Rainwater grate cleaning vehicle and control method thereof

Abstract

The invention discloses a rainwater grate cleaning vehicle and a control method thereof, and relates to the technical field of rainwater grate and rainwater well cleaning, the rainwater grate cleaning vehicle comprises a vehicle main body, a positioning system, a cleaning system, a box body and a controller, the positioning system comprises a mobile device and a monitoring device, the mobile device is arranged on the vehicle main body, and the monitoring device is arranged on the vehicle main body. A driving part of the mobile device can move in the first direction, the second direction and the vertical direction relative to the vehicle body, and the monitoring device is arranged on the vehicle body and used for displaying the moving state of the mobile device in real time. The cleaning system is arranged on a driving part of the mobile equipment, moves along with the driving part and is used for cleaning and dirt suction; the box body is arranged on the vehicle main body, is communicated with the cleaning system and is used for collecting and temporarily storing dirt; the controller is arranged on the vehicle body and is in electric connection or communication connection with the positioning system and the cleaning system. According to the rainwater grate cleaning vehicle, the cleaning efficiency of the rainwater grate and the rainwater well can be improved, and the labor intensity of operators is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rainwater grates and rainwater well cleaning, and in particular to a rainwater grate cleaning vehicle and a control method thereof. Background Art

[0002] Existing road rainwater grates and rainwater wells rely on manual labor to remove surface garbage and debris, which is too inefficient, and the inside of the wellhead and the bottom of the well cannot be cleaned, making it difficult to recycle garbage. Incomplete cleaning of rainwater grates and rainwater wells can easily lead to pipe network blockage, affect drainage, and increase pipe network maintenance costs. Due to the large number of road rainwater grates, especially when the rainy season comes, a lot of manpower and material resources are required to clean them, and the work intensity is high, and it is impossible to ensure smooth drainage of rainwater grates and rainwater wells. Summary of the invention

[0003] The main purpose of the present invention is to provide a rainwater grate cleaning vehicle and a control method thereof, which are used for sanitation cleaning of rainwater grates and rainwater wells, aiming to improve the cleaning efficiency of rainwater grates and rainwater wells.

[0004] To achieve the above-mentioned purpose, the rainwater grate cleaning vehicle proposed in the present invention includes a vehicle body, a positioning system, a cleaning system, a box and a controller, wherein the length direction of the vehicle body is defined as a first direction, and the width direction of the vehicle body is defined as a second direction; the positioning system includes a mobile device and a monitoring device, the mobile device is arranged on the vehicle body, and the driving part of the mobile device can move relative to the vehicle body along the first direction, the second direction and the vertical direction, and the monitoring device is arranged on the vehicle body for displaying the moving state of the mobile device in real time; the cleaning system is arranged on the driving part of the mobile device to move with the driving part for cleaning and sucking dirt; the box is arranged on the vehicle body and is connected to the cleaning system for collecting and temporarily storing dirt; the controller is arranged on the vehicle body and is electrically or communicatively connected to the positioning system and the cleaning system.

[0005] In one embodiment, the monitoring device includes a plurality of cameras and a monitoring screen, wherein the plurality of cameras are arranged at intervals on the vehicle body and shoot toward the cleaning system, and the monitoring screen is arranged on the vehicle body and is in communication connection with the plurality of cameras;

[0006] The positioning system also includes a distance measuring sensor, which is arranged on the end surface of the cleaning system facing the ground and is electrically or communicatively connected to the controller to prevent the cleaning system from hitting the ground or the well wall.

[0007] In one embodiment, the cleaning system includes a flushing device and a suction device, the flushing device includes a high-pressure water pump, a high-pressure water pipe and a high-pressure nozzle, the high-pressure water pump is provided on the rainwater grate cleaning vehicle, the high-pressure nozzle is provided on the driving part of the mobile device, one end of the high-pressure water pipe is connected to the high-pressure water pump, and the other end is connected to the high-pressure nozzle, and the suction device is provided on the driving part of the mobile device;

[0008] The box body is divided into a trash box and a water storage tank, the trash box is connected to the suction device, and the water storage tank is connected to the flushing device.

[0009] In one embodiment, the rainwater grate cleaning vehicle further includes a self-cleaning device, and the self-cleaning device is disposed in the trash bin and is used to clean the trash bin.

[0010] In one embodiment, the trash bin is provided with a dumping opening, and one side of the dumping opening is rotatably connected to a door body;

[0011] The rainwater grate cleaning vehicle further includes a first driving assembly, which is disposed on the outer peripheral wall of the garbage bin, and a driving part of the first driving assembly is connected to the door body to drive the door body to rotate relative to the garbage bin to open the dumping port;

[0012] The box is rotatably connected to the vehicle body. The rainwater grate cleaning vehicle also includes a second drive assembly, which is arranged on the vehicle body. The driving part of the second drive assembly is connected to the box to drive the box to rotate relative to the vehicle body to dump the dirt in the box.

[0013] The present invention also provides a control method, which is applied to the rainwater grate cleaning vehicle as described above, and comprises the following steps:

[0014] Controlling the rainwater grate cleaning vehicle to initially locate the rainwater grate and rainwater well to be cleaned;

[0015] Controlling the positioning system to reposition the rainwater grate and the rainwater well to be cleaned;

[0016] The cleaning system is controlled to clean the rainwater grate and rainwater well to be cleaned and / or to suck out dirt.

[0017] In one embodiment, the step of controlling the positioning system to re-position the rainwater grate and the rainwater well to be cleaned specifically includes:

[0018] The controller controls the mobile device to drive the cleaning system to extend into the rainwater grate and the rainwater well to be cleaned.

[0019] In one embodiment, the rainwater grate cleaning vehicle further includes a distance measuring sensor, and after the step of the controller controlling the mobile device to drive the cleaning system to extend into the rainwater grate to be cleaned and the rainwater well, and before the step of controlling the cleaning system to clean the rainwater grate to be cleaned and the rainwater well and / or to suck out dirt, it further includes:

[0020] Controlling the distance measuring sensor to detect the distance between the cleaning system and the rainwater grate and the wall or bottom of the rainwater well;

[0021] The distance between the mobile device and the rainwater grate and the wall or bottom of the rainwater well is corrected according to the spacing.

[0022] In one embodiment, the rainwater grate cleaning vehicle further includes a first drive assembly and a second drive assembly, and after the step of controlling the cleaning system to clean the rainwater grate and the rainwater well to be cleaned and / or sucking out dirt, it further includes:

[0023] Controlling the first driving assembly to rotate the door body relative to the pouring opening;

[0024] The second driving assembly is controlled to rotate the box relative to the vehicle body.

[0025] In one embodiment, the rainwater grate cleaning vehicle further includes a self-cleaning device, and after the step of controlling the second drive assembly to rotate the box relative to the vehicle body, the step further includes:

[0026] The self-cleaning device is controlled to clean the trash bin.

[0027] The technical solution of the present invention adopts a rainwater grate cleaning vehicle including a vehicle body, a positioning system, a cleaning system and a box. The positioning system includes a mobile device and a monitoring device. The mobile device is arranged on the vehicle body, and the cleaning system is arranged on the driving part of the mobile device. The driving part of the mobile device can drive the cleaning system to move along the length direction of the vehicle body, along the width direction of the vehicle body and in the vertical direction relative to the vehicle body, so that the cleaning system can extend into the rainwater grate and the rainwater well to wash and suck the inner wall and the bottom of the well of the rainwater grate and the rainwater well, and collect and temporarily store the dirt in the box. Through the cooperation of the positioning system and the cleaning system, the cleaning system can be automatically operated, and the cleaning system can be extended into the rainwater grate and the rainwater well to clean and suck the inside of the rainwater grate and the rainwater well. One driver can complete all operations, saving manpower and material resources, and improving the cleaning efficiency of the rainwater grate and the rainwater well. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0029] Figure 1 A schematic structural diagram of an embodiment of a rainwater grate cleaning vehicle provided by the present invention;

[0030] Figure 2 A bottom view of another embodiment of the rainwater grate cleaning vehicle provided by the present invention;

[0031] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0032] Figure 4 A structural schematic diagram of another embodiment of a rainwater grate cleaning vehicle provided by the present invention;

[0033] Figure 5 A structural schematic diagram of another embodiment of a rainwater grate cleaning vehicle provided by the present invention;

[0034] Figure 6 A schematic diagram of a flow chart of an embodiment of a control method provided by the present invention;

[0035] Figure 7 A flow chart of another embodiment of the control method provided by the present invention.

[0036] Description of Figure Numbers:

[0037] 100. Rainwater grate cleaning vehicle; 1. Vehicle body; 2. Positioning system; 21. Mobile device; 22. Monitoring device; 221. Camera; 222. Monitoring screen; 23. Distance sensor; 3. Cleaning system; 31. Flushing equipment; 311. High-pressure water pump; 312. High-pressure water pipe; 313. High-pressure nozzle; 32. Suction equipment; 321. Fan assembly; 322. Sewage suction pipe; 323. Connecting hose; 324. Air inlet pipe; 325. Sealing ring; 326. Air filter; 327. Isolation baffle; 4. Box; 41. Trash bin; 411. Dumping port; 412. Door; 413. First drive assembly; 42. Water storage tank; 43. Self-cleaning equipment; 5. Second drive assembly; 6. Controller.

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] Existing road rainwater grates and rainwater wells rely on manual labor to remove surface garbage and debris, which has low labor efficiency, and the inside of the wellhead and the bottom of the well cannot be cleaned, making it difficult to recycle garbage. Incomplete cleaning of rainwater grates and rainwater wells can easily lead to pipe network blockage, affect drainage, and increase pipe network maintenance costs. Due to the large number of road rainwater grates and rainwater wells, especially when the rainy season comes, a lot of manpower and material resources are required to clean them, and the work intensity is high, and it is impossible to ensure smooth drainage of rainwater grates and rainwater wells.

[0043] The present invention provides a rainwater grate cleaning vehicle 100 and a control method thereof, which are used for cleaning rainwater grates and rainwater wells for sanitation purposes, and aim to improve the cleaning efficiency of rainwater grates and rainwater wells.

[0044] See also Figures 1 to 5In one embodiment of the present invention, the rain grate cleaning vehicle 100 includes a vehicle body 1, a positioning system 2, a cleaning system 3, a box 4 and a controller 6, wherein the length direction of the vehicle body 1 is defined as a first direction, and the width direction of the vehicle body 1 is defined as a second direction; the positioning system 2 includes a mobile device 21 and a monitoring device 22, the mobile device 21 is arranged on the vehicle body 1, and the driving part of the mobile device 21 can move relative to the vehicle body 1 along the first direction, the second direction and the vertical direction, and the monitoring device 22 is arranged on the vehicle body 1 for real-time display of the moving state of the mobile device 21; the cleaning system 3 is arranged on the driving part of the mobile device 21 to move with the driving part for cleaning and sucking dirt; the box 4 is arranged on the vehicle body 1 and is connected to the cleaning system 3 for collecting and temporarily storing dirt; the controller 6 is arranged on the vehicle body 1 and is electrically connected or communicatively connected to the positioning system 2 and the cleaning system 3.

[0045] In this embodiment, the vehicle body 1 includes a frame and a cockpit, the cockpit is arranged on one side of the frame, and the cockpit is provided with vehicle components such as seats and steering wheels. The driver can operate the vehicle components to drive, and can initially locate the position of the vehicle body 1 relative to the rain grate and the rain well, that is, drive the vehicle close to the rain grate and the rain well, so as to facilitate subsequent operations. The positioning system 2 includes a mobile device 21 and a monitoring device 22, which can enable the cleaning system 3 to move in the vertical direction relative to the connecting tube, so that the cleaning system 3 can further penetrate into the rain grate and the rain well below the ground, and can clean the bottom and side walls of the rain grate and the rain well, saving manpower and improving efficiency. The cleaning system 3 can include a flushing component and a suction component, the suction component is used to absorb the silt and dirt on the rain grate and the rain well or the surrounding ground, and the flushing component is used to flush the well wall or the ground to flush the garbage and debris attached to it. The box 4 is arranged on the vehicle body 1 and is located on the other side of the cockpit, connected to the cleaning system 3, and used to temporarily store dirt.

[0046] The technical solution of the present invention adopts a rainwater grate cleaning vehicle 100 including a vehicle body 1, a positioning system 2, a cleaning system 3 and a box 4. The positioning system 2 includes a mobile device 21 and a monitoring device 22. The mobile device 21 is arranged on the vehicle body 1, and the cleaning system 3 is arranged on the driving part of the mobile device 21. The driving part of the mobile device 21 can drive the cleaning system 3 to move along the length direction of the vehicle body 1, along the width direction of the vehicle body 1 and in the vertical direction relative to the vehicle body 1, so that the cleaning system 3 can be extended into the rainwater grate and the rainwater well to wash and suck the inner wall and the bottom of the well of the rainwater grate and the rainwater well, and collect and temporarily store the dirt in the box 4. Through the cooperation of the positioning system 2 and the cleaning system 3, the cleaning system 3 can be automatically operated, and the cleaning system 3 can be extended into the rainwater grate and the rainwater well to clean and suck the inside of the rainwater grate and the rainwater well. One driver can complete all operations, saving manpower and material resources, and improving the cleaning efficiency of the rainwater grate and the rainwater well.

[0047] In the embodiment of the present invention, the monitoring device 22 includes a plurality of cameras 221 and a monitoring screen 222. The plurality of cameras 221 are arranged at intervals on the vehicle body 1 and shoot toward the cleaning system 3. The monitoring screen 222 is arranged on the vehicle body 1 and is connected to the plurality of cameras 221 for communication.

[0048] The positioning system 2 also includes a distance measuring sensor 23, which is arranged on the end surface of the cleaning system 3 facing the ground and is electrically or communicatively connected to the controller 6 to prevent the cleaning system 3 from hitting the ground or the well wall.

[0049] In this embodiment, the monitoring device 22 includes a plurality of cameras 221 and a monitoring screen 222. The plurality of cameras 221 are arranged on the vehicle body 1 and shoot toward the cleaning system 3. Then, through the monitoring screen 222 arranged in the cockpit, the position and working status of the cleaning system 3 can be visually observed. The driver can directly operate the controller 6 in the cockpit to control the mobile device 21 and the cleaning system 3, saving manpower and facilitating operation. A distance measuring sensor 23 is also arranged on the end surface of the cleaning system 3 facing the ground. The distance measuring sensor 23 enables the driver to visually see the distance between the cleaning system 3 and the ground, the bottom of the well or the well wall to prevent collision and damage.

[0050] In an embodiment of the present invention, the cleaning system 3 includes a flushing device 31 and a suction device 32. The flushing device 31 includes a high-pressure water pump 311, a high-pressure water pipe 312 and a high-pressure nozzle 313. The high-pressure water pump 311 is provided on the rainwater grate cleaning vehicle 100. The high-pressure nozzle 313 is provided on the driving part of the mobile device 21. One end of the high-pressure water pipe 312 is connected to the high-pressure water pump 311, and the other end is connected to the high-pressure nozzle 313. The suction device 32 includes a driving part provided on the mobile device 21.

[0051] The box body 4 is divided into a trash box 41 and a water tank 42 . The trash box 41 is connected to the suction device 32 , and the water tank 42 is connected to the flushing device 31 .

[0052] In this embodiment, the box body 4 is divided into a garbage bin 41 and a water tank 42. The suction device 32 includes a driving unit provided on the mobile device 21, which can move in four axes with the driving unit and extend into the rainwater grate and the rainwater well. The suction device 32 includes a fan assembly 321, a sewage suction hard pipe 322 and a connecting hose 323. The sewage suction hard pipe 322 is provided on the driving unit of the mobile device 21 and is connected to the garbage bin 41 through the connecting hose 323. The fan assembly 321 is connected to the garbage bin 41. The air inlet pipe 324 on the top of the garbage bin 41 is close to the sealing ring 325 on the connecting hose 323 to form a sealed channel. The fan assembly 321 sucks the air inside the garbage bin 41 and can form a negative pressure at the end of the sewage suction hard pipe 322 to suck the dirt in the rainwater grate and the rainwater well. In other embodiments, an air filter device 326 is installed in front of the upper air outlet inside the trash bin 41 to better protect the fan and the surrounding environment; an isolation baffle 327 is installed at the front end of the air filter device 326 to prevent garbage and other debris from clogging the air filter device 326.

[0053] The box body 4 is divided by a trapezoidal baffle, and the lower part is a water storage tank 42, which is connected to a high-pressure water pump 311 through a high-pressure water pipe 312, and the water in the water storage tank 42 is pumped out to the high-pressure nozzle 313, and then the rainwater grate and the rainwater well are flushed to clean the rainwater grate and the rainwater well.

[0054] It can be understood that, in one embodiment, the rainwater grate cleaning vehicle also includes an engine or an electric motor for providing power to the positioning system, the cleaning system and the driving system of the vehicle body to enable them to operate.

[0055] In an embodiment of the present invention, the rainwater grate cleaning vehicle 100 further includes a self-cleaning device 43 , which is disposed in the trash bin 41 and is used to clean the trash bin 41 .

[0056] In this embodiment, the self-cleaning device 43 is arranged in the trash bin 41. The trash bin 41 is automatically cleaned by controlling the self-cleaning device 43. The self-cleaning device 43 can be a shower or a nozzle, which can spray water toward the inner wall of the trash bin 41 to flush and clean the trash bin 41, thereby reducing the operating burden of sanitation workers.

[0057] In the embodiment of the present invention, the trash bin 41 is provided with a dumping port 411, and a door body 412 is rotatably connected to one side of the dumping port 411;

[0058] The rainwater grate cleaning vehicle 100 further includes a first driving assembly 413, which is disposed on the outer peripheral wall of the garbage bin 41, and a driving portion of the first driving assembly 413 is connected to the door body 412, driving the door body 412 to rotate relative to the garbage bin 41 to open the dumping port 411;

[0059] The box body 4 is rotatably connected to the vehicle body 1. The rain grate cleaning vehicle 100 also includes a second drive assembly 5, which is arranged on the vehicle body 1. The driving part of the second drive assembly 5 is connected to the box body 4 to drive the box body 4 to rotate relative to the vehicle body 1 to dump the dirt in the box body 4.

[0060] In this embodiment, the vehicle is driven to the designated garbage recycling site, the first drive component 413 is first started to open the door 412 of the box body 4, the second drive component 5 of the garbage bin 41 is started, the garbage in the garbage bin 41 is dumped, the residual garbage in the garbage bin 41 is cleaned, the first drive component 413 is retracted to close the door 412, the second drive component 5 is retracted to reset the garbage bin 41, and a new round of operation is started.

[0061] It is understandable that, in another embodiment, a sensor may be provided in the trash bin 41 for detecting the trash capacity in the trash bin 41 to remind the driver to dump the trash bin 41 in time.

[0062] The present invention also proposes a control method, see Figure 6 and Figure 7 , applied to the above rainwater grate cleaning vehicle 100, comprising the following steps:

[0063] Step S1: controlling the rainwater grate cleaning vehicle 100 to initially locate the rainwater grate and rainwater well to be cleaned;

[0064] Step S2: Control the positioning system 2 to re-position the rainwater grate and rainwater well to be cleaned;

[0065] Step S3: Control the cleaning system 3 to clean the rainwater grate and rainwater well to be cleaned and / or suck out dirt.

[0066] In this embodiment, the rain grate cleaning vehicle 100 is controlled to initially locate the rain grate and rain well to be cleaned. The driver controls the rain grate cleaning vehicle 100 to approach the rain grate and rain well to be cleaned by operating the vehicle body 1, and then controls the positioning system 2 to secondarily locate the rain grate and rain well to be cleaned, and controls the mobile device 21 to drive the cleaning system 3 to extend into the rain grate and rain well. Finally, the cleaning system 3 is controlled to clean the rain grate and rain well to be cleaned and / or suck out dirt, clean the garbage on the well wall and the bottom of the well, and suck the garbage and sewage into the garbage bin 41 on the vehicle through the sewage suction port for storage, and then slowly moves the cleaning system 3 upwards, restores the mobile device 21 to its initial state, covers the rain grate, and starts the cleaning and suction operation of the next wellhead.

[0067] In an embodiment of the present invention, step S2 of controlling the positioning system 2 to re-position the rainwater grate and the rainwater well to be cleaned specifically includes:

[0068] Step S21: the controller 6 controls the mobile device 21 to drive the cleaning system 3 to extend into the rainwater grate and the rainwater well to be cleaned.

[0069] In this embodiment, the driver can control the mobile device 21 through the controller 6 in the cockpit, drive the cleaning system 3 to extend into the rainwater grate and the rainwater well to be cleaned, clean the garbage on the well wall and the bottom of the well, and suck the garbage and sewage into the garbage box 41 on the vehicle through the sewage suction port for storage. The controller 6 can be a control device such as a joystick or a touch screen control, which is convenient for the driver to operate.

[0070] In an embodiment of the present invention, the rainwater grate cleaning vehicle 100 further includes a distance measuring sensor 23, and the controller 6 controls the mobile device 21 to drive the cleaning system 3 to extend into the rainwater grate to be cleaned and the rainwater well after step S21, and before step S3 of controlling the cleaning system 3 to clean the rainwater grate to be cleaned and the rainwater well and / or sucking out dirt, it also includes:

[0071] Step S22: controlling the distance measuring sensor 23 to detect the distance between the cleaning system 3 and the wall or bottom of the rainwater well;

[0072] Step S23: Correcting the distance between the mobile device 21 and the rainwater grate and the wall or bottom of the rainwater well according to the spacing.

[0073] In this embodiment, the distance measuring sensor 23 is first controlled to detect the distance between the cleaning system 3 and the rainwater grate and the wall or bottom of the rainwater well. The controller 6 receives the distance information and adjusts and corrects the distance between the mobile device 21 and the rainwater grate and the wall or bottom of the rainwater well to prevent the cleaning system 3 from colliding with the rainwater grate and the rainwater well and causing damage.

[0074] In an embodiment of the present invention, the rainwater grate cleaning vehicle 100 further includes a first drive assembly 413 and a second drive assembly 5, and after step S3 of controlling the cleaning system 3 to clean the rainwater grate and the rainwater well to be cleaned and / or to suck out the dirt, further includes:

[0075] Step S4: controlling the first driving assembly 413 to rotate the door body 412 relative to the pouring opening 411;

[0076] Step S5: controlling the second driving assembly 5 to rotate the box body 4 relative to the vehicle body 1 .

[0077] In this embodiment, after the garbage bin 41 is full of garbage, the vehicle is driven to the designated garbage recycling site, the first drive component 413 is started to open the door body 412, the second drive component 5 is started to lift the garbage bin 41, and the garbage in the garbage bin 41 is dumped, the first drive component 413 is retracted to close the door body 412, the second drive component 5 is retracted to reset the garbage bin 41, and a new round of operations is started.

[0078] In an embodiment of the present invention, the rainwater grate cleaning vehicle 100 further includes a self-cleaning device 43, and after the step S5 of controlling the second driving assembly 5 to rotate the box body 4 relative to the vehicle body 1, it also includes:

[0079] Step S6: controlling the self-cleaning device 43 to clean the dustbin 41 .

[0080] In this embodiment, the self-cleaning device 43 can be a high-pressure spray pipe or nozzle arranged in the garbage bin 41. After the garbage in the garbage bin 41 is dumped, the self-cleaning device 43 is controlled to flush the box wall inside the garbage bin 41 and wash off the dirt stuck on it. There is no need for the staff to get off the vehicle to clean the garbage bin 41, which saves manpower and improves efficiency.

[0081] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention and the drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A rainwater grate cleaning vehicle, used for cleaning rainwater grates and rainwater wells for sanitation, characterized in that: The rainwater grate cleaning vehicle comprises: A vehicle body, wherein the length direction of the vehicle body is defined as a first direction, and the width direction of the vehicle body is defined as a second direction; A positioning system, the positioning system comprising a mobile device and a monitoring device, the mobile device being arranged on the vehicle body, the driving unit of the mobile device being movable relative to the vehicle body along the first direction, the second direction and the vertical direction, the monitoring device being arranged on the vehicle body and being used to display the movement status of the mobile device in real time; A cleaning system, the cleaning system being arranged on the driving part of the mobile device so as to move along with the driving part and used for cleaning and sucking dirt; a box body, the box body being arranged on the vehicle body and being in communication with the cleaning system and being used for collecting and temporarily storing dirt; and A controller is disposed on the vehicle body and is electrically or communicatively connected to the positioning system and the cleaning system.

2. The rainwater grate cleaning vehicle according to claim 1, characterized in that: The monitoring device includes a plurality of cameras and a monitoring screen, wherein the plurality of cameras are arranged at intervals on the vehicle body and shoot toward the cleaning system, and the monitoring screen is arranged on the vehicle body and is in communication connection with the plurality of cameras; The positioning system also includes a distance measuring sensor, which is arranged on the end surface of the cleaning system facing the ground and is electrically or communicatively connected to the controller to prevent the cleaning system from hitting the ground or the well wall.

3. The rainwater grate cleaning vehicle according to claim 1, characterized in that: The cleaning system includes a flushing device and a suction device, the flushing device includes a high-pressure water pump, a high-pressure water pipe and a high-pressure nozzle, the high-pressure water pump is arranged on the rainwater grate cleaning vehicle, the high-pressure nozzle is arranged on the driving part of the mobile device, one end of the high-pressure water pipe is connected to the high-pressure water pump, and the other end is connected to the high-pressure nozzle, and the suction device is arranged on the driving part of the mobile device; The box body is divided into a trash box and a water storage tank, the trash box is connected to the suction device, and the water storage tank is connected to the flushing device.

4. The rainwater grate cleaning vehicle according to claim 3, characterized in that: The rainwater grate cleaning vehicle also includes a self-cleaning device, which is arranged in the garbage bin and is used to clean the garbage bin.

5. The rainwater grate cleaning vehicle according to claim 4, characterized in that: The garbage bin is provided with a dumping opening, and one side of the dumping opening is rotatably connected to a door body; The rainwater grate cleaning vehicle further includes a first driving assembly, which is disposed on the outer peripheral wall of the garbage bin, and a driving part of the first driving assembly is connected to the door body to drive the door body to rotate relative to the garbage bin to open the dumping port; The box is rotatably connected to the vehicle body. The rainwater grate cleaning vehicle also includes a second drive assembly, which is arranged on the vehicle body. The driving part of the second drive assembly is connected to the box to drive the box to rotate relative to the vehicle body to dump the dirt in the box.

6. A control method, applied to the rainwater grate cleaning vehicle according to any one of claims 1 to 5, characterized in that: The control method comprises the following steps: Controlling the rainwater grate cleaning vehicle to initially locate the rainwater grate and rainwater well to be cleaned; Controlling the positioning system to reposition the rainwater grate and the rainwater well to be cleaned; The cleaning system is controlled to clean the rainwater grate and rainwater well to be cleaned and / or to suck out dirt.

7. The control method according to claim 6, characterized in that: The step of controlling the positioning system to re-position the rainwater grate and the rainwater well to be cleaned specifically includes: The controller controls the mobile device to drive the cleaning system to extend into the rainwater grate and the rainwater well to be cleaned.

8. The control method according to claim 7, characterized in that: The rainwater grate cleaning vehicle further includes a distance measuring sensor, and after the step of the controller controlling the mobile device to drive the cleaning system to extend into the rainwater grate to be cleaned and the rainwater well, and before the step of controlling the cleaning system to clean the rainwater grate to be cleaned and the rainwater well and / or to suck out dirt, it also includes: Controlling the distance measuring sensor to detect the distance between the cleaning system and the well wall or well bottom of the rainwater well; The distance between the mobile device and the rainwater grate and the wall or bottom of the rainwater well is corrected according to the spacing.

9. The control method according to claim 6, characterized in that: The rainwater grate cleaning vehicle further comprises a first drive assembly and a second drive assembly. After the step of controlling the cleaning system to clean the rainwater grate and the rainwater well to be cleaned and / or to suck out dirt, the vehicle further comprises: controlling the first driving assembly to rotate the door body relative to the pouring opening; The second driving assembly is controlled to rotate the box relative to the vehicle body.

10. The control method according to claim 9, characterized in that: The rainwater grate cleaning vehicle further includes a self-cleaning device, and after the step of controlling the second driving assembly to rotate the box relative to the vehicle body, the step further includes: The self-cleaning device is controlled to clean the trash bin.

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