A multi-functional road maintenance vehicle

Abstract

The present invention relates to the technical field of street cleaning, and particularly relates to a multi-functional road maintenance vehicle, including a multi-functional road guardrail maintenance vehicle and a guardrail cleaning module. The guardrail cleaning module includes a pressure sensor, a photoelectric sensor, and a cleaning brush control module. Among them, the cleaning brush control module includes a servo motor and a telescopic metal rod, and the servo motor is connected to the telescopic metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail being cleaned currently, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned in the section in front of the road maintenance vehicle; the cleaning brush control module controls the operation of the servo motor and adjusts the length of the telescopic metal rod according to the current contact pressure and the reflectivity index, so as to adjust the interval distance and rotation speed of the cleaning brush. The embodiment of the present invention can effectively improve the adaptive cleaning ability of the road maintenance vehicle, and further enhance the cleaning effect of the guardrail.

Description

Technical Field

[0001] The present invention relates to the technical field of street cleaning, and particularly 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 set in the middle of the road to prevent pedestrians from crossing the road illegally and vehicles from making illegal U-turns, etc., and play the functions of visual guidance and assisting drivers. Since the guardrails are always in outdoor places, their surfaces are often covered with dust, rainwater and various stains. In order to improve the service life of the guardrails, road maintenance vehicles are usually used to clean them, reducing the long-term maintenance cost and enhancing 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 cleaning agent spraying module, etc. Among them, the brushing module clamps the guardrail with two cleaning brushes and realizes the brushing of the guardrail by rotating the cleaning brushes at high speed. In related technologies, a certain type of guardrail is cleaned in a unified state. In this way, due to the different scenarios where different guardrails are located, the dirt states of the guardrails themselves and environmental impacts may vary greatly in different regions. Therefore, only using one cleaning brush state cannot effectively clean the guardrails with different dirt states and environmental states adaptively, and the cleaning effect of the guardrails is poor. Summary of the Invention

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

[0005] The present invention provides a multifunctional road maintenance vehicle, including a multifunctional road guardrail maintenance vehicle and a guardrail cleaning module. The guardrail cleaning module includes a pressure sensor, a photoelectric sensor and a cleaning brush control module. Among them, the cleaning brush control module includes a servo motor and a telescopic metal rod, and the servo motor is connected to the telescopic metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail being cleaned currently, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned in the section in front of the road maintenance vehicle; the cleaning brush control module controls the operation of the servo motor and adjusts the length of the telescopic metal rod according to the current contact pressure and the reflectivity index, and adjusts the interval distance and rotation speed of the cleaning brush;

[0006] Among them, controlling the operation of the servo motor and adjusting the length of the telescopic metal rod according to the current contact pressure and the reflectivity index, and then adjusting the interval distance and rotation speed of the cleaning brush includes:

[0007] Obtain the guardrail status index of the guardrail to be cleaned; combine the guardrail status index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment to determine the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned;

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

[0009] Determine the adjustment buffer time according to the vehicle speed of the currently operating road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, and adjust the rotation speed of the cleaning brush and control the operation of the servo motor to adjust the interval distance of the cleaning brush according to the operating state adjustment index and the adjustment buffer time.

[0010] Furthermore, it further includes a guardrail status analysis module and an internet-connected meteorological analysis module. The guardrail status analysis module is used to obtain the historical usage duration of the guardrail to be cleaned, and the meteorological analysis module is used to obtain the current environmental quality coefficient.

[0011] Furthermore, determine the guardrail status index of the guardrail to be cleaned according to the historical usage duration and the environmental quality coefficient, including:

[0012] Perform normalization processing on the historical usage duration to obtain a time influence coefficient;

[0013] Calculate the ratio of the environmental quality coefficient to the time influence coefficient, and perform normalization processing as the guardrail status index of the guardrail to be cleaned.

[0014] Furthermore, combine the guardrail status index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment to determine the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned, including:

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

[0016] Take the product of the state change coefficient and the current contact pressure as the current pressure adjustment value, and calculate the sum value of the current pressure adjustment value and the current contact pressure as the initial contact pressure;

[0017] Take the product of the state change coefficient and the current rotation speed as the current rotation speed adjustment value, and calculate the sum value of the current rotation speed adjustment value and the current rotation speed as the initial rotation speed; wherein, the initial contact pressure and the initial rotation speed together serve as the initial operating state parameters.

[0018] Further, according to the reflectivity index and the guardrail status index, determine the degree of dirt on the guardrail to be cleaned, including:

[0019] Calculate 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] Take the ratio of the reflectivity difference to the guardrail status index and perform normalization processing as the degree of dirt on the guardrail to be cleaned.

[0021] Further, according to the degree of dirt and the initial operating state parameters, determine the operating state adjustment index of the cleaning brush, including:

[0022] Calculate the product of the degree of dirt and the initial contact pressure as the adjusted contact pressure;

[0023] Calculate the product of the degree of dirt and the initial rotational speed as the adjusted rotational speed;

[0024] Take the adjusted contact pressure and the adjusted rotational speed together as the operating state adjustment index.

[0025] Further, according to the vehicle speed of the currently operating road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned, determine the adjustment buffer time, including:

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

[0027] Further, according to the operating state adjustment index and the adjustment buffer time, adjust the rotational speed of the cleaning brush and control the operation of the servo motor to adjust the interval distance of the cleaning brush, including:

[0028] Calculate the sum value of the initial contact pressure and the adjusted contact pressure as the target contact pressure corresponding to the guardrail to be cleaned; take the difference between the target contact pressure and the current contact pressure at the current moment as the pressure correction index; according to the value of the pressure correction index, adjust the operation of the servo motor, and then adjust the interval distance of the cleaning brush;

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

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

[0031] When the value of the pressure correction index is positive, control the operation of the servo motor to reduce the interval 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 negative, control the operation of the servo motor to increase the interval 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, maintain the interval distance of the cleaning brush at the current moment.

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

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

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

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

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

[0039] In this application, by configuring a pressure sensor, a photoelectric sensor, and a cleaning brush control module in the guardrail cleaning module, for analyzing the current cleaning state and the state to be adjusted according to the current contact pressure collected by the pressure sensor and the reflectivity index collected by the photoelectric sensor, controlling the operation of the servo motor and adjusting the length of the telescopic metal rod, so as to be able to adaptively adjust the interval distance and rotation speed of the cleaning brush, flexibly adjust the state of the cleaning brush itself to ensure the cleaning ability of the guardrail. At the same time, the adaptive adjustment of the contact pressure and rotation speed of the cleaning brush can achieve the purpose of saving energy and reducing equipment wear without damaging the guardrail. To sum up, 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 further enhance the guardrail cleaning effect. 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 following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 Structural diagram of a multi-functional road maintenance vehicle provided by an embodiment of the present invention;

[0042] Figure 2 Front view of the specific structure of the guardrail cleaning module provided by an embodiment of the present invention;

[0043] Figure 3 Side view of the specific structure of the guardrail cleaning module provided by an embodiment of the present invention;

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

[0045] Figure 5 Flow chart of the cleaning brush control method provided by an embodiment of the present invention;

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

[0047] Reference numerals: 1 - water inlet of the water pipe; 2 - pressure sensor; 3 - water spray nozzle; 4 - photoelectric sensor; 5 - telescopic metal rod; 6 - water delivery hose; 7 - water pipe; 8 - cleaning brush; 9 - servo motor; 10 - motor guide rail; 11 - extension rod. Detailed implementation manners

[0048] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following combines the accompanying drawings and preferred embodiments to detail the specific implementation manners, structures, features and effects of a multi-functional road maintenance vehicle proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0050] The following specifically describes the specific solution of a multi-functional road maintenance vehicle provided by the present invention with reference to the accompanying drawings.

[0051] Please refer to Figure 1, which shows the 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 includes a pressure sensor, a photoelectric sensor, and a cleaning brush control module. Among them, the cleaning brush control module includes a servo motor and a telescopic metal rod, and the servo motor is connected to the telescopic metal rod; the pressure sensor is used to obtain the current contact pressure between the cleaning brush and the guardrail being cleaned currently, and the photoelectric sensor is used to obtain the reflectivity index of the guardrail to be cleaned in the section in front of the road maintenance vehicle; the cleaning brush control module controls the operation of the servo motor and adjusts the length of the telescopic metal rod according to the current contact pressure and the reflectivity index, so as to adjust the interval distance and rotation speed of the cleaning brush.

[0052] Further, in some embodiments of the present invention, in combination with Figure 2 and Figure 3 carry out specific analysis, Figure 2 is the front view of the specific structure of the guardrail cleaning module provided by an embodiment of the present invention; Figure 3 is the side view of the specific structure of the guardrail cleaning module provided by an embodiment of the present invention. Among them, clean water and cleaning liquid flow into the water delivery hose 6 through the water pipe inlet 1, and then enter the water delivery pipes 7 on both sides, and are sprayed out through the spray nozzles 3 connected thereto. The pressure sensor 2 is installed at the connection of the tops 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 through 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, so as to control the distance between the cleaning brushes 8 on both sides and the pressure. 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, so as to combine clean water and cleaning liquid to achieve the cleaning effect.

[0053] For specific examples, see Figure 4 , Figure 4 is the schematic diagram of the cleaning state of the road maintenance vehicle provided by an embodiment of the present invention. It can be seen from this that by adjusting the distance between the cleaning brushes on both sides and the rotation speed of the cleaning brush itself, the adjustment of the cleaning effect can be realized.

[0054] It should be noted that since the states of the guardrails on the road are complex and changeable, for example, some guardrail states are more severely damaged due to being close to intersections and having a large traffic flow. During continuous rainy periods, due to the splashing effect of vehicle driving on the road surface water accumulation, relatively serious water stains will also be generated. Therefore, cleaning the guardrails according to only one state cannot achieve an adaptive cleaning effect. By adjusting the state of the cleaning brush, an adaptive cleaning effect can be achieved.

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

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

[0057] It should be noted that since the shape of the guardrail is relatively complex, the present invention can divide the guardrail into sections with the connection nodes of the guardrail as endpoints. The structure at the connection of each section of the guardrail will change to a certain extent, and the degree of dirt at each position of the guardrail is different. In order not to cause damage at the connection, a relatively small 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 dirt. Therefore, through the method of sectioning, the present invention can perform adaptive cleaning adjustment on each section of the guardrail. Among them, see Figure 6 , Figure 6 is a schematic diagram of a guardrail provided by an embodiment of the present invention. For the convenience of the cleaning effect of the guardrail, an embodiment of the present invention can regard 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 some other embodiments of the present invention, the overall guardrail can also be divided into sections according to other characteristics of the guardrail to obtain different guardrail sections, and no limitation is made thereto.

[0059] Among them, it should be noted that when cleaning the current guardrail, a specific analysis can be performed on multiple guardrails in front of the vehicle driving path, that is, obtain the guardrail state index of the guardrail to be cleaned.

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

[0061] Among them, the historical usage duration is the duration that the guardrail to be cleaned has been used on the road. Since the guardrail to be cleaned will inevitably wear during use, determining the historical usage duration can objectively characterize the state of the guardrail to be cleaned. The historical usage duration can be obtained and analyzed from relevant road management systems or other clouds.

[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 an 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 value of the rainfall before the current moment can be used as the environmental quality coefficient for analysis. Since the more rainfall, the greater the degree of sewage scouring on the corresponding guardrail, the worse the environmental quality, that is, the smaller the environmental quality coefficient, that is, the more the guardrail itself needs to be cleaned. Of course, the environmental quality coefficient includes not only rainfall factors, but also various factors such as air quality and dust coefficient, and there is no limitation on this.

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

[0064] Among them, the larger the historical usage duration, the more wear and tear it represents, and the more powerful cleaning is required during the cleaning process to avoid dirt accumulation. Therefore, normalizing the historical usage duration to obtain a time influence coefficient, and this normalization process can specifically be the normalization method of the maximum and minimum values, or other normalization methods can also be selected, and there is no limitation on this.

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

[0066] It should be noted that to ensure the significance of the calculation result, in the embodiment of the present invention, when performing fractional operations, in the case of a denominator of 0, a tuning factor greater than 0 needs to be added to the denominator to prevent the denominator from being 0. The value of the tuning factor is set by the implementer according to the actual situation, such as 0.01, and there is no special limitation in this application.

[0067] Of course, in some other embodiments of the present invention, the difference between the environmental quality coefficient and the time influence coefficient can also be calculated, and normalized as the guardrail status index of the guardrail to be cleaned, and there is no limitation on this.

[0068] Thus, after determining the guardrail state index, the initial operating state parameters of the cleaning brush at the position of the guardrail to be cleaned can be determined by combining 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 position of the guardrail to be cleaned considering 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 this initial value. For the specific process, please refer to the subsequent embodiments.

[0069] Further, 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 by combining the guardrail state index, the current contact pressure and the current rotation speed of the cleaning brush at the current moment, 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 value 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 rotation speed as the current rotation speed adjustment value, and calculating the sum value of the current rotation speed adjustment value and the current rotation speed as the initial rotation speed; wherein, the initial contact pressure and the initial rotation speed together serve as the initial operating state parameters.

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

[0071] Of course, in some other embodiments of the present invention, specific analysis can also be combined with the length from the intersection. Since the closer to the intersection, the higher the complexity of the corresponding road and the larger the traffic flow, that is, the more likely it is to produce dirt and affect the state change coefficient. Therefore, the sum value 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 together. Of course, in some other embodiments of the present invention, the state change coefficient can also be combined with the actual geographical features, such as the traffic flow and the number of pedestrians on the road. 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 has positive and negative values. That is, when the state change parameter is positive, it indicates that the guardrail state index of 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, it indicates that the guardrail state index of the guardrail to be cleaned is lower than the guardrail state index of the guardrail currently being cleaned.

[0073] In the embodiments of the present invention, based on the difference features between the guardrail to be cleaned and the guardrail state indicators of the guardrail being currently cleaned, the current pressure adjustment value and the current rotational speed adjustment value to be adjusted are determined, and then the initial contact pressure and the initial rotational speed corresponding to the guardrail to be cleaned are determined, and they are jointly used as the initial operating state parameters.

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

[0075] In the embodiments of the present invention, during the process of cleaning the guardrail to be cleaned, it is necessary to adjust the cleaning state of the cleaning brush according to the dirt condition of the guardrail to be cleaned collected by the sensor, so as to clean with the most suitable contact pressure and rotational speed, improve efficiency and reduce losses. Then, in the embodiments of the present invention, the reflectivity index in front is obtained by using a photoelectric sensor, and then the analysis of the degree of dirt is realized according to the reflectivity index and the guardrail state indicator.

[0076] Further, in some embodiments of the present invention, determining the degree of dirt of the guardrail to be cleaned according to the reflectivity index and the guardrail state indicator 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; taking the ratio of the reflectivity difference to the guardrail state indicator and performing normalization processing as the degree of dirt of the guardrail to be cleaned.

[0077] It should be noted that the photoelectric sensor can measure the change in the reflectivity of the guardrail surface and judge the degree of dirt according to the change in the intensity or color of the reflected light. Therefore, in the embodiments 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. And since the reflectivity will change when there is dust or stains on the guardrail surface, the change situation can be characterized by the reflectivity difference, that is, the larger the reflectivity difference, the more obvious the change.

[0078] Furthermore, in the embodiments of the present invention, the ratio of the reflectivity difference to the guardrail state indicator can be taken and normalized as the degree of dirt of the guardrail to be cleaned. The larger the value of the degree of dirt, the more obvious the influence of stains and dust on the corresponding guardrail to be cleaned.

[0079] Further, in some embodiments of the present invention, determining the operating state adjustment indicator of the cleaning brush according to the degree of dirt and the initial operating state parameters includes: calculating the product of the degree of dirt and the initial contact pressure as the adjusted contact pressure; calculating the product of the degree of dirt and the initial rotational speed as the adjusted rotational speed; taking the adjusted contact pressure and the adjusted rotational speed together as the operating state adjustment indicator.

[0080] Among them, the greater the degree of dirt, the more it indicates the need to increase the contact pressure to improve the cleaning effect of the cleaning brush. Calculate the product of the degree of dirt and the initial contact pressure as the adjusted contact pressure. The adjusted contact pressure is the pressure value that needs to be adjusted and increased due to the degree of dirt. Similarly, calculate the product of the degree of dirt and the initial rotational speed as the adjusted rotational speed. The adjusted rotational speed is the rotational speed value that needs to be adjusted and increased due to the degree of dirt. The adjusted contact pressure and the adjusted rotational speed are jointly used as the operation state adjustment indicators.

[0081] S103: Determine the adjusted buffer time according to the vehicle speed of the currently operating road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned. According to the operation state adjustment indicators and the adjusted buffer time, adjust the rotational speed of the cleaning brush and control the operation of the servo motor to adjust the interval distance of the cleaning brush.

[0082] It should be noted that since the road maintenance vehicle is cleaning the current railing and there is still a certain distance between the guardrail to be cleaned and the road maintenance vehicle, there is a corresponding buffer time. Also, since the operating speed of the road maintenance vehicle is usually a uniform motion, the adjusted buffer time can be specifically calculated in the embodiments of the present invention.

[0083] Further, in some embodiments of the present invention, determining the adjusted buffer time according to the vehicle speed of the currently operating road maintenance vehicle and the distance between the road maintenance vehicle and the guardrail to be cleaned includes: calculating the ratio of the distance between the guardrails to be cleaned to the vehicle speed of the road maintenance vehicle to obtain the adjusted buffer time.

[0084] By the ratio of length to speed, the adjusted buffer time is obtained. During this adjusted 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 the guardrail to be cleaned.

[0085] Further, in some embodiments of the present invention, adjusting the rotational speed of the cleaning brush and controlling the operation of the servo motor to adjust the interval distance of the cleaning brush according to the operation state adjustment indicators and the adjusted buffer time includes: calculating the sum value of the initial contact pressure and the adjusted contact pressure as the target contact pressure corresponding to the guardrail to be cleaned; taking 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 interval distance of the cleaning brush; calculating the sum value of the initial rotational speed and the adjusted rotational speed as the target rotational speed corresponding to the guardrail to be cleaned; taking the difference between the target rotational speed and the current rotational speed at the current moment as the rotational speed correction index, and adjusting the rotational speed of the cleaning brush according to the value of the rotational speed correction index and the adjusted buffer time.

[0086] It should be noted that for the state adjustment of the cleaning brush, not only the contact pressure and rotation speed need to be increased, but also when the state of the guardrail to be cleaned is better than that of the guardrail being cleaned, the contact pressure and rotation speed need to be reduced in a timely manner to avoid resource consumption.

[0087] Thus, by taking the difference between the target contact pressure and the current contact pressure at the current moment as the pressure correction index, and since the value of the pressure correction index has positive and negative values, the operation of the servo motor is adjusted according to the value of the pressure correction index, including: when the value of the pressure correction index is positive, controlling the servo motor to operate to reduce the interval 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 negative, controlling the servo motor to operate to increase the interval 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, maintaining the interval distance of the cleaning brush at the current moment.

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

[0089] It should be noted that the servo motor can adjust the length of the telescopic metal rod, and thus adjust the interval distance between the two cleaning brushes. In terms of numerical characteristics, it is to adjust the contact pressure to the target contact pressure.

[0090] Similarly, according to the value of the rotation speed correction index and the adjustment buffer time, the rotation speed of the cleaning brush is adjusted, including: when the value of the rotation speed correction index is positive, linearly increasing the rotation speed of the cleaning brush to the target rotation speed within the adjustment buffer time; when the value of the rotation speed correction index is negative, linearly decreasing the rotation speed of the cleaning brush to the target rotation speed within the adjustment buffer time; when the value of the rotation speed correction index is 0, maintaining the rotation speed of the cleaning brush at the current moment.

[0091] The analysis of the rotation speed is similar to that of the contact pressure, that is, by adjusting to the target rotation speed, the adaptive rotation speed adjustment is achieved. Among them, it should be noted that since the adjustment of the rotation 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 rotation speed is 2000 revolutions per second, and the target rotation speed is 3000 revolutions per second, the current rotation speed can be increased at a speed of 10 revolutions per second, so as to achieve the linear adjustment of the rotation speed.

[0092] In this application, a pressure sensor, a photoelectric sensor, and a cleaning brush control module are configured in the guardrail cleaning module. According to the current contact pressure collected by the pressure sensor and the reflectivity index collected by the photoelectric sensor, the analysis of the current cleaning state and the state to be adjusted is realized, the operation of the servo motor is controlled, and the length of the telescopic metal rod is adjusted, so that the interval distance and rotation speed of the cleaning brush can be adaptively adjusted, and the state of the cleaning brush itself can be flexibly adjusted to ensure the cleaning ability of the guardrail. At the same time, the contact pressure and rotation speed of the cleaning brush are adaptively adjusted, which can achieve the purpose of saving energy and reducing equipment wear without damaging the guardrail. In summary, the embodiments of the present invention can effectively improve the adaptive cleaning ability of the road maintenance vehicle, and thus enhance the guardrail cleaning effect.

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

[0094] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized.

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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