Air pressure control method and device, waterway control system and cleaning vehicle

Abstract

The invention provides an air pressure control method and device, a waterway control system and a cleaning vehicle, and relates to the technical field of cleaning vehicles, a waterway unit of the waterway control system comprises water storage equipment, and the method comprises the steps that pressure parameters of a cavity of an energy accumulator are monitored; judging whether the pressure parameter meets a pre-configured pressure range threshold value or not; if not, generating a control signal; and the opening and closing state of the inflation and deflation control equipment is adjusted based on the control signal, so that the air pressure of the cavity of the energy accumulator is controlled. According to the air pressure control method and device, the waterway control system and the cleaning vehicle, the pre-charging pressure of the energy accumulator is continuously adjusted through the air charging and discharging control equipment, pressure distribution in the waterway control system can be maintained, the phenomenon that the waterway control system is unstable due to pressure impact is avoided, and the service life of the cleaning vehicle is prolonged. The mechanical stress of excessive pressure and fluctuation on the energy accumulator assembly can be reduced, the abrasion and fault probability is further reduced, and the energy accumulator is helped to achieve the longer service life by accurately controlling the pressure.

Description

Technical Field

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

[0002] The high and low pressure water system is the main working system of the cleaning vehicle, and how to reduce the impact of water pressure on water system components has always been a hot topic.

[0003] At present, the existing technologies on the market mainly use accumulators to absorb the instantaneous pressure fluctuations caused by "water hammer" ("water hammer" refers to the phenomenon that the pressure in the pipeline increases or decreases sharply due to the inertia of water when the water flow starts or stops quickly), convert it into reusable energy, stabilize the system pressure, and thus prevent the instantaneous pressure fluctuations of the cleaning vehicle during operation from causing instantaneous high-pressure impact on the pipeline due to high water pressure.

[0004] However, the gas end of the accumulator may leak slowly and may not be able to withstand the instantaneous high-pressure impact of the water pressure, resulting in safety hazards. This is mainly because the cleaning vehicle may encounter "water hammer" during the use of high-pressure water flow cleaning. The water pressure generated may cause the sealing material of the accumulator to age, harden or deform, thereby affecting the energy storage capacity. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an air pressure control method, device, waterway control system and cleaning vehicle to solve the gas leakage problem of the accumulator in the prior art, so as to ensure the extension of the service life of the accumulator and better balance the "water hammer phenomenon" that the cleaning vehicle may encounter during the high-pressure water cleaning process.

[0006] In a first aspect, an embodiment of the present invention provides an air pressure control method, which is applied to a controller of a water circuit control system, wherein a water circuit unit of the water circuit control system includes a water storage device, and a plurality of spray units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, a liquid port of the accumulator is connected to the pipeline, and a charging and discharging control device is configured at a gas port of the accumulator; the method comprises: monitoring the pressure parameters of the cavity of the accumulator; determining whether the pressure parameters meet a pre-configured pressure range threshold; if not, generating a control signal; and adjusting the opening and closing state of the charging and discharging control device based on the control signal to control the air pressure of the cavity of the accumulator.

[0007] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the above-mentioned step of determining whether the pressure parameter satisfies a pre-configured pressure range threshold includes: determining whether the pressure parameter is less than a pre-configured first pressure threshold and greater than a pre-configured second pressure threshold; wherein the first pressure threshold is greater than the second pressure threshold; if so, determining that the pressure parameter satisfies the pre-configured pressure range threshold; if the pressure parameter is greater than or equal to the pre-configured first pressure threshold, or the pressure parameter is less than or equal to the pre-configured second pressure threshold, determining that the pressure parameter does not satisfy the pre-configured pressure range threshold.

[0008] In combination with the first possible implementation of the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the step of generating a control signal includes: if the pressure parameter is greater than or equal to the pre-configured first pressure threshold, generating a first control signal; wherein the first control signal is a signal for opening the exhaust path of the charging and discharging control device; the step of adjusting the opening and closing state of the charging and discharging control device based on the control signal includes: sending the first control signal to the driver of the charging and discharging control device, triggering the driver to open the exhaust path of the charging and discharging control device, so as to exhaust the cavity of the accumulator until the pressure parameter meets the pressure range threshold.

[0009] In combination with the first possible implementation of the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the above-mentioned step of generating a control signal further includes: if the pressure parameter is less than or equal to a preconfigured second pressure threshold, generating a second control signal; wherein the second control signal is a signal for opening the inflation path of the inflation and deflation control device; the step of adjusting the opening and closing state of the inflation and deflation control device based on the control signal includes: sending the second control signal to the driver of the inflation and deflation control device, triggering the driver to open the inflation path of the inflation and deflation control device, so as to inflate the cavity of the accumulator until the pressure parameter meets the pressure range threshold.

[0010] In combination with the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the accumulator is provided with a pressure sensor; the pressure sensor is used to collect pressure parameters of the cavity of the accumulator; the step of monitoring the pressure parameters of the cavity of the accumulator comprises: obtaining the pressure parameters collected by the pressure sensor at a preset time interval.

[0011] In a second aspect, an embodiment of the present invention further provides an air pressure control device, which is applied to a controller of a water circuit control system, wherein the water circuit unit of the water circuit control system includes a water storage device, and a plurality of spraying units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is provided with a charging and discharging control device; the device includes: a monitoring module for monitoring the pressure parameters of the cavity of the accumulator; a judgment module for judging whether the pressure parameters meet a pre-configured pressure range threshold; a generation module for generating a control signal when the judgment result of the judgment module is no; and a control module for adjusting the opening and closing state of the charging and discharging control device based on the control signal to control the air pressure of the cavity of the accumulator.

[0012] In a third aspect, an embodiment of the present invention further provides a water circuit control system, which is applied to a cleaning vehicle, and the water circuit control system includes: a control unit and a water circuit unit; the controller of the control unit is configured with the air pressure control device of the second aspect; wherein the water circuit unit includes a water storage device, and a plurality of spray units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is configured with a charging and discharging control device; the charging and discharging control device is connected to the control unit, and is used to respond to the control signal of the control unit, so as to adjust the opening and closing state based on the control signal, and control the air pressure of the cavity of the accumulator.

[0013] In combination with the third aspect, an embodiment of the present invention provides a first possible implementation of the third aspect, wherein the above-mentioned control unit includes the controller, and a driver and a pressure sensor connected to the controller; the pressure sensor is used to collect the pressure parameters of the cavity of the accumulator; and the driving end of the driver is connected to the charging and discharging control device.

[0014] In combination with the first possible implementation of the third aspect, the embodiment of the present invention provides a second possible implementation of the second aspect, wherein the above-mentioned inflation and deflation control device is an inflation and deflation valve body.

[0015] In combination with the third aspect, an embodiment of the present invention provides a third possible implementation of the second aspect, wherein the accumulator is a hydraulic accumulator.

[0016] In combination with the third possible implementation of the third aspect, an embodiment of the present invention provides a fourth possible implementation of the second aspect, wherein the above-mentioned hydraulic accumulator includes a main chamber and a piston arranged inside the main chamber; the piston is used to divide the main chamber into a first chamber and a second chamber; the first chamber is a gas chamber, and the second chamber is a liquid chamber; the first chamber is connected to the charging and discharging control device, and the second chamber is connected to a preset position of the pipeline.

[0017] In a fourth aspect, an embodiment of the present invention further provides a cleaning vehicle, wherein the cleaning vehicle is equipped with the waterway control system described in the third aspect.

[0018] The embodiments of the present invention bring the following beneficial effects:

[0019] The air pressure control method, device, waterway control system and cleaning vehicle provided by the embodiments of the present invention include a waterway unit of the waterway control system including a water storage device and a plurality of spraying units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is provided with a charge and discharge control device, and when performing air pressure control, the pressure parameters of the cavity of the accumulator can be monitored; it is determined whether the pressure parameters meet the pre-configured pressure range threshold; if not, a control signal is generated; based on the control signal, the opening and closing state of the charge and discharge control device is adjusted to control the air pressure of the cavity of the accumulator, so that the accumulator can adaptively alleviate the water pressure fluctuation of the waterway control system, and the pre-charge pressure of the accumulator is continuously adjusted by the charge and discharge control device, so that a more uniform pressure distribution in the waterway control system can be maintained, and the instability of the waterway control system caused by pressure shock can be avoided. At the same time, the mechanical stress of the accumulator assembly caused by excessive pressure and fluctuation can be reduced, thereby reducing the wear and failure probability, and helping the accumulator to achieve a longer service life by precisely controlling the pressure.

[0020] 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.

[0021] 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

[0022] 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.

[0023] Figure 1 A schematic structural diagram of a water channel unit provided in an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of an accumulator provided by an embodiment of the present invention;

[0025] Figure 3 A flow chart of an air pressure control method provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the structure of an air pressure control device provided by an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0028] Figure numerals: 100-water storage equipment; 101-accumulator; 102-front water cannon; 103-left front nozzle; 104-right front nozzle; 105-left rear spray; 106-right rear spray; 107-hand water cannon; 108-water mist spray rod; 109-left rear nozzle; 110-right rear nozzle; 111-left flush nozzle; 112-right flush nozzle; 113-cover; 114-water inlet; 115-fire connector; 116-overflow outlet; 117-water return outlet; 118-main water suction outlet; 119-low-pressure water pump motor; 120-filter; 121-liquid level switch; 122-reel; 123-reel water pipe; 200-main cavity; 201-piston; 202-first cavity; 203-second cavity; 204-air valve port; 205-liquid port. DETAILED DESCRIPTION

[0029] 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.

[0030] At present, in order to alleviate the "water hammer phenomenon" of cleaning vehicles, accumulators are often installed in the water channels. However, the water pressure generated by the "water hammer phenomenon" may cause the sealing materials of the accumulator to age, harden or deform, thereby affecting the energy storage capacity. For example, the gas end of the accumulator may leak slowly and may not be able to withstand the instantaneous high-pressure impact of the water pressure, resulting in safety hazards.

[0031] Based on this, an air pressure control method, device, waterway control system and cleaning vehicle provided in an embodiment of the present invention can solve the gas leakage problem of the accumulator in the prior art, thereby increasing the service life of the accumulator and the safety of the entire waterway control system.

[0032] To facilitate understanding of this embodiment, a waterway control system disclosed in an embodiment of the present invention is first introduced in detail.

[0033] Specifically, the waterway control system provided by the embodiment of the present invention is applied to a cleaning vehicle, and the waterway control system includes: a control unit and a waterway unit; wherein the waterway unit includes a water storage device, and a plurality of spraying units connected to the water storage device through pipelines;

[0034] Among them, an accumulator is arranged at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is equipped with a charging and discharging control device; the charging and discharging control device is connected to the control unit, and is used to respond to the control signal of the control unit to adjust the opening and closing state based on the control signal to control the gas pressure in the cavity of the accumulator.

[0035] For ease of understanding, Figure 1 The schematic diagram of the structure of a water circuit unit is shown, which includes a water storage device 100, an accumulator 101 and a plurality of spraying units, wherein: Figure 1 The figure shows spraying units in multiple directions, such as front water cannon 102, left front nozzle 103, right front nozzle 104, left rear spray 105, right rear spray 106, hand-held water cannon 107, water mist spray rod 108, left rear nozzle 109, right rear nozzle 110, left flush nozzle 111, right flush nozzle 112, reel 122 and reel water pipe 123, etc., as well as an air shut-off valve provided on each spraying unit to control the spraying state of each spraying unit.

[0036] In actual use, the specific conditions of the spray unit can also be set according to actual use conditions, and the embodiment of the present invention does not limit this.

[0037] also, Figure 1Also shown are multiple structures of the water storage device 100, such as a cover 113, a water inlet 114, a fire connector 115, an overflow port 116, a return port 117, a main water intake port 118, a low-pressure water pump motor 119, a filter 120, and a liquid level switch 121, etc., to achieve circulation of the entire water control system.

[0038] Furthermore, the control unit includes a controller, and a driver and a pressure sensor connected to the controller; wherein the pressure sensor is used to collect the pressure parameters of the cavity of the accumulator; and the driving end of the driver is connected to the charging and discharging control device. Moreover, the charging and discharging control device in the embodiment of the present invention is a charging and discharging valve body, and the accumulator is a hydraulic accumulator.

[0039] Specifically, for ease of understanding, Figure 2 A schematic diagram of an accumulator is shown, wherein: Figure 2 The accumulator is shown in a partial cross-sectional view. Figure 2 As shown, the hydraulic accumulator in the embodiment of the present invention includes a main cavity 200 and a piston 201 disposed inside the main cavity; wherein the piston 201 is used to divide the main cavity 200 into a first cavity 202 and a second cavity 203; the first cavity 202 is a gas cavity, and the second cavity 203 is a liquid cavity; the first cavity 202 and the gas charging and discharging control device ( Figure 2 The second cavity 203 is connected to a preset position of the pipeline. In addition, the accumulator is also provided with a gas valve port 204 and a liquid port 205. The gas valve port 204 is used to communicate with the charging and discharging control device, and the liquid port 205 is used to communicate with the pipeline.

[0040] Based on the above accumulator, in the embodiment of the present invention, the accumulator is connected to the water circuit control system, and the compressibility of the gas in the gas chamber of the accumulator can be relied on to store the capacity of the liquid in the pipeline.

[0041] For example, the working process of the accumulator includes:

[0042] (1) Filling process:

[0043] When the pressure of the water channel unit increases, water flows into the second cavity through the liquid port of the accumulator; after the water flows into the accumulator, it compresses the gas in the gas cavity, thereby increasing the pressure of the gas; the compression of the gas causes energy to be stored in the accumulator in the form of gas.

[0044] (2) Energy storage process:

[0045] Due to the compressibility of gases, accumulators can store a large amount of energy in a small volume; the accumulator maintains the energy storage in this state until the waterway unit requires additional energy.

[0046] (3) Release energy:

[0047] When the waterway unit needs additional energy (for example, when the working water flow suddenly increases), the accumulator releases the stored water flow. At this time, the compressed gas expands, pushing the water flow back to the waterway unit, thereby providing additional power.

[0048] Further, the air pressure control method provided in the embodiment of the present invention is based on the above-mentioned accumulator and the charging and discharging control device configured for the accumulator. Specifically, the air pressure control method in the embodiment of the present invention is applied to the controller of the above-mentioned waterway control system, and the waterway unit of the waterway control system is referred to as Figure 1 As shown, it includes a water storage device and a plurality of spraying units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is provided with a charging and discharging control device.

[0049] Specifically, Figure 3 A flow chart of a gas pressure control method is shown. Figure 3 As shown, the following steps are included:

[0050] Step S302, monitoring the pressure parameters of the cavity of the accumulator;

[0051] Step S304, determining whether the pressure parameter meets a pre-configured pressure range threshold;

[0052] Step S306, if not, generate a control signal;

[0053] Step S308, adjusting the opening and closing state of the charge and discharge control device based on the control signal to control the gas pressure in the cavity of the accumulator.

[0054] Specifically, the location of the accumulator can be referred to Figure 1 , the structural diagram of the accumulator can be referred to Figure 2 , and the above-mentioned accumulator is equipped with a pressure sensor; the pressure sensor is used to collect the pressure parameters of the cavity of the accumulator; therefore, in the above-mentioned step S302, the step of monitoring the pressure parameters of the cavity of the accumulator includes obtaining the pressure parameters collected by the pressure sensor at a preset time interval.

[0055] In actual use, the pressure sensing part of the pressure sensor can be set at the gas port of the accumulator to continuously monitor the gas pressure inside the accumulator in real time and generate pressure parameters. The analog signal corresponding to the pressure parameter is then converted into a digital signal and transmitted to the controller, thereby realizing the monitoring of the gas pressure in the gas chamber of the accumulator.

[0056] Furthermore, the above-mentioned accumulator is usually configured with a pressure range, that is, the pressure range that the accumulator can withstand, and the pressure range is also called a safety range. When the gas pressure inside the gas chamber of the accumulator is within the pressure range, it means that it is within the pressure range that the accumulator can withstand, and no adjustment is required at this time. If the gas pressure exceeds the pressure range, when the controller detects this situation, it is necessary to execute the gas pressure control method of the embodiment of the present invention.

[0057] Therefore, in the above step S304, when judging whether the pressure parameter meets the pre-configured pressure range threshold, it is usually necessary to judge whether the currently monitored pressure parameter is less than the pre-configured first pressure threshold, and greater than the pre-configured second pressure threshold, that is, whether the pressure parameter is within the pre-configured pressure range; wherein the first pressure threshold is greater than the second pressure threshold; if so, it is determined that the pressure parameter meets the pre-configured pressure range threshold; if the pressure parameter is greater than or equal to the pre-configured first pressure threshold, or the pressure parameter is less than or equal to the pre-configured second pressure threshold, it is determined that the pressure parameter at this time does not meet the pre-configured pressure range threshold.

[0058] Furthermore, if the pressure parameter does not satisfy the pre-configured pressure range threshold, a control signal is generated in the above step S306.

[0059] Specifically, when generating a control signal, if the pressure parameter is greater than or equal to a pre-configured first pressure threshold, a first control signal is generated; wherein the first control signal is a signal for opening the exhaust path of the charging and discharging control device; that is, the pressure parameter at this time is higher than a preset upper limit value, that is, the first pressure threshold, and the gas chamber needs to be exhausted. Therefore, in the above step S308, when the opening and closing state of the charging and discharging control device is adjusted based on the control signal, the first control signal can be sent to the driver of the charging and discharging control device to trigger the driver to open the exhaust path of the charging and discharging control device to exhaust the cavity of the accumulator until the pressure parameter meets the above pressure range threshold.

[0060] Further, if the pressure parameter is less than or equal to a pre-configured second pressure threshold, a second control signal is generated; wherein the second control signal is a signal for opening the inflation path of the inflation and deflation control device; that is, the pressure parameter at this time is lower than the preset lower limit, that is, the second pressure threshold, and the gas chamber needs to be inflated. At this time, in the above step S308, when the opening and closing state of the inflation and deflation control device is adjusted based on the control signal, the second control signal can be sent to the driver of the inflation and deflation control device, triggering the driver to open the inflation path of the inflation and deflation control device to inflate the cavity of the accumulator until the pressure parameter meets the pressure range threshold.

[0061] Furthermore, the gas charging and discharging control device in the embodiment of the present invention is a gas charging and discharging valve body, and, based on the above control process, the main function of the gas charging and discharging valve body in the embodiment of the present invention is to control the entry and discharge of gas into the accumulator.

[0062] In actual use, the above-mentioned charging and discharging valve body is also referred to as the charging valve for short, which usually includes multiple air nozzles, such as an air inlet nozzle, an air exhaust nozzle, a control nozzle and an air valve nozzle, and usually adopts pneumatic control. The internal axial main valve body adopts a lifting structure, such as spring control, and the spring is installed on the main valve of the control nozzle. When the pressure parameter of the pressure sensor is transmitted to the controller, and the controller judges that it is lower than the set pressure parameter, the opening method of the charging and discharging valve body is: the driver controls the gas to make the guide rod transmit the force to the spring, open the main valve to let in air; when the signal transmission control unit of the pressure sensor is equal to the set pressure value, that is, the pressure range threshold is met, at this time, the driver no longer works, that is, the control gas is canceled, so that the spring automatically resets and closes the main valve; when the pressure parameter of the pressure sensor is transmitted to the controller, and the controller judges that it is greater than the set first pressure threshold, at this time, the controller can control the driver to open the exhaust port, discharge excess gas, and maintain the pressure balance of the water circuit unit.

[0063] In actual application, the above-mentioned charging and discharging valve body is installed on the gas side interface of the hydraulic accumulator. By being installed on the gas side, the charging and discharging valve body can directly adjust the amount of gas entering the gas chamber of the accumulator, thereby realizing precise control of the accumulator gas pressure; and by precisely controlling the inflation and deflation of the accumulator, energy accumulation and release are realized, thereby improving the energy efficiency of the entire waterway control system.

[0064] Furthermore, based on the above embodiments, an embodiment of the present invention also provides an air pressure control device, which is applied to a controller of a water circuit control system, wherein the water circuit unit of the water circuit control system includes a water storage device, and a plurality of spray units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, the liquid port of the accumulator is connected to the pipeline, and the gas port of the accumulator is provided with a charging and discharging control device.

[0065] like Figure 4 A schematic structural diagram of an air pressure control device is shown, the air pressure control device comprising:

[0066] A monitoring module 40, used to monitor the pressure parameters of the cavity of the accumulator;

[0067] A determination module 42, configured to determine whether the pressure parameter satisfies a pre-configured pressure range threshold;

[0068] A generating module 44, configured to generate a control signal when the judgment result of the judging module is negative;

[0069] The control module 46 is used to adjust the opening and closing state of the charging and discharging control device based on the control signal to control the gas pressure of the cavity of the accumulator.

[0070] Furthermore, an embodiment of the present invention further provides a waterway control system, which is applied to a cleaning vehicle, and the waterway control system comprises: a control unit and a waterway unit; the controller of the control unit is configured with the above-mentioned air pressure control device; the specific waterway unit of the waterway control system can refer to the above-mentioned Figure 1 The schematic diagram shown will not be repeated again.

[0071] Furthermore, an embodiment of the present invention also provides a cleaning vehicle, which is equipped with the above-mentioned waterway control system.

[0072] The air pressure control device, waterway control system and cleaning vehicle provided in the embodiments of the present invention have the same technical features as the air pressure control method provided in the above embodiments, so they can also solve the same technical problems and achieve the same technical effects.

[0073] Furthermore, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0074] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are executed.

[0075] Furthermore, an embodiment of the present invention also provides a schematic diagram of the structure of an electronic device, such as Figure 5 As shown, it is a schematic diagram of the structure of the electronic device, wherein the electronic device includes a processor 51 and a memory 50, the memory 50 stores computer executable instructions that can be executed by the processor 51, and the processor 51 executes the computer executable instructions to implement the above method.

[0076] exist Figure 5 In the illustrated embodiment, the electronic device further includes a bus 52 and a communication interface 53 , wherein the processor 51 , the communication interface 53 and the memory 50 are connected via the bus 52 .

[0077] Among them, the memory 50 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (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 53 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 52 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 52 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 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.

[0078] The processor 51 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 in the processor 51 or the instruction in the form of software. The above processor 51 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 general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field 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, and the processor 51 reads the information in the memory and completes the above method in combination with its hardware.

[0079] The air pressure control method, device, waterway control system and computer program product of a cleaning vehicle provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described device, waterway control system and cleaning vehicle can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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 method for controlling air pressure, characterized in that: A controller applied to a waterway control system, wherein a waterway unit of the waterway control system includes a water storage device and a plurality of spraying units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, a liquid port of the accumulator is connected to the pipeline, and a gas charging and discharging control device is provided at a gas port of the accumulator; The method comprises: monitoring a pressure parameter of a cavity of the accumulator; Determining whether the pressure parameter satisfies a pre-configured pressure range threshold; If not, generating a control signal; The opening and closing states of the gas charging and discharging control device are adjusted based on the control signal to control the gas pressure in the cavity of the accumulator.

2. The method according to claim 1, characterized in that The step of determining whether the pressure parameter meets a pre-configured pressure range threshold comprises: Determine whether the pressure parameter is less than a preconfigured first pressure threshold and greater than a preconfigured second pressure threshold; wherein the first pressure threshold is greater than the second pressure threshold; If yes, determining that the pressure parameter satisfies the pre-configured pressure range threshold; If the pressure parameter is greater than or equal to the first preconfigured pressure threshold, or the pressure parameter is less than or equal to the second preconfigured pressure threshold, it is determined that the pressure parameter does not meet the preconfigured pressure range threshold.

3. The method according to claim 2, characterized in that The steps of generating a control signal include: If the pressure parameter is greater than or equal to the first pre-configured pressure threshold, a first control signal is generated; wherein the first control signal is a signal for opening the exhaust path of the inflation and deflation control device; The step of adjusting the opening and closing state of the inflation and deflation control device based on the control signal comprises: The first control signal is sent to a driver of the gas charging and discharging control device, triggering the driver to open an exhaust path of the gas charging and discharging control device to exhaust the cavity of the accumulator until the pressure parameter meets the pressure range threshold.

4. The method according to claim 2, characterized in that: The step of generating a control signal further includes: If the pressure parameter is less than or equal to a pre-configured second pressure threshold, a second control signal is generated; wherein the second control signal is a signal for opening the inflation path of the inflation and deflation control device; The step of adjusting the opening and closing state of the inflation and deflation control device based on the control signal comprises: The second control signal is sent to the driver of the charging and discharging control device, triggering the driver to open the charging path of the charging and discharging control device to inflate the cavity of the accumulator until the pressure parameter meets the pressure range threshold.

5. The method according to claim 1, characterized in that The accumulator is equipped with a pressure sensor; the pressure sensor is used to collect the pressure parameters of the cavity of the accumulator; The step of monitoring the pressure parameters of the cavity of the accumulator comprises: The pressure parameter collected by the pressure sensor is acquired at a preset time interval.

6. An air pressure control device, characterized in that: A controller applied to a waterway control system, wherein a waterway unit of the waterway control system includes a water storage device and a plurality of spraying units connected to the water storage device through a pipeline; wherein an accumulator is provided at a preset position of the pipeline, a liquid port of the accumulator is connected to the pipeline, and a gas charging and discharging control device is provided at a gas port of the accumulator; The device comprises: A monitoring module, used to monitor the pressure parameters of the cavity of the accumulator; A judging module, used to judge whether the pressure parameter satisfies a pre-configured pressure range threshold; A generating module, used for generating a control signal when the judgment result of the judging module is negative; A control module is used to adjust the opening and closing state of the charging and discharging control device based on the control signal to control the gas pressure of the cavity of the accumulator.

7. A waterway control system, characterized in that: Applied to a cleaning vehicle, the water circuit control system comprises: a control unit and a water circuit unit; the controller of the control unit is equipped with the air pressure control device according to claim 6; Wherein, the water circuit unit includes a water storage device, and a plurality of spraying units connected to the water storage device through pipelines; Wherein, an accumulator is provided at a preset position of the pipeline, a liquid port of the accumulator is connected to the pipeline, and a gas charging and discharging control device is provided at a gas port of the accumulator; The charging and discharging control device is connected to the control unit and is used to respond to the control signal of the control unit to adjust the opening and closing state based on the control signal to control the gas pressure of the cavity of the accumulator.

8. The waterway control system according to claim 7, characterized in that: The control unit includes the controller, and a driver and a pressure sensor connected to the controller; The pressure sensor is used to collect the pressure parameters of the cavity of the accumulator; The driving end of the driver is connected to the inflation and deflation control device.

9. The waterway control system according to claim 8, characterized in that: The inflation and deflation control device is an inflation and deflation valve body.

10. The waterway control system according to claim 7, characterized in that: The accumulator is a hydraulic accumulator.

11. The waterway control system according to claim 10, characterized in that: The hydraulic accumulator comprises a main cavity, and a piston disposed inside the main cavity; The piston is used to divide the main cavity into a first cavity and a second cavity; The first cavity is a gas cavity, and the second cavity is a liquid cavity; The first cavity is communicated with the inflation and deflation control device, and the second cavity is communicated with a preset position of the pipeline.

12. A cleaning vehicle, characterized in that: The cleaning vehicle is equipped with the waterway control system according to any one of claims 7 to 11.

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