Cleaning vehicle control method, device and system

Abstract

The invention relates to the technical field of vehicle control, in particular to a cleaning vehicle control method, device and system.The method is applied to a control unit of the cleaning vehicle control system.The method comprises the steps that in response to a closing instruction of a target nozzle, the number of nozzles in the working state is obtained; judging whether the number is one; if not, the water return electromagnetic valve is controlled to be powered off, and the water return pneumatic control valve is opened to conduct a water return path between the water outlet pipeline of the low-pressure water path and the clear water tank. According to the cleaning vehicle control method, the working states of the other nozzles are obtained when the nozzles are closed, the nozzles are closed after the water return waterway is opened preferentially, impact of low-pressure waterway water flow on low-pressure waterway parts can be effectively reduced when the waterway spray head is closed in the operation process of the low-pressure waterway of the cleaning vehicle, and the service life of the low-pressure waterway is prolonged. And the service life of each part of the low-pressure waterway is effectively prolonged, and better vehicle use experience is brought to customers.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a control method, device and system for a cleaning vehicle. Background Art

[0002] The low-pressure water circuit is one of the main working systems of the cleaning vehicle, and how to reduce the impact of water circuit pressure on water circuit components has always been a hot topic, because the impact of low-pressure water circuit water flow on water circuit accessories is one of the key factors affecting the service life of water circuit components. When two or more water valves are opened in the water circuit and one or more of them need to be closed, the water circuit pressure increases due to the decrease in water circuit flow demand, resulting in the phenomenon of "pressure holding back and abnormal noise" in the low-pressure water circuit system; this "pressure holding back and abnormal noise" phenomenon is particularly obvious when the last nozzle of the water circuit is closed.

[0003] The existing technologies on the market mainly control the flow and pressure of the water flow of the water pump by adjusting the speed of the water pump power system (motor / engine). The motor controller is mainly used to adjust the running speed of the water pump drive motor, thereby controlling the speed of the water pump to control the pressure and flow of the water flow. The variable motor controller adjusts the power of the water pump to adjust the speed of the water pump drive motor by controlling the current, voltage and other values ​​of the motor. When the water valve of the waterway needs to be closed, the required flow of the waterway will decrease. At this time, if the water pump drive motor continues to output at a high speed, the flow output of the water pump will be too large and the waterway pressure will increase. At this time, the method of reducing the speed of the water pump first and then delaying the closing of the water valve can effectively reduce the impact of the water pump, water pipes and other components of the waterway due to the increase in waterway pressure.

[0004] However, since the flow rate of each nozzle in the low-pressure water circuit is different, the speed value that the water pump needs to reduce when closing different nozzles is different and difficult to determine; therefore, the existing technical solution for adjusting the speed of the water pump cannot effectively reduce the impact of the water circuit. In addition, the frequent reduction and increase of the speed of the low-pressure water pump will affect the service life of the water pump. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a cleaning vehicle control method, device and system.

[0006] In a first aspect, an embodiment of the present invention provides a cleaning vehicle control method, which is applied to a control unit of a cleaning vehicle control system, and includes:

[0007] In response to a closing instruction of a target nozzle, obtaining the number of nozzles in a working state;

[0008] Determine whether the quantity is one;

[0009] If not, the return water solenoid valve is controlled to lose power and the return water pneumatic control valve is opened to conduct the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank;

[0010] After a preset time, the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle are controlled to switch from an open state to a closed state to close the target nozzle.

[0011] In combination with the first aspect, after a preset time period, the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle are controlled to switch from an open state to a closed state to close the target nozzle, and further includes:

[0012] The water return solenoid valve is controlled to be energized and the water return pneumatic control valve is closed to block the water return water path between the outlet pipe of the low-pressure water path and the clean water tank. In combination with the first aspect, after the step of determining whether the number is one, it also includes:

[0013] If so, the return water solenoid valve is controlled to lose power and the return water pneumatic control valve is opened to conduct the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank;

[0014] After a preset time, the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle are controlled to close;

[0015] The water return solenoid valve is controlled to maintain a power-off state, the water return pneumatic control valve is controlled to maintain an open state, and a prompt message indicating that the cleaning operation is completed is returned.

[0016] In combination with the first aspect, the method further includes:

[0017] In response to the second nozzle opening instruction, obtaining the current state of the plurality of third nozzles; wherein the current state includes a working state and a standby state;

[0018] Based on all the working states, determine whether there is a third nozzle in working state;

[0019] If so, the solenoid valve and the pneumatic control valve corresponding to the second nozzle are controlled to open, so as to switch the second nozzle from the standby state to the working state.

[0020] In combination with the first aspect, after the step of determining whether there is a third nozzle in a working state in combination with all working states, the method further includes:

[0021] If not, control the solenoid valve and the pneumatic control valve corresponding to the second nozzle to open, so as to switch the second nozzle from the standby state to the working state;

[0022] The speed of the motor connected to the low-pressure water pump is controlled to increase to the rated speed. At the same time, the return water solenoid valve is controlled to remain energized and the return water pneumatic control valve is controlled to remain closed.

[0023] In combination with the first aspect, the method further includes: before the step of obtaining the current states of the plurality of third nozzles in response to the second nozzle opening instruction, the method further includes:

[0024] Get the water level in the clean water tank;

[0025] Determine whether the water level is low;

[0026] If yes, the alarm device is activated and the motor is controlled to maintain the stop operation mode;

[0027] If not, control the motor to run to drive the low-pressure water pump to run.

[0028] In a second aspect, the present application provides a cleaning vehicle control device, which is applied to a control unit of a cleaning vehicle control system, and includes:

[0029] A response module, for obtaining the number of nozzles in working state in response to a closing instruction of a target nozzle;

[0030] A judgment module, used to judge whether the quantity is one;

[0031] The first control module is used to control the water return solenoid valve to lose power and open the water return pneumatic control valve when the water volume is not uniform, so as to conduct the water return water path between the water outlet pipe of the low-pressure water path and the clean water tank;

[0032] The second control module is used to control the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to switch from an open state to a closed state after a preset time period, so as to close the target nozzle.

[0033] In a third aspect, the present application provides a cleaning vehicle control system, the system comprising a control unit, and the control unit is used to execute the above method.

[0034] In conjunction with the third aspect, the system includes:

[0035] The low-pressure water circuit includes a clean water tank, a low-pressure water pump, and a nozzle; the water suction port of the clean water tank is connected to the water inlet of the low-pressure water pump through a connecting pipeline, and the water outlet of the low-pressure water pump is connected to one or more of the nozzles through a connecting pipeline;

[0036] A return water circuit, including a water outlet pipe provided between the low-pressure water circuit and the clean water tank;

[0037] A pneumatic control valve group, comprising one or more pneumatic control valves, each of which corresponds to the nozzle one by one, and is used to open or block the connecting pipeline between the nozzle and the clean water tank; each of the pneumatic control valves is connected to a solenoid valve;

[0038] A water return pneumatic control valve is provided in the water return waterway and is used to open or block the water return waterway. The water return pneumatic control valve is connected to the water return solenoid valve.

[0039] Wherein, the water return solenoid valve, the solenoid valve, and the low-pressure water pump are respectively connected to the control unit.

[0040] In combination with the third aspect, the pneumatic control valve has a first air inlet and a second air inlet, and the first air inlet and the second air inlet are selectively connected to the gas tank under the control of the solenoid valve;

[0041] The water return pneumatic control valve has a third and a fourth air inlet, and the water return solenoid valve controls the third and fourth air inlet to selectively connect with the gas tank.

[0042] In combination with the third aspect, there are multiple solenoid valves, and the multiple solenoid valves correspond one-to-one to the multiple pneumatic control valves; if the solenoid valve is energized, the corresponding pneumatic control valve is opened; if the solenoid valve is de-energized, the corresponding pneumatic control valve is closed.

[0043] In conjunction with the third aspect, the system further includes:

[0044] The return water solenoid valve is connected to the return water pneumatic control valve. If the return water solenoid valve is energized, the return water pneumatic control valve is closed; if the return water solenoid valve is de-energized, the return water pneumatic control valve is opened.

[0045] In conjunction with the third aspect, the system further includes:

[0046] The motor is connected to the low-pressure water pump and is used to drive the low-pressure water pump; the motor is connected to the control unit.

[0047] The embodiments of the present invention bring about the following beneficial effects: the control method for the cleaning vehicle provided in the present application obtains the working status of other nozzles when closing the nozzle, and closes the branch corresponding to the target nozzle to be closed in the low-pressure water circuit after opening the return water circuit for a preset period of time. This can effectively reduce the impact of the low-pressure water circuit water flow on the low-pressure water circuit components when the water circuit nozzle is closed during operation of the low-pressure water circuit of the cleaning vehicle without reducing the speed of the low-pressure water pump, thereby effectively extending the service life of each low-pressure water circuit component and bringing a better vehicle experience to customers.

[0048] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 A schematic diagram of the structure of a cleaning water circuit in a cleaning vehicle provided by an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the gas circuit connection of a cleaning vehicle provided in an embodiment of the present invention;

[0053] Figure 3 This is a display example diagram of the human-machine interaction interface of the cleaning vehicle provided by the embodiment of the present invention;

[0054] Figure 4 A schematic diagram of a cleaning vehicle control method provided by an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of a cleaning vehicle control device provided by an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0057] Reference numerals:

[0058] 1-Electric water cannon, 2-Right front duckbill, 3-Pneumatic control valve, 4-Clean water tank, 5-Motor, 6-Low-pressure water pump, 7-Right counter-hedge, 8-Right rear spray, 9-Rear spray, 10-Right rear sprinkler, 11-Rear electric water cannon, 12-Left rear sprinkler, 13-Left rear spray, 14-Left counter-hedge, 15-Right upper side spray, 16-Left upper side spray, 17-Left front duckbill, 18-Return water pneumatic control valve, 19-Gas tank, 20-Return waterway;

[0059] 100 - response module, 200 - judgment module, 300 - first control module, 400 - second control module; 130 - processor, 131 - memory, 132 - bus, 133 - communication interface. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0061] In order to facilitate the understanding of this embodiment, the technical terms designed in this application are briefly introduced below.

[0062] A cleaning vehicle refers to a vehicle specifically used for road cleaning. This vehicle is equipped with a sweeping brush, a water spraying system and a garbage collection device, and can complete the cleaning and flushing of the road while driving.

[0063] The cleaning structure of the cleaning vehicle mainly includes: a cleaning nozzle (used to spray high-pressure water to remove dirt on the ground), a brush or roller (used to help brush away stubborn stains and improve the cleaning effect, a dust suction device (used to collect sewage and debris generated during the cleaning process to keep the environment clean), a water tank (used to store water for cleaning) and a control system. The operator controls various functions in the cleaning process through this system. When the cleaning vehicle is started, the water pump draws water from the water tank and sprays it through the cleaning nozzle in a high-pressure form, impacting the ground to remove dirt; then, the brush or roller moves on the ground to further clean stains that are difficult to wash away directly with water; finally, the dust suction device is started to suck the cleaned sewage together with the residue on the ground into the vehicle, completing the entire cleaning process.

[0064] After introducing the technical terms involved in this application, the application scenarios and design concepts of the embodiments of this application are briefly introduced.

[0065] In the prior art, the impact of increased water pressure on the waterway and components is reduced by reducing the speed of the water pump and then delaying the closing of the water valve. However, when closing different nozzles, the speed of the water pump needs to be reduced to different values ​​and is difficult to determine. In addition, the frequent reduction and increase of the speed of the low-pressure water pump affects the service life of the water pump. Therefore, the existing technical solution for adjusting the speed of the water pump cannot effectively reduce the impact on the waterway.

[0066] Based on this, the embodiment of the present application provides a cleaning vehicle control method, device and system, which is applied to the control unit of the cleaning vehicle control system, combined with Figure 1The schematic diagram of the low-pressure water system in the cleaning vehicle in the prior art is shown. It can be seen that the water inlet of the clean water tank 4 is connected to one end of the low-pressure water circuit, and the other end of the low-pressure water circuit is connected to multiple nozzles. A low-pressure water pump 6 is arranged on the low-pressure water circuit, and a pneumatic control valve 3 is arranged on the branch pipe connecting the low-pressure water circuit and each nozzle. In this way, by conducting any pneumatic control valve 3, the low-pressure water pump 6 can be drawn out from the clean water tank and converted into pressurized clean water to be output to the corresponding nozzle to start the cleaning operation of the nozzle. The opening and closing of each nozzle of the low-pressure water circuit is controlled by the pneumatic control valve 3. At the same time, the pneumatic control valve 3 is controlled by the solenoid valve. The pneumatic control valve 3 group obtains the air source from the chassis auxiliary air tank 19. The air source enters the pneumatic control valve group after being processed by the pneumatic triplet. Each solenoid valve is used to control the switching of the air circuit, thereby controlling the opening or closing of the pneumatic control valve 3.

[0067] There are many types of nozzles, such as duckbill nozzles, flush nozzles, atomizing nozzles, electric water cannons, etc. By selecting different types of nozzles, different forms of water (such as water splashes, water columns or water mist, etc.) can be sprayed to adapt to different working scenes. In this embodiment, the nozzles are named according to their installation positions and shapes. Figure 1 , Figure 2 Specifically shown are: front electric water cannon 1, right front duckbill 2, right hedge 7, right rear spray 8, rear spray 9, right rear sprinkle 10, rear electric water cannon 11, left rear sprinkle 12, left rear spray 13, left hedge 14, upper right side spray 15, upper left side spray 16, left front duckbill 17.

[0068] In this embodiment, a return water circuit 20 is additionally provided on the basis of the existing structure. The return water circuit 20 is connected in parallel with the low-pressure water circuit. A return water pneumatic control valve 18 is provided on the return water circuit 20. The return water solenoid valve is normally open when no electricity is provided (i.e., power is lost), i.e., in the open state. At this time, the outlet pipe of the low-pressure water circuit is connected to the clean water tank 4 and is in the unloading state. When any one or more nozzles are opened, the return water solenoid valve is energized, i.e., the return water solenoid valve is in the closed state. At this time, the outlet pipe of the low-pressure water circuit is not connected to the clean water tank 4, and no water is returned.

[0069] During the cleaning operation, when the low-pressure water circuit opens multiple nozzles for operation and is about to stop or reduce the operating nozzles, it is necessary to close the solenoid valve and pneumatic control valve 3 corresponding to one or more of the nozzles. At this time, the return water solenoid valve is first de-energized and the return water pneumatic control valve 18 is opened to connect the water outlet pipe of the low-pressure water circuit with the return water circuit 20 between the clean water tank. At this time, the return water pneumatic control valve 18 is opened before closing the nozzle, so that the water outlet pipe of the low-pressure water circuit is connected with the clean water tank 4, which can well release the increase in the low-pressure water circuit pressure caused by the closure of the low-pressure water circuit nozzle. Among them, the return water flow rate is larger than the flow rate of each nozzle. Therefore, the pressure increase caused by the sudden increase in water circuit flow caused by the closure of one of the nozzles in the low-pressure water circuit can be completely released; at the same time, this method does not need to reduce the speed of the water pump drive motor. The water pump runs at an economical speed and uniform speed for a long time, which can effectively reduce the energy consumption of the cleaning vehicle and increase the service life of the water pump.

[0070] Among them, the air circuit connection of the return water solenoid valve is opposite to the air circuit connection of the solenoid valve corresponding to the nozzle. In the initial state of the vehicle, the return water solenoid valve shall not be energized, and the return water pneumatic control valve is in an open state at this time; if any nozzle is opened, the solenoid valve of the nozzle shall be energized (in an open state) to open the corresponding pneumatic control valve, and at the same time, the return water control solenoid valve is in a closed state (that is, in a closed state), the return water pneumatic control valve is closed, and no water is returned.

[0071] Example 1

[0072] The present application provides a cleaning vehicle control method, combined with Figure 4 As shown, the method includes:

[0073] S110, in response to a closing instruction of a target nozzle, obtaining the number of nozzles in working state.

[0074] S120, determining whether the quantity is one.

[0075] If not, execute steps S130 - S140 .

[0076] S130, controlling the return water solenoid valve to lose power and opening the return water pneumatic control valve to connect the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank.

[0077] S140, after a preset time, controlling the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to switch from an open state to a closed state to close the target nozzle.

[0078] In this embodiment, when the instruction to close the target nozzle is issued during the cleaning process, it is determined whether the target nozzle is the last nozzle to be closed in combination with the working status of each nozzle. When the target nozzle is not the last nozzle to be closed, the return waterway is first opened. Since the low-pressure waterway system is already in the return water state, the required flow of the low-pressure waterway system will not drop suddenly due to closing one or more nozzles, causing the phenomenon of "pressure holding and abnormal noise" in the low-pressure waterway system. In this way, the impact of water flow on the waterway when closing the nozzle during the operation can be effectively reduced, and the service life of various components of the low-pressure waterway can be effectively extended.

[0079] It is understandable that during the cleaning operation, when the nozzle is closed, the water flow suddenly stops, which will have an impact on the entire low-pressure waterway, which may cause pipeline vibration, increased noise, and even damage the pipeline interface or internal structure. The present application adds a parallel return waterway to guide the water flow back to the backflow first, thereby reducing the impact on the low-pressure waterway caused by the sudden drop in flow when the nozzle is closed.

[0080] It can be understood that the control unit is connected to the human-machine interface of the cleaning vehicle, and generates control instructions through the operator's operation on the human-machine interface to control the operation of various components in the cleaning vehicle to perform the cleaning operation. At the same time, during the cleaning operation, the monitoring data can be fed back and displayed in real time. Figure 3 The current display page of the human-computer interaction interface shown in the figure displays the in-vehicle temperature data (27°C), the current date (2024 / 9 / 10) and the current operation time (10:10) in the top column, and the motor speed and motor voltage on the right; a function bar is provided on the left, such as "main interface", "high-pressure water line operation", "low-pressure water line operation", "music", "360-degree view", etc.; multiple function buttons are provided on the right, such as "left shower", "right shower", "low-pressure return water", "manual bubble", "pause", "start", etc., as well as prompt information display, such as "the water level in the fresh water tank is low, please add water".

[0081] It is understandable that in the human-computer interaction interface, shadows, color emphasis, etc. can be used to indicate that the corresponding functional component is in a certain working state. For example, the function is indicated to be running by adding a shadow line. Figure 3 In addition, the working status of each functional component at each time point is recorded and stored at all times.

[0082] During the cleaning operation, the operator can indicate that he wants to turn off a function by clicking a function button that is in working state on the human-machine interaction interface. Conversely, the operator can indicate that he wants to turn on a function by clicking a function button that is in standby state on the human-machine interaction interface.

[0083] In combination with the first aspect, after step S140, the method further includes:

[0084] S150, controlling the water return solenoid valve to be energized and closing the water return pneumatic control valve to block the water return path between the outlet pipe of the low-pressure water path and the clean water tank.

[0085] In the case that the nozzle to be closed is not the last nozzle, the return water solenoid valve is energized after the nozzle is closed to block the return water path to maintain the normal operation of other nozzles that are in working condition.

[0086] In combination with the first aspect, after step S120, the method further includes:

[0087] If so, execute steps S121-S123.

[0088] S121, control the return water solenoid valve to lose power and open the return water pneumatic control valve to conduct the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank.

[0089] S122, controlling the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to be closed.

[0090] S123, control the water return solenoid valve to maintain a power-off state, control the water return pneumatic control valve to maintain an open state, and return a prompt message indicating that the cleaning operation is completed.

[0091] At this time, it means that the target nozzle is the last nozzle to be closed. Similarly, the return water circuit is opened first and the target solenoid valve and the target pneumatic control valve are closed in the return water state to stop supplying clean water to the target nozzle. At this time, all nozzles are closed, indicating that the cleaning operation is completed, and the prompt message of the cleaning operation completion is returned for prompting.

[0092] For example, in the current operation system, the rear electric water cannon 11, the left rear sprinkler 12, the left rear spray 13, the left hedge 14, and the upper right side spray 15 are all in working condition. When the cleaning vehicle is performing a road washing operation, the left hedge 14 nozzle is pressed to close the left hedge 14 nozzle. At this time, the left hedge 14 nozzle is the first nozzle to be closed. At this time, the control return water solenoid valve is de-energized, and the return water pneumatic control valve 18 is opened. After a delay of 0.5s, the solenoid valve corresponding to the left hedge 14 nozzle is de-energized, the pneumatic control valve 3 is closed, and the left hedge 14 nozzle stops operating;

[0093] At this time, since other nozzles are still in operation, the return water solenoid valve is energized again and the return water pneumatic control valve 18 is closed to block the return water path and ensure the flushing water pressure for other nozzles to continue the flushing operation.

[0094] Based on the above method, after continuing to close the rear electric water cannon 11, the left rear sprinkler 12, and the upper right side spray 15, only the left rear spray nozzle 13 is in working state. At this time, press the left rear spray nozzle 13 closing button again, first control the return water solenoid valve to lose power, and open the return water pneumatic control valve. After a delay of 0.5s, control the left rear spray nozzle 13 corresponding to the solenoid valve pneumatic control valve 3 to close, and the left rear spray nozzle 13 stops operating.

[0095] Since there is no nozzle in the low-pressure water circuit anymore, the return water solenoid is no longer energized, the return water pneumatic control valve 18 will remain in an open state, the return water circuit 20 will remain in a conducting state, and a prompt message indicating that the cleaning vehicle operation is completed will be returned.

[0096] In a second aspect, the method further comprises:

[0097] S210, in response to the second nozzle opening instruction, obtaining the current status of the plurality of third nozzles; wherein the current status includes a working status and a standby status.

[0098] S220, judging whether there is a third nozzle in working state in combination with all working states.

[0099] If yes, go to step S230; if no, go to step S240.

[0100] S230, control the solenoid valve and pneumatic control valve corresponding to the second nozzle to open, so as to switch the second nozzle from the standby state to the working state; at the same time, control the return water solenoid valve to remain in the open state, and control the return water pneumatic control valve to remain in the closed state.

[0101] S240, controlling the solenoid valve and the pneumatic control valve corresponding to the second nozzle to open, so as to switch the second nozzle from the standby state to the working state.

[0102] S250 controls the speed of the motor connected to the low-pressure water pump to increase to the rated speed. At the same time, it controls the return water solenoid valve to be energized and closes the return water pneumatic control valve.

[0103] Combined with the above example, the "current state" here refers to whether these nozzles are in the "working state" or the "standby state". Among them, the "third nozzle" is the nozzle that is different from the "second nozzle" among all the nozzles. For example, there are six nozzles A, B, C, D, E, and F. When receiving the instruction to turn on nozzle E, then the "second nozzle" refers to nozzle E, and the "third nozzle" refers to any one of nozzles A, B, C, D, and F.

[0104] After obtaining the status of all the "third nozzles", the system will further determine whether one or more of these nozzles are in a "working state". Combined with the above example, it is determined whether there is a nozzle in the working state among nozzles A, B, C, D, and F.

[0105] When it is detected that the "third nozzle" is working (i.e. at least one of nozzles A, B, C, D, F is in working state), the solenoid valve and pneumatic control valve 3 related to the "second nozzle" are opened to connect the low-pressure waterway and the connecting pipeline of the second nozzle, and clean water is sprayed from the low-pressure waterway through the second nozzle for cleaning operation, so that the nozzle is converted from "standby state" to "working state". At the same time, in order to ensure the normal operation of the system, the return water solenoid valve will be energized and the return water pneumatic control valve 18 will be kept closed to block the return waterway.

[0106] When no "third nozzle" is in working state, it means that the second nozzle is the first nozzle to be operated, and the system will also switch the "second nozzle" from "standby state" to "working state", but at this time, the corresponding solenoid valve and pneumatic control valve 3 are controlled to open to connect the pipeline between the clean water tank and the "second nozzle" to introduce clean water into the pipeline. The speed of the control motor is increased to increase the output power of the booster pump to ensure that the "second nozzle" has the best pressure and flushing effect. At the same time, because the system is originally in standby state, the return water circuit is closed. At this time, the current state is maintained (the return water solenoid valve is energized and the return water pneumatic control valve is closed), and no additional adjustment is required to the return water circuit 20.

[0107] In conjunction with the second aspect, before step S210, the method further includes:

[0108] S200, obtaining the water level in the clean water tank;

[0109] S201, determining whether the water level is low;

[0110] If yes, go to step S202; if no, go to step S203.

[0111] S202, start the alarm device and control the motor to maintain the stop operation mode;

[0112] S203, controlling the motor to operate to drive the low-pressure water pump to operate.

[0113] It is understandable that before the cleaning operation, the amount of clean water stored in the clean water tank is first tested to determine whether the cleaning operation can be performed. If it is a low water level (i.e. the water level is lower than the preset safety level), the system will activate the alarm device to remind the operator to pay attention, and at the same time control the motor to keep it in a stopped state. This can avoid equipment damage or other safety problems caused by lack of water. On the contrary, if it is not a low water level (i.e. the water level is normal or sufficient), the system will control the motor to start, and then drive the low-pressure water pump to start working. This can ensure that the water system can operate normally and meet the required functions, and avoid the low-pressure water pump idling due to the low water level affecting the service life of the low-pressure water pump.

[0114] For example, there is a wide city trunk road that needs to be flushed. The garbage in the middle of the road needs to be flushed to the curbs on both sides of the road to facilitate the cleaning workers to clean up the garbage. For this operation requirement, we will perform the following operations:

[0115] After turning on the main power, the human-machine interface operation screen lights up. At this time, you need to check the water level in the clean water tank first. If there is no water, start the low water level alarm (as an example, Figure 3 The text prompt message shown is "The water level in the clean water tank is low, please add water") and the motor 5 cannot be started; if it is not a low water level, the motor 5 drives the low-pressure water pump 6 to start normally.

[0116] When the user touches or presses the left flush nozzle 14, the left flush nozzle 14 is the first nozzle to be opened. At this time, the solenoid valve corresponding to the left flush nozzle 14 is opened, the pneumatic control valve 3 corresponding to the left flush nozzle 14 is opened, the speed of the motor 5 is increased to the rated speed, and the left flush nozzle 14 starts to spray water; at the same time, the return water solenoid valve is opened to close the return water pneumatic control valve 18 to ensure the optimal pressure and flushing effect of the low-pressure left flush nozzle 14.

[0117] In the current operating system, the left flush nozzle 14 is in operation. When the right flush nozzle 7 is touched or pressed to open the right flush nozzle 7, the solenoid valve corresponding to the right flush nozzle 7 is controlled to open, and the pneumatic control valve 3 corresponding to the right flush nozzle 7 is opened, and the right flush 7 starts to spray water. At this time, since there is a low-pressure water circuit with the left flush nozzle 14 operating, the return water solenoid valve does not operate and continues to remain energized, and the return water pneumatic control valve remains closed.

[0118] In a second aspect, the present application provides a cleaning vehicle control device, which is applied to a control unit of a cleaning vehicle control system, and is combined with Figure 5 As shown, the device includes: a response module 100, a judgment module 200, a first control module 300, and a second control module 400.

[0119] The response module 100 is used to obtain the number of nozzles in working state in response to the closing instruction of the target nozzle.

[0120] The determination module 200 is used to determine whether the quantity is one.

[0121] The first control module 300 is used to control the return water solenoid valve to lose power and open the return water pneumatic control valve to conduct the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank when the number is not unique.

[0122] The second control module 400 is used to control the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to switch from an open state to a closed state after a preset time period, so as to close the target nozzle.

[0123] In a third aspect, the present application provides a cleaning vehicle control system, the system comprising a control unit, and the control unit is used for the above method.

[0124] In conjunction with the second aspect, the system includes:

[0125] The low-pressure water circuit includes a clean water tank 4, a low-pressure water pump 6, and a nozzle; the water suction port of the clean water tank 4 is connected to the water inlet of the low-pressure water pump 6 through a connecting pipe, and the water outlet of the low-pressure water pump 6 is connected to one or more of the nozzles through a connecting pipe.

[0126] The return water circuit 20 includes a water outlet pipe disposed between the low-pressure water circuit and the clean water tank 4 .

[0127] A pneumatic control valve group, comprising one or more pneumatic control valves 3, each of which corresponds to the nozzle one by one, and is used to open or block the connection pipeline between the nozzle and the clean water tank 4; each of the pneumatic control valves 3 is connected to a solenoid valve;

[0128] A water return pneumatic control valve 18 is provided in the water return waterway 20 and is used to open or block the water return waterway. The water return pneumatic control valve 18 is connected to the water return solenoid valve;

[0129] The water return solenoid valve, the solenoid valve and the low-pressure water pump 6 are respectively connected to the control unit.

[0130] In the present application, a water outlet pipe connecting the low-pressure water pump 6 and the return water pipe 20 of the clean water tank 4 is provided in the low-pressure water system of the cleaning vehicle to release the water pressure; when a nozzle of the low-pressure water circuit needs to be opened for operation, the return water pneumatic control valve 18 is closed; when a nozzle of the low-pressure water circuit needs to be closed and the operation is stopped, the return water pneumatic control valve 18 is opened first to connect the water outlet pipe of the low-pressure water pump 6 with the clean water tank 4 to achieve the purpose of pressure relief; then the nozzle of the low-pressure water circuit that needs to be closed is closed after a delay of 0.5s; at this time, it is judged whether there are any nozzles in the low-pressure water circuit system that are in working state. If so, the return water pneumatic control valve 18 is closed to ensure the best working effect of the low-pressure water circuit system.

[0131] Compared with the traditional method of adjusting the water pump speed to reduce the impact of low-pressure water channels on cleaning vehicles, the system provided by the present application has the following beneficial effects and advantages:

[0132] a. When the low-pressure water pump 6 is initially started, the motor of the low-pressure water pump runs at a low speed; at this time, the nozzle of the low-pressure water circuit is not opened, and the outlet pipe of the low-pressure water circuit is connected to the clean water tank 4 through the return water circuit to form a circulating water circuit, and there will be no pressure build-up in the low-pressure water circuit.

[0133] b. Since the diameter of the return water channel 20 is larger than that of other nozzles in the low-pressure water channel, and the flow rate of the return water channel 20 is also larger than that of other low-pressure water pump nozzles, there is no need to consider the different flow rates of each water valve. When closing different nozzles, opening the return water pneumatic control valve 18 can completely release the pressure; this design can safely and effectively prevent the impact of the low-pressure water channel of the cleaning vehicle and solve the problem of "pressure holding and abnormal noise" in the low-pressure water channel;

[0134] c. The speed of the low-pressure water pump 6 continues to operate within its rated speed range, and there is no need to frequently reduce or increase the speed of the water pump, so the service life of the low-pressure water pump is guaranteed;

[0135] d. The speed of the low-pressure water pump 6 continues to operate within its rated speed range, the water pump has high working efficiency, the road cleaning effect is good, and the energy consumption of the cleaning vehicle is reduced.

[0136] e. Since the impact of the low-pressure water circuit of the cleaning vehicle on the low-pressure water circuit during operation is reduced to the greatest extent, the noise pollution generated when the low-pressure water circuit is closed is effectively reduced, giving customers a better car experience.

[0137] In combination with the third aspect, the pneumatic control valve 3 has a first air inlet and a second air inlet, and the first air inlet and the second air inlet are selectively connected to the gas tank 19 under the control of the solenoid valve;

[0138] The water return pneumatic control valve 18 has a third air inlet and a fourth air inlet. Under the control of the water return solenoid valve, one of the third air inlet and the fourth air inlet is connected to the gas tank 19.

[0139] In conjunction with the third aspect, the system further includes:

[0140] There are multiple solenoid valves, and the multiple solenoid valves correspond to the multiple pneumatic control valves 3 one by one; if the solenoid valve is energized, the corresponding pneumatic control valve 3 is opened; if the solenoid valve is de-energized, the corresponding pneumatic control valve 3 is closed.

[0141] In conjunction with the third aspect, the system further includes:

[0142] The return water solenoid valve is connected to the return water pneumatic control valve 18; if the return water solenoid valve is energized, the return water pneumatic control valve 18 is closed; if the return water solenoid valve is de-energized, the return water pneumatic control valve 18 is opened.

[0143] In conjunction with the third aspect, the system further includes:

[0144] The motor 5 is connected to the low-pressure water pump 6 and is used to drive the low-pressure water pump 6; the motor 5 is connected to the control unit.

[0145] The initial state of the pneumatic control valve 3 is that the first air inlet has no air pressure, the second air inlet is ventilated, and the initial state of each pneumatic control valve 3 is closed. The initial state of the return water pneumatic control valve 18 is that the third air inlet is ventilated, and the fourth air inlet has no air pressure. At this time, the return water pneumatic control valve 18 is in an open state.

[0146] Combining the above examples and Figure 2 As shown, when any nozzle is turned on:

[0147] The solenoid valve corresponding to the nozzle is energized, and the first air inlet of the pneumatic control valve 3 corresponding to the nozzle is connected to the pneumatic valve group A port (combined with A10-A22 in the figure) with air pressure due to the switching of the solenoid valve, while the second air inlet is connected to the pneumatic control valve group B (combined with B10-B22 in the figure) without air pressure. At this time, the pneumatic control valve 3 corresponding to the nozzle is opened.

[0148] At the same time, the return water solenoid valve is energized, and the third air inlet of the return water pneumatic control valve 18 corresponding to the return water solenoid valve is connected to the B port of the air control valve group without air pressure, and the fourth air inlet is connected to the A port of the air control valve group with air pressure. At this time, the return water pneumatic control valve 18 is in a closed state.

[0149] When closing any nozzle:

[0150] When the return water solenoid valve loses power, the corresponding fourth air inlet of the return water pneumatic control valve 18 is connected to the air control valve group B port without air pressure, and the third air inlet is connected to the pneumatic valve group A with air pressure. At this time, the return water circuit 20 is opened to release the increase in pressure in the low-pressure water circuit caused by the closure of the low-pressure water circuit nozzle, thereby effectively reducing or preventing the phenomenon of "pressure holding and abnormal noise" in the low-pressure pipeline caused by the closure of the low-pressure nozzle. Among them, the return water flow rate is larger than the flow rate of each nozzle, so the pressure increase caused by the sudden increase in water flow caused by the closure of one of the nozzles in the low-pressure water circuit can be completely released; at the same time, this method does not need to reduce the speed of the low-pressure water pump 6 drive motor 5. The low-pressure water pump 6 runs at an economical speed for a long time, which can effectively reduce the energy consumption of the cleaning vehicle and increase the service life of the low-pressure water pump 6.

[0151] In a fourth aspect, an embodiment of the present application provides an electronic device, Figure 6 As shown, the electronic device includes a memory 131 and a processor 130. The memory 131 is used to store computer programs, and the processor 130 runs the computer programs to enable the electronic device to perform the above method.

[0152] Furthermore, combined with Figure 6 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0153] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0154] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the above embodiment in combination with its hardware.

[0155] In a fourth aspect, an embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above method is executed.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0157] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0158] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0159] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0160] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A cleaning vehicle control method, characterized in that: The method is applied to a control unit of a cleaning vehicle control system, and the method comprises: In response to a closing instruction of a target nozzle, obtaining the number of nozzles in a working state; determining whether the quantity is one; If not, the return water solenoid valve is controlled to lose power and the return water pneumatic control valve is opened to conduct the return water channel between the outlet pipe of the low-pressure water channel and the clean water tank; After a preset time, the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle are controlled to switch from an open state to a closed state to close the target nozzle.

2. The method according to claim 1, characterized in that After a preset time, after the step of controlling the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to switch from an open state to a closed state to close the target nozzle, the method further includes: The water return solenoid valve is controlled to be energized and the water return pneumatic control valve is closed to block the water return waterway between the outlet pipe of the low-pressure waterway and the clean water tank.

3. The method according to claim 1, characterized in that After the step of determining whether the number is one, the method further includes: If yes, control the water return solenoid valve to lose power and open the water return pneumatic control valve to connect the water return waterway between the outlet pipe of the low-pressure waterway and the clean water tank; After the preset time, controlling the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to close; The water return solenoid valve is controlled to maintain a power-off state, the water return pneumatic control valve is controlled to maintain an open state, and a prompt message indicating that the cleaning operation is completed is returned.

4. The cleaning vehicle control method according to claim 1, characterized in that: The method further comprises: In response to the second nozzle opening instruction, obtaining the current state of the plurality of third nozzles; wherein the current state includes a working state and a standby state; Based on all the working states, determine whether there is a third nozzle in working state; If so, the solenoid valve and the pneumatic control valve corresponding to the second nozzle are controlled to open, so as to switch the second nozzle from the standby state to the working state.

5. The method according to claim 4, characterized in that After the step of judging whether there is a third nozzle in a working state in combination with all working states, the method further includes: If not, control the solenoid valve and the pneumatic control valve corresponding to the second nozzle to open, so as to switch the second nozzle from the standby state to the working state; The speed of the motor connected to the low-pressure water pump is controlled to increase to the rated speed. At the same time, the return water solenoid valve is controlled to remain in an energized state and the return water pneumatic control valve is controlled to remain in a closed state.

6. The method according to claim 4, characterized in that The method further includes: before the step of acquiring the current states of the plurality of third nozzles in response to the second nozzle opening instruction, the method further includes: Get the water level in the clean water tank; Determining whether the water level is a low water level; If yes, the alarm device is activated and the motor is controlled to maintain the stop operation mode; If not, the motor is controlled to operate to drive the low-pressure water pump to operate.

7. A cleaning vehicle control device, characterized in that: The device is applied to a control unit of a cleaning vehicle control system, and the device comprises: A response module, for obtaining the number of nozzles in working state in response to a closing instruction of a target nozzle; A judging module, used for judging whether the number is one; The first control module is used to control the water return solenoid valve to lose power and open the water return pneumatic control valve when the water volume is not uniform, so as to conduct the water return water path between the water outlet pipe of the low-pressure water path and the clean water tank; The second control module is used to control the target solenoid valve and the target pneumatic control valve corresponding to the target nozzle to switch from an open state to a closed state after a preset time period, so as to close the target nozzle.

8. A cleaning vehicle control system, characterized in that: The system comprises a control unit, and the control unit is used to execute the method according to any one of claims 1-6.

9. The system according to claim 8, characterized in that The system comprises: The low-pressure water circuit includes a clean water tank, a low-pressure water pump, and a nozzle; the water suction port of the clean water tank is connected to the water inlet of the low-pressure water pump through a connecting pipeline, and the water outlet of the low-pressure water pump is connected to one or more of the nozzles through a connecting pipeline; A return water circuit, including a water outlet pipe provided between the low-pressure water circuit and the clean water tank; A pneumatic control valve group, comprising one or more pneumatic control valves, each of which corresponds to the nozzle one by one, and is used to open or block the connecting pipeline between the nozzle and the clean water tank; each of the pneumatic control valves is connected to a solenoid valve; A water return pneumatic control valve is provided in the water return waterway and is used to open or block the water return waterway. The water return pneumatic control valve is connected to the water return solenoid valve. Wherein, the water return solenoid valve, the solenoid valve, and the low-pressure water pump are respectively connected to the control unit.

10. The system according to claim 9, characterized in that The pneumatic control valve has a first air inlet and a second air inlet, and the first air inlet and the second air inlet are controlled by the solenoid valve to selectively communicate with the gas tank; The water return pneumatic control valve has a third and a fourth air inlet, and the third air inlet and the fourth air inlet are selectively connected to the gas tank under the control of the water return solenoid valve.

11. The system according to claim 10, characterized in that The system further comprises: There are multiple solenoid valves, and the multiple solenoid valves correspond one-to-one to the multiple pneumatic control valves; if the solenoid valve is energized, the corresponding pneumatic control valve is opened; if the solenoid valve is de-energized, the corresponding pneumatic control valve is closed.

12. The system according to claim 10, characterized in that The system further comprises: The return water solenoid valve is connected to the return water pneumatic control valve. If the return water solenoid valve is energized, the return water pneumatic control valve is closed; if the return water solenoid valve is de-energized, the return water pneumatic control valve is opened.

13. The system according to claim 9, characterized in that The system further comprises: A motor is connected to the low-pressure water pump and is used to drive the low-pressure water pump; the motor is connected to the control unit.

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