Suction nozzle body control method and garbage suction nozzle equipment

Abstract

The invention relates to the field of cleaning and sweeping vehicle suction nozzles, in particular to a suction nozzle body control method and garbage suction nozzle equipment. The suction nozzle body control method comprises the following steps: collecting and obtaining a garbage height value and garbage position information on a collection plane; determining the highest garbage in the current collection plane based on the garbage height value; based on the garbage information in the current collection plane, a plurality of alternative connecting lines are obtained, and the alternative connecting lines comprise the connecting line of the highest point of the highest garbage and the highest points of other garbage and the connecting line of the highest point of the highest garbage and the corresponding point of the end of the suction nozzle body; based on the plurality of alternative connecting lines, acquiring the alternative connecting line with the minimum slope as a target connecting line; calculating a lifting height value corresponding to the lifting device in the current acquisition plane based on the target connection line; based on the lifting height value, a lifting device is controlled to conduct adjustment; and repeatedly executing the operation until the suction nozzle body stops running. In this way, on the premise that the suction effect is guaranteed, rapid adjustment is achieved, and energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of suction nozzles for washing and sweeping vehicles, and in particular to a nozzle body control method and a garbage suction nozzle device. Background Art

[0002] With the continuous improvement of my country's urbanization level, people's requirements for environmental protection of urban roads are getting higher and higher. As a sanitation vehicle with multiple functions such as road cleaning, road sweeping, low-pressure flushing and spray dust removal, the washing and sweeping car has become the first choice for people to carry out cleaning and sanitation operations. The washing and sweeping car uses the upper engine or motor to drive the fan to generate negative pressure in the garbage bin. The garbage suction pipe of the garbage bin is connected to the garbage suction pipe of the suction nozzle through a hose. The suction nozzle sucks the garbage into the garbage bin under the action of negative pressure. When the washing and sweeping car is in operation, the suction nozzle is generally close to the ground, and the ground clearance cannot be adjusted immediately. The suction nozzle usually uses one or more sets of running wheels for ground running. The diameter of the running wheels is much smaller than that of the washing and sweeping car chassis wheels. As the washing and sweeping car moves forward, it needs to roll quickly to match the travel speed of the whole vehicle.

[0003] The suction nozzle of a washing and sweeping vehicle in the prior art generally has only two gears: overall raising and overall lowering. Raising the suction nozzle body means that the distance from the ground increases. If you want to maintain a good suction effect, you need to increase the power to increase the negative pressure. The height distribution of road garbage varies. Always maintaining the highest gear will cause unnecessary energy waste. Always maintaining the lowest gear will lead to incomplete suction work. For garbage with larger volume and higher height, it is impossible to complete the suction. In the process of switching between low and high positions, the height must be raised throughout the entire process. Each adjustment requires energy on the vehicle, and the total amount of energy on the vehicle is limited. Excessive energy consumption will lead to problems such as reduced vehicle operating time and reduced efficiency. Summary of the invention

[0004] In order to solve the problem of how to achieve rapid adjustment and reduce energy consumption under the premise of ensuring the suction effect, the present invention provides a nozzle body control method and a garbage suction nozzle device.

[0005] The first aspect of the present invention provides a method for controlling a nozzle body, comprising: a nozzle body, a control device, and a lifting device arranged at both ends of the nozzle body in the width direction, wherein the lifting device can adjust the height of the two ends of the nozzle body from the ground, the nozzle body is used to suck garbage on the ground, and the control device is used to control the lifting device. The method for controlling the nozzle body comprises: step S1, collecting and obtaining garbage information on a collection plane at a set distance from the nozzle body, wherein the garbage information comprises a garbage height value and garbage position information along the width direction of the nozzle body. Step S2, based on the garbage height value, determining that the garbage with the maximum garbage height value in the current collection plane is the highest garbage. Step S3, based on the garbage information in the current collection plane, obtaining multiple alternative connection lines, wherein the alternative connection lines include a connection line between the highest point of the highest garbage and the highest points of other garbage, and the alternative connection lines also include a connection line between the highest point of the highest garbage and the corresponding point of the nozzle body end. Step S4, based on the multiple alternative connection lines, obtaining a target connection line, wherein the target connection line is an alternative connection line with the minimum slope. Step S5, based on the target line, calculate the lifting height value corresponding to the lifting device in the current acquisition plane. Step S6, based on the lifting height value, control the lifting device to adjust. Step S7, repeat the steps S1 to S6 until the nozzle body stops running.

[0006] In some embodiments, the step S1 further includes: based on the moving direction of the vehicle where the nozzle body is located, collecting junk information on a plurality of collection planes in sequence.

[0007] In some embodiments, when the number of acquisition planes is greater than or equal to 2, and the number of target lines acquired based on the current acquisition plane is greater than or equal to 2, step S5 further includes:

[0008] Step S51, respectively calculating the multiple lifting height values ​​corresponding to the multiple target lines in the current acquisition plane. Step S52, respectively calculating the adjustment difference between the multiple lifting height values ​​in step S51 and the lifting height value corresponding to the previous acquisition plane. Step S53, comparing the sizes of the multiple adjustment differences, and selecting the target line in the current acquisition plane corresponding to the smallest adjustment difference, and calculating the lifting height corresponding to the lifting device.

[0009] In some embodiments, the step S1 further includes adjusting the frequency of collecting junk information on the plurality of collection planes based on the driving speed of the vehicle on which the nozzle body is located, and the collection frequency is:

[0010] f = n*v;

[0011] Among them, f is the collection frequency, v is the driving speed of the vehicle where the nozzle body is located, the unit is m / s, and n is the correction coefficient, and the value range is 5-10.

[0012] In some embodiments, the lifting device has a maximum lifting height. The step S2 further includes comparing the garbage height value corresponding to the highest garbage with the maximum lifting height. When the garbage height value corresponding to the highest garbage is less than the maximum lifting height, the step S3 is continued. When the garbage height value corresponding to the highest garbage is greater than the maximum lifting height, the suction nozzle body is controlled to stop running and an avoidance instruction is issued to the vehicle.

[0013] In some embodiments, the suction nozzle body is provided with a suction device for sucking up garbage. The step S6 further comprises, based on the lifting height value, calculating the current working power of the suction device:

[0014] P 当 =P 1 +m*(P e -P 1 );

[0015] Among them, P 当 is the current working power of the suction device, P e is the rated working power of the suction device, P1 is the minimum suction power, and m is the ratio between the lifting height value and the maximum lifting height.

[0016] In some embodiments, the control device is further provided with a garbage material database, and the step S1 further includes: obtaining garbage image information based on the collected garbage information, wherein the garbage image includes a garbage material image and garbage volume information. The step S6 further includes: comparing the obtained garbage material image with the garbage material database to obtain the material information of the garbage. Based on the garbage volume information and the garbage material information, calculating garbage quality information. Based on the garbage quality information, correcting the current working power of the suction device.

[0017] In some embodiments, the step S6 further includes, based on the garbage quality information, determining whether the rated power of the suction device can meet the power required for sucking the garbage, and if not, sending an alarm message to the vehicle where the suction nozzle is located. Based on the garbage volume information, determining whether it is greater than the holding volume of the suction nozzle, and if it is greater than the holding volume of the suction nozzle, sending an alarm message to the vehicle where the suction nozzle is located.

[0018] The second aspect of the present application also provides a garbage suction nozzle device.

[0019] The invention comprises a nozzle body, a control device, a lifting device and an information collection device, wherein the control device is used to execute the nozzle body control method in the above technical solution. The nozzle body is used to cover and suck objects located on the ground, the lifting device can adjust the height of the two ends of the nozzle body from the ground, and the information collection device is used to collect garbage information on a collection plane at a set distance from the nozzle body.

[0020] In some embodiments, the suction nozzle body includes a main body and a suction device for generating suction negative pressure, the suction device includes a power source and a suction hose connected to the suction nozzle body, and the outlet end of the suction hose is connected to a garbage collection box.

[0021] In some embodiments, the body includes a plurality of sub-nozzles arranged in sequence along the width direction, and the suction device includes a plurality of suction hoses, and the suction hoses are arranged in one-to-one correspondence with the sub-nozzles.

[0022] In some embodiments, the lifting device includes a first lifting device and a second lifting device respectively arranged at two ends of the nozzle body, and the control device can drive the height of the first lifting device and the second lifting device respectively.

[0023] In some embodiments, the first lifting device includes an auxiliary wheel group and a driving airbag arranged at the end of the suction nozzle body. The driving airbag can be filled with pressurized gas. The driving airbag can expand or contract in a vertical direction under the drive of the pressurized gas. The driving airbag is arranged on the upper side of the suction nozzle body, and the auxiliary wheel group is connected to the upper side of the driving airbag.

[0024] In some embodiments, the auxiliary wheel set includes a plurality of auxiliary wheels, the plurality of auxiliary wheels are connected in sequence via a connecting plate, and tracks are provided on the outer sides of the auxiliary wheels.

[0025] In some embodiments, the information collection device includes two cameras spaced apart along the width direction of the nozzle body, and the cameras can respectively collect image information including the collection plane.

[0026] In some embodiments, the garbage suction nozzle device further includes a lifting device, the lifting device includes a driving assembly and a lifting link, the driving assembly is connected to the upper part of the main body, and can drive the suction nozzle body to move upward to leave the working state. A plurality of lifting links are arranged at intervals along the width direction of the suction nozzle body, the first end of the lifting link is hinged to the upper side of the suction nozzle body, and the second end of the lifting link is hinged to the driving vehicle.

[0027] In some embodiments, the garbage suction nozzle equipment also includes a purge device, which is arranged at both ends of the suction nozzle body along the width direction, and includes a purge pipe, which extends from the end of the suction nozzle body in a direction away from the suction nozzle body, and the purge pipe is provided with a nozzle facing the ground in the forward direction of the suction nozzle body, and the nozzle can spray out a pressurized fluid.

[0028] In some embodiments, the purge device further includes a rotating assembly, wherein the rotating assembly is connected to the purge tube, and the rotating assembly is capable of adjusting an angle between the purge tube and the width direction of the nozzle body.

[0029] In order to solve the problem that the nozzle body control method occupies parking space, the present invention has the following advantages:

[0030] In the above technical solution, firstly, the garbage height value and the garbage position information along the width direction of the nozzle body are collected and acquired. Based on the acquired information, the highest point of the highest garbage is determined and a line is established between the highest point of the highest garbage and the highest point of other garbage, as well as a line between the highest point of the highest garbage and the corresponding point at the end of the nozzle body. The above two lines are both candidate lines. Then, a line with the smallest slope among the candidate lines is selected as the target line. Next, the height value corresponding to the target line at both ends of the nozzle body is calculated. Finally, the lifting height values ​​at both ends of the nozzle body are adjusted based on the calculation results. This can solve the problem of how to achieve rapid adjustment and reduce energy consumption while ensuring the suction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flow chart showing a nozzle body control method according to an embodiment;

[0032] Figure 2 A flow chart showing a nozzle body control method according to an embodiment;

[0033] Figure 3 A schematic diagram showing the working mode of a nozzle body control method according to an embodiment is shown;

[0034] Figure 4 A schematic diagram of the structure of a garbage suction nozzle device according to an embodiment is shown;

[0035] Figure 5 A schematic diagram of a garbage suction nozzle device in a top view according to an embodiment is shown;

[0036] Figure 6 A schematic structural diagram of a first lifting device according to an embodiment is shown;

[0037] Figure 7 A schematic diagram of the structure of an auxiliary wheel set according to an embodiment is shown;

[0038] Figure 8 A schematic structural diagram of a lifting device according to an embodiment is shown.

[0039] Figure numerals: 10 nozzle body; 11 main body; 12 suction device; 121 suction hose; 20 lifting device; 21 first lifting device; 211 driving airbag; 212 auxiliary wheel set; 2121 auxiliary wheel; 2122 connecting plate; 2123 crawler track; 213 suspension link; 22 second lifting device; 30 information collection device; 31 first camera; 32 second camera; 40 lifting device; 41 driving assembly; 42 lifting link; 50 purge device; 51 purge pipe; 52 nozzle; 53 rotating assembly. DETAILED DESCRIPTION

[0040] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0041] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0042] This embodiment discloses a method for controlling a nozzle body 10, which may include:

[0043] The nozzle body 10, the control device and the lifting device 20 arranged at both ends of the nozzle body 10 in the width direction, the lifting device 20 can adjust the height of both ends of the nozzle body 10 from the ground, the nozzle body 10 is used to suck up ground garbage, the control device is used to control the lifting device 20, and the nozzle body 10 control method includes:

[0044] Step S1, collect and obtain garbage information on a collection plane at a set distance from the nozzle body 10, the garbage information includes the garbage height value and the garbage position information along the width direction of the nozzle body 10. Step S2, based on the garbage height value, determine that the garbage with the maximum garbage height value in the current collection plane is the highest garbage. Step S3, based on the garbage information in the current collection plane, obtain multiple alternative connection lines, the alternative connection lines include the connection line between the highest point of the highest garbage and the highest point of other garbage, and the alternative connection lines also include the connection line between the highest point of the highest garbage and the corresponding point at the end of the nozzle body 10. Step S4, based on multiple alternative connection lines, obtain the target connection line, the target connection line is the alternative connection line with the minimum slope. Step S5, based on the target connection line, calculate the lifting height value corresponding to the lifting device 20 in the current collection plane. Step S6, based on the lifting height value, control the lifting device 20 to adjust. Step S7, repeat steps S1 to S6 until the nozzle body 10 stops running.

[0045] It should be noted that if Figure 1 , 4 As shown, the suction nozzle body 10 is an integrally formed rigid component and is the main structure of the suction nozzle device. The width of the suction nozzle body 10 is selected according to the width of the road section to be cleaned, and the suction nozzle body 10 maintains a minimum ground clearance with the ground. The suction nozzle device is not provided with a power device, and is connected to the bottom of the washing and sweeping vehicle by a rigid connector, and moves synchronously with the forward direction of the washing and sweeping vehicle. The lower surface of the suction nozzle body 10 is horizontal and is provided with an opening. The suction nozzle body 10 opens downward to cover and suck objects on the ground. Objects on the ground are sucked from the bottom to the top by the suction nozzle body 10 from the opening due to the negative pressure. Lifting devices 20 are symmetrically arranged at both ends of the suction nozzle body 10, and the lifting devices 20 include a first lifting device 21 and a second lifting device 22, which are used to adjust the ground height of the two ends of the suction nozzle body 10 respectively so that it can be just higher than the garbage height of the collection plane to ensure the suction effect. The suction nozzle of the washing and sweeping vehicle in the prior art generally has only two gears: overall raising and overall lowering. Raising the suction nozzle body 10 means that the distance from the ground increases. If you want to maintain a better suction effect, you need to increase the power to increase the negative pressure. The height distribution of road garbage varies. Always maintaining the highest gear will cause unnecessary energy waste. Always maintaining the lowest gear will lead to incomplete suction work. For garbage with larger volume and higher height, it is impossible to complete the suction. In the process of switching between low and high positions, the height must be lifted throughout the whole process. Each adjustment requires consumption of vehicle energy, and the total amount of vehicle energy is limited. Excessive energy consumption will lead to problems such as reduced vehicle operating time and reduced efficiency.

[0046] The present invention first collects and obtains the garbage height value and the garbage position information along the width direction of the nozzle body 10. Based on the obtained information, the highest point of the highest garbage is determined and a line is established between the highest point of the highest garbage and the highest point of other garbage, as well as a line between the highest point of the highest garbage and the corresponding point at the end of the nozzle body 10. The above two lines are both alternative lines. Then, a line with the smallest slope among the alternative lines is selected as the target line. Next, the height values ​​corresponding to the target line at both ends of the nozzle body 10 are calculated. Finally, based on the calculation results, the lifting height values ​​at both ends of the nozzle body 10 are adjusted respectively. The problem of how to achieve rapid adjustment and reduce energy consumption while ensuring the suction effect can be solved.

[0047] Specifically, before the suction nozzle body 10 passes through the road section to be cleaned, it is necessary to understand the garbage height information and garbage position information of the road section to be cleaned, so as to adjust the lifting device 20 based on the above information.

[0048] Therefore, based on the above content, in step S1 of the present application, the acquisition plane changes continuously as the nozzle body 10 moves forward, but the relative position with the nozzle body 10 remains unchanged. A first axis is set along the width direction of the lower surface of the nozzle body 10, and a second axis is set along the vertical direction to intersect the first axis at the midpoint of the nozzle body 10. The first axis and the second axis constitute a coordinate plane, and the coordinate plane is parallel to the acquisition plane. Since the coordinate plane is established based on the width data of the nozzle body 10, the nozzle width is known and accurate length information, so the coordinate plane is used to convert the image information collected by the information acquisition device 30 into garbage height values ​​and garbage position information along the width direction of the nozzle body 10. Based on the projection of the garbage image on the acquisition plane on the coordinate plane, a more accurate garbage height value and garbage position information along the width direction of the nozzle body 10 can be obtained, which is also more convenient for establishing connections and numerical calculations.

[0049] At the same time, the height value of the garbage and the garbage position information along the width direction of the nozzle body 10 can be obtained in a variety of ways, including cameras, radar detection, infrared scanning, and reflected laser sensors. The information collection device 30 is used to collect garbage information on a collection plane at a set distance from the direction of travel of the nozzle body 10. The set distance can be set and selected according to the implementation method of the information collection device 30, and it is usually necessary to be able to meet the accuracy of information collection. For example, when using a camera or a video camera for collection, the set distance can be set according to the focal length of the camera to ensure that the collected image is clear. Specifically, corresponding changes can be made according to actual work needs.

[0050] Because the suction nozzle body 10 can only completely absorb garbage when and only when the ground clearance of the suction nozzle body 10 is greater than the height of the highest garbage. If the lifting height of the suction nozzle body 10 is insufficient, on the one hand, garbage higher than the ground clearance of the suction nozzle body 10 cannot be passed by the suction nozzle body 10 from above, and the suction effect cannot be guaranteed. On the other hand, if the garbage higher than the ground clearance of the suction nozzle body 10 is made of hard material, it will also cause collision damage to the suction nozzle equipment.

[0051] Therefore, in step S2, by comparing the garbage height values ​​obtained from step S1, the garbage with the maximum garbage height value in the current collection plane is determined to be the highest garbage. The number of the highest garbage can be one or more. The lower surface of the suction nozzle body 10 needs to be higher than the height of all the highest garbage to ensure the suction effect of the suction nozzle body 10.

[0052] Based on the coordinate plane set above, the projection of the lower surface of the suction nozzle body 10 on the coordinate plane can be approximately regarded as a straight line, and the projection of the highest point of each garbage on the coordinate plane can be approximately regarded as a number of scattered points. Theoretically, there are countless straight lines that can cover all the scattered points on the collection plane. However, in order to solve the problem of how to achieve rapid adjustment and reduce energy consumption while ensuring the suction effect, the line should be selected from the line connecting the highest point of the highest garbage and the highest points of other garbage and the line connecting the highest point of the highest garbage and the corresponding point at the end of the suction nozzle body 10.

[0053] In step S3, based on the garbage information in the current collection plane, a connecting line is established from the highest point of the highest garbage to the highest points of all other garbage and the corresponding point of the end of the nozzle body 10. When there is only one garbage in the coordinate plane, the connecting line between the highest point of the highest garbage and the corresponding point of the end of the nozzle body 10 is obtained as an alternative connecting line; when the amount of garbage in the coordinate plane is greater than 1, the connecting line between the highest point of all the highest garbage and the highest point of other garbage and the connecting line between the highest point of the highest garbage and the corresponding point of the end of the nozzle body 10 are obtained as alternative connecting lines.

[0054] Since the lifting device 20 is symmetrically arranged at both ends of the suction nozzle body 10 in the width direction, the lifting device 20 can adjust the height of the two ends of the suction nozzle body 10 from the ground, so the load size in the lifting work at both ends is the same, and the only factor affecting the energy consumption is the lifting height in the vertical direction. The higher the height of the suction nozzle body 10 lifted by the lifting device 20, the greater the energy consumption of the lifting device 20. Since the left and right ends can perform lifting work separately, under the premise of ensuring the suction and sweeping effect, the lifting device 20 achieves the minimum energy consumption when the sum of the lifting heights at both ends takes the minimum value. At the same time, the lifting path of the lifting device 20 is the shortest, and the adjustment speed is also the fastest, thereby improving work efficiency. It is necessary to select an alternative connection line with the smallest sum of corresponding heights at the two end points from all the alternative connection lines obtained in step S3 as the target connection line.

[0055] Therefore, based on the above content, in step S4 of the present application, the smaller the absolute value of the slope of the alternative connection line, the smaller the lifting height of the two ends of the suction nozzle body 10 corresponding to the two ends of the alternative connection line will be. The absolute value of the slope of the alternative connection line is compared, and the alternative connection line with the smallest slope is selected as the target connection line.

[0056] In another embodiment, based on the coordinate plane set above, when the highest point of the highest garbage is located on the second axis, the lifting heights of both ends of the nozzle body 10 corresponding to both ends of all the alternative connection lines passing through the highest point of the highest garbage are the same. At this time, for the sake of device stability, the difference in the lifting heights of both ends of the nozzle body 10 is as small as possible, so the connection line passing through the highest point of the highest garbage and parallel to the nozzle body 10 is selected as the target connection line. When there are multiple pieces of the highest garbage in the coordinate plane, the connection line passing through the highest point of the highest garbage and parallel to the projection of the lower surface of the nozzle body 10 is used as the target connection line.

[0057] The two ends of the nozzle body 10 are respectively set as the first end and the second end. Because the target line is obtained by approximating the lower surface of the nozzle body 10, the height value corresponding to the target line at the first end of the nozzle body 10 is the height value of the first end of the nozzle body 10 under the current collection plane, which can be quickly adjusted to reduce energy consumption while ensuring the suction effect as much as possible. Correspondingly, the height value corresponding to the target line at the second end of the nozzle body 10 is the height value of the second end of the nozzle body 10 under the current collection plane, which can be quickly adjusted to reduce energy consumption while ensuring the suction effect as much as possible.

[0058] Therefore, based on the above content, in step S5, the present application calculates the lifting height value corresponding to the lifting device 20 based on the coordinate plane set above, and the function expression of the target line on the coordinate plane is y=ax+b, where x represents the first axis coordinate of any point on the target line, y represents the second axis coordinate of any point on the target line, a represents the slope of the target line, and b represents the height coordinate of the intersection of the target line and the second axis. Based on the first axis, the first axis coordinate value of the first end of the nozzle body 10 and the first axis coordinate of the second end are obtained, and the value corresponding to the second axis is 0. The first axis coordinate of the first end and the first axis coordinate of the second end are respectively substituted into the first axis coordinate of the function expression of the target line, and the corresponding second axis coordinate value is calculated, which is the lifting height value corresponding to the two ends of the lifting device 20, including the lifting height value of the first end and the lifting height value of the second end.

[0059] In step S6 of the present application, the first end lifting height value and the second lifting height value calculated in step S5 can be converted into control signals by the control device and the first lifting device 21 can be controlled to adjust the first end of the nozzle body 10 to the first lifting height value and the first lifting device 21 can be controlled to adjust the second end of the nozzle body 10 to the second lifting height value.

[0060] Since the nozzle body 10 moves forward synchronously with the movement of the cleaning and sweeping vehicle, the collection plane also changes in real time during the movement of the nozzle body 10. After the above steps S1 to S6 are completed, the nozzle body 10 can reach the current collection plane.

[0061] Therefore, in step S7, steps S1 to S6 are repeated to achieve real-time adjustment of the lifting height of the suction nozzle body 10 until the cleaning operation of the road section to be cleaned is completed, thereby solving the problem of how to achieve rapid adjustment and reduce energy consumption while ensuring the suction effect.

[0062] In some embodiments, since the nozzle body 10 passes through the road section to be cleaned in a continuous process following the speed of the washing and sweeping vehicle, steps S1 to S6 are performed sequentially, the nozzle body 10 moves synchronously with the movement direction of the washing and sweeping vehicle, and the collection plane is continuously refreshed.

[0063] The technical solution adopted in the present application is that step S1 further includes: based on the moving direction of the vehicle where the nozzle body 10 is located, garbage information of multiple collection planes is collected in sequence.

[0064] In some embodiments, due to the continuous refreshing of the collection plane, the lifting heights at both ends of the nozzle body 10 change in real time. When the lifting device 20 works continuously, not every collection plane is adjusted from the starting state of the nozzle body 10, or in other words, only the first collection plane is adjusted from the starting state of the nozzle body 10. When the number of collection planes is greater than or equal to 2, the starting state of the nozzle body 10 of the current collection plane is the ending state of the nozzle body 10 of the previous collection plane. Therefore, when the number of collection planes is greater than or equal to 2, there is a situation where the target connection line is selected according to the ending state of the nozzle body 10 of the previous collection plane. However, when the target connection line obtained by the current collection plane is unique, there is no problem of selecting the target connection line.

[0065] In the present application, when the number of acquisition planes is greater than or equal to 2, and the number of target lines obtained based on the current acquisition plane is greater than or equal to 2, step S5 also includes: step S51, respectively calculating multiple lifting height values ​​corresponding to multiple target lines in the current acquisition plane. Step S52, respectively calculating the adjustment difference between the multiple lifting height values ​​in step S51 and the lifting height value corresponding to the previous acquisition plane. Step S53, comparing the sizes of multiple adjustment differences, and selecting the target line in the current acquisition plane corresponding to the smallest adjustment difference, and calculating the lifting height corresponding to the lifting device 20.

[0066] Among them, the adjustment difference between the lifting height value corresponding to the current acquisition plane and the lifting height value corresponding to the previous acquisition plane should be used to calculate the moving distances of the first end of the nozzle body 10 and the second end of the nozzle body 10 respectively. The positive or negative difference between the lifting height values ​​corresponding to the current acquisition plane and the previous acquisition plane only represents the movement direction of the lifting device 20 and does not affect the movement distance. Figure 3 As shown, straight line m is the target line of the current acquisition plane, and straight line n is the target line of the previous acquisition plane. During this adjustment process, the first end of the nozzle body 10 moves upward, and the sign of the adjustment difference is negative, and the second end of the nozzle body 10 moves downward, and the sign of the adjustment difference is positive. Taking the absolute value of the adjustment difference here can correctly reflect the moving distance of the two ends of the nozzle body 10, and compare the sum of the moving distances of the first end of the nozzle body 10 and the second end of the nozzle body 10. Select the alternative line with the smallest moving distance at both ends of the nozzle body 10 as the target line and calculate the adjustment height and adjustment direction corresponding to the lifting device 20.

[0067] In another embodiment, when the garbage information on the collection plane at the set distance of the nozzle body 10 cannot be collected in step S1, steps S2 to S6 are skipped to wait for the garbage information of the next collection plane. During this period, the lifting angle of the nozzle body 10 is kept unchanged to maintain the working state of the lifting device 20.

[0068] In some embodiments, the washing and sweeping vehicle may use different vehicle speeds according to different road conditions. When the vehicle speed changes, the front and rear distances of the suction nozzle body 10 per unit time are different. At this time, the collection frequency needs to be changed in time to ensure that the intervals of the collection planes are consistent.

[0069] The technical solution adopted in the present application is that step S1 further includes adjusting the frequency of collecting junk information on multiple collection planes based on the driving speed of the vehicle on which the nozzle body 10 is located, and the collection frequency is:

[0070] f = n*v;

[0071] Wherein, f is the collection frequency, v is the driving speed of the vehicle where the nozzle body 10 is located, the unit is m / s, and n is the correction coefficient, and the value range is 5-10.

[0072] Different correction coefficients are applied based on different vehicle speeds. The faster the vehicle speed, the smaller the applicable correction coefficient. For example, when the vehicle speed is 1m / s, the acquisition frequency is controlled to ten to fifteen times per second through the correction coefficient. The interval of each acquisition plane is controlled between 10cm-20cm.

[0073] In some embodiments, there is a limit to the lifting height of the suction nozzle body 10. When the highest point of the garbage in the collection plane is greater than the maximum lifting height of the lifting device 20, or when there is a protrusion on the road surface that is greater than the maximum lifting height of the lifting device 20, the suction effect of the suction nozzle body 10 cannot be guaranteed even if the suction nozzle body 10 is lifted to the maximum lifting height. There is also a risk of the suction nozzle body 10 causing collision damage.

[0074] The technical solution adopted in the present application is that the lifting device 20 has a maximum lifting height;

[0075] Step S2 also includes comparing the garbage height value corresponding to the highest garbage with the maximum lifting height. When the garbage height value corresponding to the highest garbage is less than the maximum lifting height, step S3 is continued. When the garbage height value corresponding to the highest garbage is greater than the maximum lifting height, the nozzle body 10 is controlled to stop running and an avoidance instruction is issued to the vehicle.

[0076] After the vehicle receives the avoidance instruction, since the avoidance instruction is based on the height information of the next acquisition plane, it serves as an early warning. The cleaning and sweeping vehicle can be controlled to automatically detour, or it can be manually checked.

[0077] In another embodiment, a washing and sweeping vehicle is used as a working vehicle, and the ground clearance of the chassis is set higher. The suction nozzle body 10 is set at the bottom of the washing and sweeping vehicle. The ground clearance of the chassis of the washing and sweeping vehicle is greater than the maximum lifting height of the suction nozzle body 10. After detecting that the garbage height value corresponding to the highest garbage is less than the maximum lifting height, the garbage height value corresponding to the highest garbage needs to be compared with the height of the chassis of the washing and sweeping vehicle. When the garbage height value corresponding to the highest garbage is greater than the height of the chassis of the washing and sweeping vehicle, the suction nozzle body 10 is controlled to stop running and a retraction command is issued to the vehicle where it is located, and the suction nozzle equipment is retracted as a whole and lifted to a height higher than the chassis of the washing and sweeping vehicle. The washing and sweeping vehicle does not need to detour to pass through the current collection plane area. When the suction nozzle body 10 passes the current collection plane area, a recovery command is issued to the vehicle where it is located, and the suction nozzle body 10 is lowered to restore it to its working state.

[0078] In some embodiments, as the ground clearance of the nozzle body 10 increases, the negative pressure required to maintain the suction effect of the nozzle body 10 increases accordingly. Therefore, the ground clearance of the nozzle body 10 can be adjusted in real time while the negative pressure required to maintain the suction effect of the nozzle body 10 is also adjusted. At the same time, the increase in power will also cause the noise to increase, and reducing the negative pressure as much as possible can also play a role in reducing noise.

[0079] The technical solution adopted in this application is that the suction nozzle body 10 is provided with a suction device 12 for sucking garbage.

[0080] Step S6 also includes calculating the current working power of the suction device 12 based on the lifting height value:

[0081] P当 =P 1 +m*(P e -P 1 );

[0082] Among them, P 当 is the current working power of the suction device 12, P e is the rated working power of the suction device 12, P1 is the minimum suction power, and m is the ratio between the lifting height value and the maximum lifting height.

[0083] When the lifting device 20 of the suction nozzle body 10 is not working and the two ends of the suction nozzle body 10 are at the minimum ground clearance, the power of the suction device 12 that can basically realize most of the garbage cleaning functions is the minimum suction power. When the two ends of the suction nozzle body 10 are at the maximum lifting height, the power of the suction device 12 that can basically realize most of the garbage cleaning functions is the rated working power.

[0084] In some embodiments, the greater the mass of the garbage, the greater the gravity. It is obviously incomplete to adjust the current working power of the suction device 12 only by the lifting distance. Before the suction nozzle body 10 determines the power of the suction device 12, the mass information needs to be corrected.

[0085] The technical solution adopted by the present application is that the control device is also provided with a garbage material database, and step S1 further includes: based on the collected garbage information, obtaining garbage image information, the garbage image includes a garbage material image and garbage volume information; step S6 further includes: based on the obtained garbage material image, comparing it with the garbage material database to obtain the material information of the garbage;

[0086] Calculate garbage quality information based on garbage volume information and garbage material information;

[0087] Based on the garbage quality information, the current working power of the suction device 12 is corrected.

[0088] The garbage material database is a long-term storage, real-time expansion and shareable garbage image data set. The garbage material database stores a huge amount of garbage image information and divides it into several garbage material categories according to the garbage texture in the image, such as wooden garbage category, plastic garbage category, metal garbage category, etc. Each garbage material category is also divided into several groups through detailed identification. For example, the metal garbage category can be divided into iron garbage group, aluminum garbage group, etc. Each group of garbage will give the density estimation range of this group of garbage. The control device performs texture comparison based on the garbage image information of the acquisition plane and the garbage image information in the garbage material database, obtains the density estimation range of the garbage group information in the garbage image information of the acquisition plane, and uploads the newly acquired garbage image information to the corresponding group of the garbage material database, further expanding the amount of information in the garbage material database and improving the comparison accuracy.

[0089] An estimated range of garbage volume information is obtained from image information based on binocular stereo vision, pixel point measurement and other methods. The upper limit of the garbage volume information is taken within the estimated range of the garbage volume information for correction to obtain the garbage volume information. An estimated range of garbage density can be obtained based on the garbage material database. The upper limit is taken within the estimated range of garbage density for correction to obtain the garbage density information. The garbage quality information is calculated based on the garbage volume information and the garbage density information. The median of the density estimation range of the iron garbage group is set as the reference material correction coefficient. When the density of the target garbage in the acquisition plane is greater than the density of the reference material, the correction coefficient is increased proportionally. When the density of the target garbage in the acquisition plane is less than the density of the reference material, the correction coefficient is reduced proportionally. Finally, the current working power of the suction device 12 is corrected based on the correction coefficient of the material.

[0090] In some embodiments, due to the structural limitations of the suction nozzle body 10, garbage whose mass exceeds the maximum negative pressure of the suction device 12 will result in incomplete suction effect, and garbage whose volume is larger than the capacity of the suction nozzle body 10 will cause air path blockage, so the above types of garbage must also be identified and responded to during the garbage cleaning process.

[0091] The technical solution adopted in the present application is that step S6 also includes, based on the garbage quality information, determining whether the rated power of the suction device 12 can meet the power required for sucking the garbage, and if it cannot meet the power, sending an alarm message to the vehicle where the suction nozzle body 10 is located;

[0092] Based on the garbage volume information, it is determined whether the garbage volume is larger than the accommodation volume of the nozzle body 10. If the garbage volume is larger than the accommodation volume of the nozzle body 10, an alarm message is sent to the vehicle where the nozzle body 10 is located.

[0093] After the vehicle receives the alarm information, since the alarm information is obtained based on the height information of the next collection plane, it serves as an early warning. The cleaning and sweeping vehicle can be controlled to automatically detour, or it can be manually checked.

[0094] This embodiment also discloses a garbage suction nozzle device, such as Figure 4 As shown, it includes a nozzle body 10, a control device, a lifting device 20 and an information collection device 30. The control device is used to execute the nozzle body 10 control method of the above technical solution; the nozzle body 10 is used to cover and suck objects located on the ground, the lifting device 20 can adjust the height of the two ends of the nozzle body 10 from the ground, and the information collection device 30 is used to collect garbage information on a collection plane at a set distance from the nozzle body 10.

[0095] The control device can be controlled locally, such as a computer, a single-chip microcomputer, etc., or it can be controlled by a remote server. The lifting device 20 is arranged at both ends of the nozzle body 10 and is fixedly connected to the nozzle body 10. The lifting method can be air pressure lifting, hydraulic lifting, screw lifting, etc., and the connection method can be bolt connection, riveting connection, welding connection, etc., which are not limited here. The information collection device 30 can include a variety of implementation methods. For example, a camera, a camera, a laser radar, an infrared scanning device, etc., or a combination of multiple of the above devices can be used. The information collection device 30 can be set on the nozzle body 10, or it can be set on a vehicle body or other devices. It should be noted that the information collection device 30 cannot be blocked by parts on the vehicle body or other equipment to avoid affecting the collection effect.

[0096] In some embodiments, if the sucked up garbage is not transferred in time and accumulates on the nozzle body 10, the load of the nozzle body 10 will increase, and the energy consumption will be serious. A structure for storing garbage is needed to share the load.

[0097] The technical solution adopted in this application is: Figure 4 As shown, the suction nozzle body 10 includes a main body 11 and a suction device 12 for generating suction negative pressure. The suction device 12 includes a power source and a suction hose 121 connected to the suction nozzle body 10. The outlet end of the suction hose 121 is connected to the garbage collection box.

[0098] A suction device 12 is disposed at each end of the suction nozzle body 10 , and the current working power of the suction device 12 at the first end and the current working power of the suction device 12 at the second end need to be calculated separately.

[0099] The power source can be an electric motor, etc., which drives the fan blades to rotate and generate negative pressure. The garbage collection box is arranged in the washing and sweeping vehicle, and is used to temporarily store the garbage sucked in by the outlet end of the suction hose 121 during the operation. The load of the sucked garbage is borne by the washing and sweeping vehicle. Due to the distance between the suction nozzle body 10 and the garbage collection box, the suction hose 121 is used to connect the suction nozzle body 10 and the garbage collection box. The length can be changed according to actual work needs. The inlet end of the suction hose 121 is vertically downward facing the ground, and passes through the suction nozzle body 10 to form a garbage channel. The diameter of the suction hose 121 can be flexibly selected based on the specifications of the suction nozzle body 10.

[0100] When the width of the suction nozzle is relatively wide, the two suction hoses 121 may not necessarily be able to meet the suction force requirement of the entire width of the suction nozzle.

[0101] The technical solution adopted in the present application is that the main body 11 includes a plurality of sub-suction nozzles arranged in sequence along the width direction, and the suction device 12 includes a plurality of suction hoses 121, and the suction hoses 121 are arranged in a one-to-one correspondence with the sub-suction nozzles.

[0102] Each suction hose 121 and the sub-suction nozzle can perform suction work, so that the suction force distribution can be more uniform.

[0103] like Figure 5 As shown, the lifting device 20 includes a first lifting device 21 and a second lifting device 22 respectively arranged at two ends of the nozzle body 10, and the control device can drive the height of the first lifting device 21 and the second lifting device 22 respectively.

[0104] In some embodiments, since a group of auxiliary wheel groups 212 are installed at both ends of the nozzle body 10 in the width direction, when the lifting heights of the first lifting device 21 and the second lifting device 22 are inconsistent, it is necessary to solve the interference of the lifting device 20 with the walking direction of the auxiliary wheel group 212.

[0105] The technical solution adopted in this application is: Figure 6 As shown, the first lifting device 21 includes an auxiliary wheel group 212 and a driving airbag 211 arranged at the end of the suction nozzle body 10. The driving airbag 211 can be filled with pressurized gas. The driving airbag 211 can expand or contract in the vertical direction under the drive of the pressurized gas. The driving airbag 211 is arranged on the upper side of the suction nozzle body 10, and the auxiliary wheel group 212 is connected to the upper side of the driving airbag 211.

[0106] The lower end of the driving airbag 211 is fixedly connected to the upper surfaces of both ends of the nozzle body 10 in the width direction, and the connection methods such as bolt connection, riveting connection, welding connection, etc. are optional, which are not limited here. The upper end of the driving airbag 211 is connected to the upper end of the auxiliary wheel group 212 only through the suspension link 213 to form a suspension structure, so that the lifting device 20 at both ends of the nozzle body 10 does not interfere with the walking direction of the auxiliary wheel group 212 when working. When the lifting heights of the two ends of the nozzle body 10 are inconsistent, the suspension structure can compensate for the distortion in the horizontal direction.

[0107] In another embodiment, the expansion direction of the driving airbag 211 is both vertical and horizontal, wherein the expansion distance in the horizontal direction cannot have a positive impact on the lifting effect, will affect the lifting speed, and will also cause unnecessary energy consumption. A limiting sleeve can be set to cover the driving airbag 211 in the horizontal direction. The limiting sleeve is a rigid material and can constrain the freedom of the driving airbag 211 in all horizontal directions. When the driving airbag 211 is inflated, only a height change is generated to lift the nozzle body 10, making the lifting distance more precise.

[0108] The first lifting device 21 and the second lifting device 22 are symmetrically arranged. The second lifting device 22 also includes an auxiliary wheel set 212 and a driving airbag 211 arranged at the end of the nozzle body 10. The connection relationship and function are the same and will not be repeated here.

[0109] In some embodiments, a set of auxiliary wheel groups 212 are installed at both ends of the nozzle body 10 in the width direction. In the working state, the auxiliary wheel groups 212 are grounded, and the nozzle body 10 is lifted up as a whole to improve the stability of the nozzle body 10. The diameter of the auxiliary wheel group 212 is much smaller than that of the wheels of a washing and sweeping vehicle. When the washing and sweeping vehicle moves forward, it needs to roll quickly to match the travel speed of the entire vehicle. The auxiliary wheel group 212 is easy to wear.

[0110] The technical solution adopted in this application is: Figure 7 As shown, the auxiliary wheel set 212 includes a plurality of auxiliary wheels 2121 , and the plurality of auxiliary wheels 2121 are connected in sequence via a connecting plate 2122 , and a track 2123 is sleeved on the outer side of the auxiliary wheels 2121 .

[0111] The auxiliary wheel groups 212 on both sides of the suction nozzle body 10 can be arranged in one row or in multiple rows. The number of auxiliary wheels 2121 in each row of the auxiliary wheel groups 212 can be flexibly set according to actual work needs. The connecting plates 2122 clamp the two sides of the auxiliary wheels 2121 to fix the auxiliary wheels 2121. Protrusions can be set around the auxiliary wheels 2121 to cooperate with the gaps in the track 2123 to fix the track 2123.

[0112] The track 2123 type auxiliary wheel set 212 has strong obstacle crossing ability and good buffering performance when traveling on uneven ground; the circumference of the track 2123 is longer than the circumference of a single walking wheel in the prior art solution, and the frequency of contact between the same area and the ground is lower when the vehicle travels the same distance, and the friction time with the ground is shorter. Moreover, the track 2123 is made of wear-resistant materials, such as high manganese steel, alloy steel, etc., and therefore has a longer service life.

[0113] In some embodiments, in order to obtain a larger acquisition range and obtain volume information of an object, a binocular stereoscopic vision acquisition solution may be adopted.

[0114] Therefore, in this application, Figure 5 As shown, the information collection device 30 includes two cameras spaced apart along the width direction of the nozzle body 10 , and the cameras can respectively collect image information including a collection plane.

[0115] The information acquisition device 30 includes a first camera 31 and a second camera 32. The image information of the plane collected can cover the area of ​​the acquisition plane. By combining the image information of different planes of the same scene collected by the first camera 31 and the second camera 32, the position deviation can be overcome through binocular stereo vision, and the depth information in the three-dimensional coordinates can be restored, making the image information acquisition result more accurate.

[0116] In some embodiments, Figure 8As shown, the garbage suction nozzle equipment also includes a lifting device 40, which includes a driving assembly 41 and a lifting link 42. The driving assembly 41 is connected to the top of the main body 11, and can drive the suction nozzle body 10 to move upward to leave the working state; a plurality of lifting links 42 are arranged at intervals along the width direction of the suction nozzle body 10, the first end of the lifting link 42 is hinged to the upper side of the suction nozzle body 10, and the second end of the lifting link 42 is hinged to the driving vehicle.

[0117] The driving component 41 can be driven by hydraulic drive, pneumatic drive, motor drive or the like. When the lifting device 40 is working, the second end of the lifting link 42 is retracted clockwise around the hinge point into the cavity of the automobile chassis, which ensures that the area passed through during the process of retracting the suction nozzle body 10 is a cleaned road surface, avoiding collision and damage during the retraction process.

[0118] In another embodiment, when the second end of the lifting link 42 is retracted clockwise around the hinge point to the highest point, the lifting link 42 is mechanically self-locked due to the angle setting, further ensuring the reliability and safety of the device operation.

[0119] In some embodiments, the position information of the garbage in the width direction of the nozzle body 10 will also affect the adjustment speed of the lifting device 20. If the highest garbage in the collection plane appears at the two ends of the nozzle body 10 in sequence, a larger adjustment distance will inevitably be generated. Gathering the garbage to the center before collection can reduce the occurrence of the above situation.

[0120] The technical solution adopted in this application is: Figure 4 , 5 As shown, the garbage suction nozzle equipment also includes a purge device 50, which is arranged at both ends of the suction nozzle body 10 along the width direction, and includes a purge pipe 51, the purge pipe 51 extends from the end of the suction nozzle body 10 in a direction away from the suction nozzle body 10, and the purge pipe 51 is provided with a nozzle 52 facing the ground in the forward direction of the suction nozzle body 10, and the nozzle 52 can spray a pressurized fluid.

[0121] The number of nozzles 52 and the spray angle on the purge tube 51 are adjustable. The sprayed pressure fluid covers the fan-shaped area of ​​the ground in the forward direction of the suction nozzle body 10. The area of ​​the fan-shaped area is larger than the area of ​​the road to be cleaned. The purge tube 51 is used to blow the discrete garbage on the collection plane toward the center of the suction nozzle body 10. This will cause the highest garbage in the current collection plane to appear as little as possible at both ends of the suction nozzle body 10, thereby further solving the problem of achieving rapid adjustment and reducing energy consumption while ensuring the suction effect.

[0122] In another embodiment, the purging device 50 further includes a rotating assembly 53 , which is connected to the purging tube 51 . The rotating assembly 53 can adjust the angle between the purging tube 51 and the width direction of the nozzle body 10 .

[0123] The angle between the purge tube 51 and the width direction of the nozzle body 10 can affect the size of the area of ​​the purge fan-shaped area. The smaller the angle between the purge tube 51 and the width direction of the nozzle body 10, the smaller the area of ​​the purge fan-shaped area. But correspondingly, the effect of blowing the discrete garbage on the collection plane toward the midpoint of the nozzle body 10 is better. The angle between the purge tube 51 and the width direction of the nozzle body 10 can be adjusted according to the actual machine requirements of the road surface to be cleaned to achieve the best purge effect, thereby further improving the efficiency of the garbage suction nozzle equipment.

[0124] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A method for controlling a nozzle body, characterized in that: The invention comprises a nozzle body, a control device and a lifting device arranged at both ends of the nozzle body in the width direction, wherein the lifting device can adjust the height of both ends of the nozzle body from the ground, the nozzle body is used to suck up garbage on the ground, the control device is used to control the lifting device, and the nozzle body control method comprises: Step S1, collecting and acquiring garbage information on a collection plane at a set distance from the nozzle body, the garbage information including garbage height values ​​and garbage position information along the width direction of the nozzle body; Step S2, based on the garbage height value, determining the garbage with the maximum garbage height value in the current collection plane as the highest garbage; Step S3, based on the garbage information in the current collection plane, obtaining multiple candidate connection lines, the candidate connection lines include a connection line between the highest point of the highest garbage and the highest points of other garbage, and the candidate connection lines also include a connection line between the highest point of the highest garbage and a corresponding point on the end of the nozzle body; Step S4, based on the plurality of candidate links, obtaining a target link, wherein the target link is a candidate link with a minimum slope; Step S5, calculating the lifting height value corresponding to the lifting device in the current acquisition plane based on the target line; Step S6, controlling the lifting device to adjust based on the lifting height value; Step S7, repeating steps S1 to S6 until the nozzle body stops running.

2. A nozzle control method according to claim 1, characterized in that: The step S1 further includes: based on the moving direction of the vehicle where the nozzle body is located, collecting junk information of the plurality of collection planes in sequence.

3. A nozzle control method according to claim 2, characterized in that: When the number of acquisition planes is greater than or equal to 2, and the number of target links acquired based on the current acquisition plane is greater than or equal to 2, step S5 further includes: Step S51, respectively calculating a plurality of lifting height values ​​corresponding to a plurality of target lines in a current acquisition plane; Step S52, respectively calculating the adjustment differences between the plurality of lifting height values ​​in step S51 and the lifting height value corresponding to the previous acquisition plane; Step S53, comparing the sizes of the multiple adjustment differences, selecting the target line in the current acquisition plane corresponding to the smallest adjustment difference, and calculating the lifting height corresponding to the lifting device.

4. A nozzle control method according to claim 2, characterized in that: The step S1 further includes adjusting the frequency of collecting junk information on the plurality of collection planes based on the travel speed of the vehicle on which the nozzle body is located, wherein the collection frequency is: f = n*v; Among them, f is the collection frequency, v is the driving speed of the vehicle where the nozzle body is located, the unit is m / s, and n is the correction coefficient, and the value range is 5-10.

5. A nozzle control method according to claim 1, characterized in that: The lifting device has a maximum lifting height; The step S2 further comprises comparing the garbage height value corresponding to the highest garbage with the maximum lifting height, When the garbage height value corresponding to the highest garbage is less than the maximum lifting height, continue to execute step S3; When the garbage height value corresponding to the highest garbage is greater than the maximum lifting height, the suction nozzle body is controlled to stop running and an avoidance instruction is issued to the vehicle where it is located.

6. A nozzle control method according to claim 5, characterized in that: The suction nozzle body is provided with a suction device for sucking garbage. The step S6 further includes calculating the current working power of the suction device based on the lifting height value: P 当 =P1+m*(P e -P1); Among them, P 当 is the current working power of the suction device, P e is the rated working power of the suction device, P1 is the minimum suction power, and m is the ratio between the lifting height value and the maximum lifting height.

7. A nozzle control method according to claim 5, characterized in that: The control device is also provided with a garbage material database, and the step S1 further comprises, based on the collected garbage information, obtaining garbage image information, wherein the garbage image includes a garbage material image and garbage volume information; The step S6 further includes: comparing the acquired garbage material image with the garbage material database to obtain the material information of the garbage; Calculating garbage quality information based on the garbage volume information and the garbage material information; Based on the garbage quality information, the current working power of the suction device is corrected.

8. A nozzle control method according to claim 7, characterized in that: The step S6 also includes, based on the garbage quality information, determining whether the rated power of the suction device can meet the power required for sucking the garbage, and if not, sending an alarm message to the vehicle where the suction nozzle is located; Based on the garbage volume information, it is determined whether the garbage volume is larger than the storage volume of the nozzle body. If the garbage volume is larger than the storage volume of the nozzle body, an alarm message is sent to the vehicle where the nozzle body is located.

9. A garbage suction nozzle device, characterized in that: It comprises a nozzle body, a control device, a lifting device and an information collection device, wherein the control device is used to execute the nozzle body control method according to any one of claims 1 to 8; The nozzle body is used to cover and suck objects located on the ground, the lifting device can adjust the height of the two ends of the nozzle body from the ground, and the information collection device is used to collect garbage information on a collection plane at a set distance from the nozzle body.

10. A garbage suction nozzle device according to claim 9, characterized in that: The suction nozzle body comprises a main body and a suction device for generating suction negative pressure, the suction device comprises a power source and a suction hose connected to the suction nozzle body, and the outlet end of the suction hose is connected to a garbage collection box.

11. A garbage suction nozzle device according to claim 10, characterized in that: The body comprises a plurality of sub-suction nozzles arranged in sequence along the width direction, and the suction device comprises a plurality of suction hoses, and the suction hoses are arranged in one-to-one correspondence with the sub-suction nozzles.

12. The garbage suction nozzle device according to claim 9, characterized in that: The lifting device comprises a first lifting device and a second lifting device respectively arranged at two ends of the nozzle body, and the control device can drive the height of the first lifting device and the second lifting device respectively.

13. A garbage suction nozzle device according to claim 12, characterized in that: The first lifting device includes an auxiliary wheel group and a driving airbag arranged at the end of the suction nozzle body. The driving airbag can be filled with pressurized gas. The driving airbag can expand or contract in a vertical direction under the drive of the pressurized gas. The driving airbag is arranged on the upper side of the suction nozzle body, and the auxiliary wheel group is connected to the upper side of the driving airbag.

14. A garbage suction nozzle device according to claim 13, characterized in that: The auxiliary wheel set comprises a plurality of auxiliary wheels, the plurality of auxiliary wheels are connected in sequence through a connecting plate, and tracks are sleeved on the outer sides of the auxiliary wheels.

15. A garbage suction nozzle device according to claim 14, characterized in that: The information collection device comprises two cameras spaced apart along the width direction of the nozzle body, and the cameras can respectively collect image information including the collection plane.

16. A garbage suction nozzle device according to claim 15, characterized in that: The garbage suction nozzle device further includes a lifting device, the lifting device includes a driving assembly and a lifting connecting rod, the driving assembly is connected to the upper part of the main body, and can drive the suction nozzle body to move upward to leave the working state; A plurality of lifting links are arranged at intervals along the width direction of the suction nozzle body, a first end of the lifting link is hinged to the upper side of the suction nozzle body, and a second end of the lifting link is hinged to the driving vehicle.

17. A garbage suction nozzle device according to claim 16, characterized in that: The garbage suction nozzle equipment also includes a purge device, which is arranged at both ends of the suction nozzle body along the width direction, and includes a purge pipe, which extends from the end of the suction nozzle body in a direction away from the suction nozzle body. The purge pipe is provided with a nozzle facing the ground in the forward direction of the suction nozzle body, and the nozzle can spray a pressurized fluid.

18. A garbage suction nozzle device according to claim 17, characterized in that: The purging device further comprises a rotating assembly, wherein the rotating assembly is connected to the purging pipe, and the rotating assembly can adjust an angle between the purging pipe and the width direction of the suction nozzle body.

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