] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A multifunctional road maintenance vehicle, comprising a multifunctional road guardrail maintenance vehicle and a guardrail cleaning module, characterized in that: The guardrail cleaning module includes a pressure sensor, a photoelectric sensor and a cleaning brush control module, wherein the cleaning brush control module includes a servo motor and a retractable metal rod, and the servo motor is connected to the retractable metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail currently being cleaned, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned on the road section in front of the road maintenance vehicle; the cleaning brush control module controls the servo motor to operate and adjust the length of the retractable metal rod, and adjusts the spacing distance and rotation speed of the cleaning brush according to the current contact pressure and the reflectivity index; Wherein, the servo motor is controlled to operate and the length of the retractable metal rod is adjusted according to the current contact pressure and the reflectivity index, thereby adjusting the spacing distance and the rotation speed of the cleaning brush, including: Obtaining a guardrail state index of the guardrail to be cleaned; determining an initial operating state parameter of the cleaning brush at the position of the guardrail to be cleaned by combining the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment; Determine the degree of dirtiness of the guardrail to be cleaned according to the reflectivity index and the guardrail state index; determine the operating state adjustment index of the cleaning brush according to the degree of dirtiness and the initial operating state parameter; The adjustment buffer time is determined according to the speed of the currently running road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, and the rotation speed of the cleaning brush is adjusted according to the running state adjustment index and the adjustment buffer time, and the servo motor is controlled to operate to adjust the spacing distance of the cleaning brush.

2. A multifunctional road maintenance vehicle as claimed in claim 1, characterized in that: It also includes a guardrail status analysis module and a networked meteorological analysis module. The guardrail status analysis module is used to obtain the historical usage time of the guardrail to be cleaned, and the meteorological analysis module is used to obtain the current environmental quality coefficient.

3. A multifunctional road maintenance vehicle as claimed in claim 2, characterized in that: Determining the guardrail status index of the guardrail to be cleaned according to the historical usage time and the environmental quality coefficient includes: Normalizing the historical usage time to obtain a time impact coefficient; The ratio of the environmental quality coefficient to the time influence coefficient is calculated and normalized to be used as the guardrail state indicator of the guardrail to be cleaned.

4. A multifunctional road maintenance vehicle as claimed in claim 3, characterized in that: Combining the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment, determining the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned, including: Determine the difference in guardrail status index between the guardrail to be cleaned and the guardrail currently being cleaned, and obtain a state change coefficient; The product of the state change coefficient and the current contact pressure is used as the current pressure adjustment value, and the sum of the current pressure adjustment value and the current contact pressure is calculated as the initial contact pressure; The product of the state change coefficient and the current speed is used as the current speed adjustment value, and the sum of the current speed adjustment value and the current speed is calculated as the initial speed; wherein the initial contact pressure and the initial speed are used together as initial operating state parameters.

5. A multifunctional road maintenance vehicle as claimed in claim 1, characterized in that: Determining the degree of dirtiness of the guardrail to be cleaned according to the reflectivity index and the guardrail state index includes: Calculating the absolute value of the difference between the reflectivity index and the preset standard reflectivity of the guardrail to be cleaned as the reflectivity difference; The ratio of the reflectivity difference to the guardrail status index is normalized and processed as the dirtiness of the guardrail to be cleaned.

6. A multifunctional road maintenance vehicle as claimed in claim 4, characterized in that: Determining the operating state adjustment index of the cleaning brush according to the dirtiness and the initial operating state parameter includes: Calculating the product of the dirtiness degree and the initial contact pressure as the adjusted contact pressure; Calculating the product of the dirtiness degree and the initial rotation speed as the adjusted rotation speed; The adjusted contact pressure and the adjusted rotation speed are used together as operating state adjustment indicators.

7. A multifunctional road maintenance vehicle as claimed in claim 1, characterized in that: The step of determining and adjusting the buffer time according to the speed of the currently running road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned includes: The ratio of the distance between the guardrails to be cleaned to the speed of the road maintenance vehicle is calculated to obtain the adjustment buffer time.

8. A multifunctional road maintenance vehicle as claimed in claim 6, characterized in that: According to the operating state adjustment index and the adjustment buffer time, the rotation speed of the cleaning brush is adjusted and the servo motor is controlled to operate to adjust the spacing distance of the cleaning brush, including: The sum of the initial contact pressure and the adjusted contact pressure is calculated as the target contact pressure corresponding to the guardrail to be cleaned; the difference between the target contact pressure and the current contact pressure at the current moment is used as a pressure correction index; according to the value of the pressure correction index, the operation of the servo motor is adjusted, thereby adjusting the spacing distance of the cleaning brush; The sum of the initial speed and the adjusted speed is calculated as the target speed corresponding to the guardrail to be cleaned; the difference between the target speed and the current speed at the current moment is used as the speed correction index, and the speed of the cleaning brush is adjusted according to the value of the speed correction index and the adjustment buffer time.

9. A multifunctional road maintenance vehicle as claimed in claim 8, characterized in that: According to the value of the pressure correction index, adjusting the operation of the servo motor includes: When the value of the pressure correction index is a positive number, the servo motor is controlled to operate to reduce the spacing distance of the cleaning brush until the pressure detected by the pressure sensor reaches the target contact pressure; When the value of the pressure correction index is a negative number, controlling the servo motor to operate to increase the spacing distance of the cleaning brush until the pressure detected by the pressure sensor reaches the target contact pressure; When the value of the pressure correction index is 0, the spacing distance of the cleaning brushes at the current moment is maintained.

10. A multifunctional road maintenance vehicle as claimed in claim 8, characterized in that: Adjusting the speed of the cleaning brush according to the value of the speed correction index and the adjustment buffer time includes: When the value of the rotation speed correction index is a positive number, the rotation speed of the cleaning brush is linearly increased to a target rotation speed within the adjustment buffer time; When the value of the rotation speed correction index is a negative number, the rotation speed of the cleaning brush is linearly reduced to the target rotation speed within the adjustment buffer time; When the value of the rotation speed correction index is 0, the rotation speed of the cleaning brush at the current moment is maintained.

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