High-pressure cleaning machine with anti-winding hose storage structure

Abstract

The invention relates to the technical field of high-pressure cleaning, and discloses a high-pressure cleaning machine with an anti-winding hose storage structure, which comprises an L-shaped frame, a moving wheel set, a shell, a power assembly, a hose reel assembly, a connecting bracket, a conveying hose, a spray gun and a control piece, the control part integrates a hose state sensing and data preprocessing module, a hose anti-winding intelligent control core module, a reel and high-pressure pump collaborative scheduling module and a hose abnormity early warning and grading protection module. The winding and unwinding length, speed, tension and bending state of the hose are collected in real time through multiple sensors, and active anti-winding control and regular winding displacement in the hose winding and unwinding process are achieved in combination with a tension dynamic adaptive control algorithm and a layered winding displacement self-adaptive adjustment algorithm; a cooperative adjustment mechanism of hose tension and high-pressure pump output is established, graded early warning and linkage protection are executed under abnormal conditions, and the problems of hose winding, knotting and abrasion are solved.

Description

Technical Field

[0001] This invention relates to the field of high-pressure cleaning technology, specifically a high-pressure cleaner with an anti-tangle hose storage structure. Background Technology

[0002] High-pressure washers, as a general-purpose device that uses high-pressure water jets for cleaning, are widely used in various scenarios such as vehicle washing, yard maintenance, and industrial descaling. Their basic working principle involves pressurizing atmospheric water using a power unit, then spraying the high-pressure water jet through a delivery hose and spray gun to achieve efficient cleaning.

[0003] With the expansion of application areas and the increase in usage frequency, traditional high-pressure cleaners have gradually revealed several common technical problems that affect user experience, work efficiency, and equipment lifespan in actual use. These problems mainly focus on two aspects: hose management and equipment intelligence.

[0004] Hose storage and management are difficult: Existing high-pressure washer hoses are typically loosely coiled or simply suspended from the machine body, lacking a dedicated, guiding storage mechanism. Before and after operation, hose retraction and deployment rely entirely on manual operation, easily leading to tangling, knotting, and twisting. This not only causes inconvenience and delays, but also accelerates hose aging, damage, and even bursting due to excessive bending, posing safety hazards. Furthermore, it affects the overall aesthetics and tidiness of the equipment.

[0005] The operation is not highly intelligent, and the human-machine interaction experience is poor: the control of traditional equipment is mostly limited to simple mechanical start / stop and rudimentary pressure adjustment knobs. Users need to manually set the pressure based on experience, and cannot quickly switch to optimized pressure-flow combinations according to different cleaning objects (such as delicate car paint and heavy oil stains) and different operation stages (such as pre-wetting, main wash, and rinsing). The entire operation process relies on user experience and frequent manual adjustments, making one-button intelligent operation impossible, resulting in high learning costs and difficulty in guaranteeing the best cleaning effect and energy efficiency ratio.

[0006] Lack of operational status monitoring and proactive safety protection: Most existing equipment lacks the ability to monitor key operating parameters (such as output pressure, motor temperature, operating current, and hose status) in real time. When situations such as insufficient water inlet, water outlet blockage, motor overheating, or abnormal hose stretching occur, the equipment often fails to identify and take protective measures in a timely manner, which can easily lead to malfunctions such as pump cavitation due to dry running, motor overload burnout, or abnormal hose damage. This results in insufficient equipment reliability and durability, and high maintenance costs.

[0007] There are risks of uncontrolled tension and tangling during hose reeling and unwinding: Even if some equipment is equipped with a simple reel, the reeling and unwinding process mostly relies on spring return or manual crank, lacking active control over the hose release length, reeling speed, and reeling tension. During release, the hose may drag on the ground and wear due to excessive pulling out due to inertia; during reeling, uneven tension or misaligned cable arrangement may cause the hose to tangle and be squeezed on the reel, creating a tangling hazard for the next use, rendering the "anti-tangling" design ineffective. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a high-pressure cleaner with an anti-tangle hose storage structure, which solves the problems of easy hose tangling, low level of operational intelligence, and lack of system status monitoring and safety protection in traditional high-pressure cleaners.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a high-pressure washer with an anti-tangling hose storage structure, comprising an L-shaped frame (1), a set of moving wheels (2), a shell (3), a power assembly (4), a hose reel assembly (5), a connecting bracket (6), a delivery hose (7), a spray gun (8), and a control component (9), characterized in that:

[0010] The bottom of the L-shaped frame (1) is provided with a set of movable wheels (2) for realizing the overall movement of the cleaning machine;

[0011] The outer shell (3) is mounted on the L-shaped frame (1), and the power assembly (4) is housed inside it.

[0012] The hose reel assembly (5) is mounted on the housing (3) via a connecting bracket (6) for winding and unwinding the delivery hose (7).

[0013] One end of the delivery hose (7) is connected to the outlet of the power unit (4), and the other end is connected to the spray gun (8).

[0014] The control unit (9) is mounted on the L-shaped frame (1), electrically connected to the power assembly (4), and includes:

[0015] The hose status sensing and data preprocessing module is used to collect and process the extension and retraction length, linear speed, tension, bending angle and guide mechanism displacement data of the delivery hose (7), and perform preprocessing.

[0016] The core module for intelligent control of hose anti-winding is used to control the hose reel assembly (5) to perform anti-winding winding and layered wiring operations based on the standardized data, through the tension dynamic adaptation control algorithm and the layered wiring adaptive adjustment algorithm.

[0017] The reel and high-pressure pump coordinated scheduling module is used to dynamically adjust the output pressure of the power component (4) according to the working condition and tension state of the delivery hose (7), so as to realize the coordinated control of the hose reel assembly (5) and the power component (4);

[0018] The hose abnormality warning and graded protection module is used to determine the grade based on the delivery hose (7) and multi-dimensional abnormal characteristics, and to trigger graded warning and protection actions for the hose reel assembly (5) and the power assembly (4).

[0019] This invention provides a high-pressure washer with an anti-tangling hose storage structure. It has the following advantages:

[0020] 1. This invention achieves precise monitoring of hose length, speed, tension, and curvature through multi-sensor fusion of hose full-state perception and closed-loop control algorithm, and performs dynamic tension adaptation and adaptive layered cable arrangement based on this, thereby fundamentally solving the problems of hose tangling, knotting and wear, and realizing intelligent and neat storage.

[0021] 2. This invention establishes a dynamic matching relationship between the real-time tension of the hose and the system output pressure through the coordinated scheduling mechanism of the reel and the high-pressure pump. It can automatically adjust the water pressure under working conditions such as abnormal hose tension, bending criticality, or long-distance pulling, which not only ensures the cleaning effect, but also significantly reduces the risk of hose damage caused by the superposition of "high pressure rigidity" and "external tension".

[0022] 3. This invention uses a hierarchical early warning protection logic based on the fusion and judgment of multi-dimensional abnormal features to perform intelligent diagnosis by integrating multiple signals such as tension, jamming, wiring, bending and data logic conflict, and triggers differentiated linkage protection from parameter fine-tuning and power limiting to emergency shutdown and emergency unlocking, thus achieving accurate fault identification and proactive safety protection.

[0023] 4. This invention, through a modular architecture with a high-speed CAN bus as the backbone and clear data interfaces and scheduling mechanisms, tightly integrates the core modules of status perception, intelligent control, collaborative scheduling and early warning protection, ensuring the efficiency and reliability of data sharing, command coordination and closed-loop operation of the entire system, thus forming a solid foundation for the intelligence of the whole machine. Attached Figure Description

[0024] Figure 1 This is a perspective view of the present invention;

[0025] Figure 2 This is a rear-view three-dimensional structural diagram of the present invention;

[0026] Figure 3 This is a schematic diagram of the hose reel assembly and L-shaped frame of the present invention;

[0027] Figure 4 This is a schematic diagram of the control component architecture in an embodiment of the present invention.

[0028] The components include: 1. L-shaped frame; 2. Wheel set; 3. Outer shell; 4. Power unit; 5. Hose reel assembly; 6. Connecting bracket; 7. Delivery hose; 8. Spray gun; and 9. Control components. Detailed Implementation

[0029] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figures 1 to 3 The present invention provides a high-pressure cleaner with an anti-tangle hose storage structure, comprising an L-shaped frame 1, a set of moving wheels 2, a shell 3, a power component 4, a hose reel assembly 5, a connecting bracket 6, a delivery hose 7, a spray gun 8, and a control component 9.

[0031] The L-shaped frame 1 constitutes the main support structure of the entire cleaning machine. It is made of metal profiles, and its horizontal part is used to support the main functional components, while the vertical part provides structural stability and mounting surface. At the bottom of the L-shaped frame 1, preferably at its four corners, the moving wheel set 2 is installed. The moving wheel set 2 preferably includes at least two omnidirectional wheels and two directional wheels to enable the cleaning machine to move and turn flexibly and stably in the work area.

[0032] The outer shell 3 is fixedly installed above the horizontal part of the L-shaped frame 1, forming an accommodating space inside; the power component 4 is located inside the outer shell 3; the power component 4 typically includes a motor, a high-pressure water pump, a water inlet valve, and necessary pipeline connectors, used to convert atmospheric pressure water into high-pressure water, which is a well-known core component in the field of high-pressure cleaning machines.

[0033] The hose reel assembly 5 is securely mounted to the side or rear of the housing 3 via one or more connecting brackets 6. Specifically, one end of the connecting bracket 6 is fixedly connected to the housing 3 or the L-shaped frame 1, and the other end is used to rotatably support the hose reel assembly 5. The hose reel assembly 5 can be a common reel device with anti-winding function in the art. For example, its basic principle and structure can be based on or adopt mature hose winding mechanisms in existing technologies such as fire hose reels. Such reel devices usually have a reel body, a rotating shaft, and an anti-winding structure (such as a guide groove, a separator, or an arrangement guide mechanism) to guide or restrict the regular winding of the hose, so as to ensure that the hose can be arranged in an orderly manner during the winding and unwinding process, effectively avoiding knotting, tangling, and jamming. Those skilled in the art can select or adapt the corresponding mature reel products according to the actual hose length, diameter, and usage requirements.

[0034] The delivery hose 7 is a high-pressure hose; one end of it is sealed and connected to the high-pressure water outlet of the power component 4 located inside the housing 3, and passes through the corresponding inlet of the hose reel assembly 5; the main body of the delivery hose 7 is wound and stored on the hose reel assembly 5, and its other end is led out from the reel and connected to the spray gun 8; the spray gun 8 is provided with a trigger switch operating component for manually controlling the spray of high-pressure water.

[0035] The control component 9 is installed on the L-shaped frame 1 in an easily accessible position, such as on the bracket in front of or to the side of the housing 3. The control component 9 typically integrates a power switch, a pressure adjustment knob, and electrical control elements. It is connected to the electrical control part of the power assembly 4 via a cable to realize functions such as starting and stopping the cleaning machine and adjusting the pressure.

[0036] The working principle of this embodiment is as follows: During use, the cleaning machine is moved to the work area by the moving wheel set 2; after connecting the water and power supply, the operating control unit 9 starts the equipment, and the power unit 4 starts to work to generate high-pressure water flow; the user can smoothly pull out the required length of the conveying hose 7 from the hose reel assembly 5 according to the working distance, and use the handheld spray gun 8 for cleaning; due to the use of the hose reel assembly 5 with anti-tangling function, the process of pulling out and retrieving the conveying hose 7 is smoother and more efficient, significantly reducing the trouble of hose management; after the work is completed, the conveying hose 7 can be conveniently stored on the reel, making the equipment neat, easy to move and store, effectively solving the common problems of messy hose storage, inconvenient use and easy damage in existing equipment, thereby improving the overall practicality, safety and user experience of the equipment.

[0037] The control unit (9) is based on an industrial-grade embedded controller as its core hardware platform. It has multiple channels for high-speed analog / digital signal input and output and a CAN bus communication interface. It can efficiently adapt to peripherals such as incremental encoders, tensile and compressive sensors, bending sensors, motor drivers, and high-pressure pump frequency converters, and meet the needs of accurate acquisition of the full state of the hose, linkage control of the actuator, and coordinated scheduling of equipment.

[0038] The software system running on this hardware platform adopts a modular design, such as... Figure 4 As shown, the system includes: a hose status sensing and data preprocessing module, a hose anti-tangling intelligent control core module, a reel and high-pressure pump collaborative scheduling module, and a hose anomaly early warning and graded protection module. These modules interact and issue commands via a clearly defined real-time data interface and status scheduling mechanism established through a high-speed CAN bus, forming a closed-loop control system encompassing "multi-dimensional synchronous sensing—dual-algorithm intelligent decision-making—reel and pump collaborative execution—graded dynamic protection." This achieves integrated operation management of the high-pressure washer's delivery hose, ensuring tangling-free deployment, neat cable arrangement, tension adaptation, and equipment safety protection.

[0039] Hose status sensing and data preprocessing module:

[0040] Hardware interaction interface: It can be directly connected to the high-precision incremental encoder (mounted on the reel spindle), tension and compression sensor (mounted at the hose outlet guide wheel), reel speed sensor (coaxially mounted on the reel motor), hose bending sensor (embedded 1m at the front end of the hose), and displacement sensor (mounted on the reel lateral guide mechanism) on the hardware platform. At the same time, it establishes a bidirectional data channel with the core control module through the CAN bus. The sensor power supply is provided by the module's built-in voltage regulator circuit to ensure that there is no voltage fluctuation interference during the acquisition process.

[0041] This module includes four refined sub-modules and incorporates data synchronization verification and caching to ensure no data loss and no timing errors throughout the entire process. The operation process and algorithm details of each sub-module are as follows:

[0042] Multi-dimensional data synchronous acquisition submodule:

[0043] After the module is powered on, it first completes sensor self-calibration to determine whether each sensor is working properly. If there is an abnormality, it immediately sends a first-level warning signal to the protection module.

[0044] Set a 5Hz high-frequency, equally spaced sampling D, and add a millisecond-level unified timestamp to the data from each sensor channel;

[0045] The pulse signals acquired by the encoder are processed in real time, and the number of pulses is converted into the actual extension and retraction length of the hose. and real-time take-up and take-up speed (Pull-out is positive, retraction is negative); the signal collected by the speed sensor is calculated as the real-time angular velocity of the reel. The resistance change signal collected by the bend sensor is calculated as the real-time bending angle of the hose. (0° represents the straightened state, >90° represents the critical state where knots are easily formed); tension / compression sensors and displacement sensors directly collect the original tension. Actual displacement of the guiding mechanism ;

[0046] The six raw data streams are encapsulated into raw data frames in the format of "timestamp + data dimension + value + unit". The data is stored in the built-in circular buffer of the module, and a data frame completion signal is sent to the synchronization verification stage at the same time.

[0047] Raw data filtering and noise reduction submodule:

[0048] To address the complex operating conditions of high-pressure washers in outdoor operations, such as vibration, dust, and electromagnetic interference, differentiated filtering algorithms are employed for data from different dimensions.

[0049] For the length of extension and retraction linear velocity angular velocity of the reel For this type of continuously changing data that is susceptible to vibration interference, a moving average filtering algorithm is used, with the moving window size N=6 (the optimal value obtained through multiple operating condition tests, balancing noise reduction and real-time performance). The calculation formula is as follows:

[0050]

[0051] in For the filtered first One data point, For the first in the window One set of raw data;

[0052] tension For this type of data that is prone to transient pulse interference, a combined filtering algorithm of amplitude limiting and moving average is used. First, an amplitude limiting value of ±5N is set (based on the hose material and operation requirements). Transient pulses exceeding ±5N of the original data are removed, and then moving average filtering is performed.

[0053] For bending angle Displacement of the guide mechanism For this type of data with relatively gentle changes, the median filtering algorithm is used, taking the median value of 5 consecutive samples as the filtered data;

[0054] After filtering, the six data streams are repackaged into filtered data frames and stored in the buffer.

[0055] Outlier identification and removal submodule:

[0056] Based on the physical characteristics of the hose and the operating conditions, reasonable threshold ranges for each dimension of data are preset. Outliers are identified and eliminated through a dual logic of interval judgment and rate of change judgment.

[0057] Preset reasonable thresholds for data in each dimension: tension and contraction ( (Below 5N, easy to mop; above 50N, easy to tear the hose) Bending angle ( (>120° indicates severe bending), guide mechanism displacement ( (Reel width, exceeding which will cause mechanical jamming) and linear speed ( (Exceeding this limit indicates excessively rapid contraction and expansion).

[0058] The formula for calculating the rate of change of adjacent sampling points in each dimension of data is:

[0059]

[0060] Set a threshold for the rate of change If the value exceeds the limit, it is considered a sudden data change, such as sensor jamming or sudden blockage of the hose.

[0061] Data exceeding reasonable thresholds or with excessive rates of change are identified as outliers and replaced by interpolation of valid data from the previous moment to avoid data loss.

[0062] If three consecutive sampling points show an abnormal value in the same dimension, a first-level early warning signal will be sent to the protection module immediately, and the sensor will be marked as "suspected fault".

[0063] After anomaly removal and completion are completed, an anomaly-free data frame is generated.

[0064] Multi-parameter standardized calibration submodule:

[0065] Because the data dimensions and numerical ranges vary greatly across different dimensions, directly using them for control decisions would lead to an imbalance in algorithm weights. Therefore, all data are normalized and standardized, mapping the values ​​to the [0,1] interval to obtain a standardized data set. ;

[0066] Perform synchronous verification on the standardized data group to determine whether the 6 standardized data at the same timestamp are complete. If incomplete, retrieve the valid data from the previous moment from the cache to complete it.

[0067] Standardized data groups are encapsulated into control-level data frames according to the CAN bus communication protocol, while retaining the original filtered data (for anomaly detection and early warning).

[0068] The core module for intelligent control of hose anti-tangling: Through a dual-dimensional control algorithm (dynamic tension adaptation + layered cable self-adaptation), it achieves precise linkage control of the reel motor and the lateral guide mechanism, fundamentally solving the defects of traditional reels that "only reel in and out, but do not sort" and "have no tension control and uneven reeling in and out".

[0069] Hardware interaction interface: A two-way data channel is established through the CAN bus with the hose status sensing and data preprocessing module (receiving standardized data groups), the reel and high-pressure pump collaborative scheduling module (sending collaborative control commands), and the hose abnormality early warning and graded protection module (sending status data); the PWM pulse output interface is directly connected to the reel drive motor (controlling speed and torque) and the lateral guide mechanism stepper motor (controlling translation speed and displacement), supporting stepless speed regulation and precise positioning of the motor.

[0070] Submodule breakdown and overall operation logic: This module contains 3 refined submodules, with the core being two major algorithms: dynamic tension adaptation control and layered cable arrangement adaptive adjustment. The operation process and algorithm details of each submodule are as follows:

[0071] Data parsing and hose condition determination submodule:

[0072] The standardized data set is parsed to restore the actual physical values ​​of each dimension, and the hose retraction and extension conditions are extracted (based on...). Determining the sign: >0 indicates the pull-out condition. <0 indicates the recycling condition. =0 indicates a static operating condition);

[0073] The real-time working status of the hose is comprehensively judged and divided into "normal pull-out", "normal retraction", "low-speed pull-out / retraction", "stationary", and "critical bending". ≥ There are 5 states, and different control strategies are matched for different states;

[0074] The parsed actual data and state determination results are encapsulated and sent to the subsequent two-dimensional control algorithm submodule, while the state determination results are sent to the protection module.

[0075] Two-dimensional control algorithm operation submodule:

[0076] 1: Tension dynamic adaptation control algorithm (addressing the pain points of tangling and knotting)

[0077] Based on different working conditions of the hose, differentiated tension control is achieved for pull-out / retraction. The core of this system is a PID closed-loop tension adjustment algorithm (for retraction) and a follow-up damping adjustment algorithm (for pull-out).

[0078] Recovery conditions ( <0: at rated tension Target value (based on hose diameter) Dynamic adjustment, the formula is: The incremental PID algorithm is used to adjust the reel motor torque in real time to ensure the actual tension. Always stable at Within ±5%, the PID algorithm formula is:

[0079]

[0080] in This represents the motor torque increment. For proportionality coefficient, For integral coefficients, These are differential coefficients, calibrated to fixed values ​​under operating conditions. For the first Tension deviation of the second sampling ;

[0081] Pull out working conditions ( >0): To prevent the hose from dragging, piling up, or tangling due to excessive pulling out due to inertia, a follow-up damping adjustment algorithm is designed, based on the pulling speed. The damping value of the reel motor is adjusted in real time using the following formula:

[0082]

[0083] in This is the damping value. The damping coefficient is... To achieve speed, The larger the diameter of the hose, the faster the pull-out speed and the larger the hose diameter, the greater the damping value, ensuring uniform pull-out resistance without sudden jamming or excessive smoothness.

[0084] Bending critical state ( ≥ Immediately reduce the tension to 50% of the speed, while reducing the speed of reel winding and unwinding to avoid hose tangling caused by hard pulling;

[0085] Static operating condition ( =0: Controls the reel motor to maintain a small torque, keeping the hose under basic tension. (30%), to avoid loosening and accumulation of the hose.

[0086] 2: Layered cabling adaptive adjustment algorithm (addressing the pain point of uneven cabling)

[0087] To address the uneven cable routing issues caused by the fixed cable spacing, lack of layer detection, and asynchronous operation between the guide mechanism and the reel in traditional reel systems, an adaptive cable routing algorithm based on geometric modeling is designed. This algorithm enables real-time dynamic calculation of cable spacing, number of winding layers, and translational speed of the guide mechanism, ensuring that the hose is routed layer by layer with uniform spacing during retrieval.

[0088] Calculate the optimal cable spacing To prevent the hose from being squeezed and deformed, a 20% buffer space is reserved, as shown in the formula. ;

[0089] Calculate the length of a single turn of the wound hose: based on the real-time radius of the reel (base radius of the reel + thickness of the wound hose), the formula is:

[0090]

[0091] in For the base radius of the reel, This represents the number of layers already wound.

[0092] Number of winding layers

[0093] in This represents the unwound length of the current layer. This represents the number of turns the current layer can wrap around. `int` is the integer function, ensuring that the number of revolutions is an integer. This refers to the width of the reel.

[0094] Calculate the target translation speed of the guiding mechanism To achieve strict synchronization between the guiding mechanism and the reel, the formula is: The faster the reel rotates, the faster the guide mechanism moves, ensuring that the guide mechanism precisely moves one cable spacing for each reel turn. ;

[0095] Determine when to switch layers: when the current layer reaches the required number of turns. Immediately control the guide mechanism to translate one layer spacing (equal to the hose diameter d), and simultaneously translate in the opposite direction to start the next layer of cabling, achieving "non-intersecting, same-direction cabling";

[0096] Target displacement of the guiding mechanism Real-time calculations are performed to ensure that the guide mechanism is always in the optimal position for hose winding, with a deviation of ≤±1mm.

[0097] Control command generation, issuance, and feedback correction submodule

[0098] The target torque / damping value of the reel motor is converted into a PWM pulse command (pulse frequency 0-10kHz, supporting stepless speed regulation), and the target speed / displacement of the guide mechanism is converted into a stepper motor pulse command (the number of pulses corresponds to the displacement, and the pulse frequency corresponds to the speed).

[0099] Following the principle of "priority to reel motor commands and synchronization with guide mechanism commands", commands are sent to the corresponding actuator motors via the PWM interface, and the command sending time and target value are recorded at the same time.

[0100] Real-time feedback correction: The actual operating status of the motor (actual speed and actual displacement) is collected by the reel speed sensor and the guide mechanism displacement sensor, and compared with the target value to calculate the deviation;

[0101] If the deviation is ≤ ±5%, it is considered normal execution and no correction is needed; if the deviation is > ±5%, the instruction is immediately fine-tuned using the PID algorithm until the deviation between the actual value and the target value is ≤ ±5%, forming a closed-loop control of "instruction issuance - actual data acquisition - deviation correction".

[0102] The actual execution status of the motor and the result of the command issuance are encapsulated into a collaborative control data frame and sent to the collaborative scheduling module of the reel and high-pressure pump.

[0103] Reel and high-pressure pump coordinated scheduling module

[0104] Hardware interaction interface: A two-way data channel is established with the hose anti-winding intelligent control core module (receives collaborative control data frames and sends collaborative execution confirmation signals), hose status perception and data preprocessing module (receives real-time hose tension data), and hose abnormality early warning and graded protection module (sends high-pressure pump operating status) through the CAN bus; and it is directly connected to the high-pressure pump frequency converter controller through the 485 communication interface to realize stepless adjustment of the high-pressure pump output pressure and status acquisition.

[0105] Submodule breakdown and overall process logic: This module contains 3 refined submodules, with the core being the tension-pressure dynamic matching algorithm. The operation process and algorithm details of each submodule are as follows:

[0106] Cooperative signal analysis and operating condition matching submodule:

[0107] A comprehensive analysis of the coordinated control data frames was performed to extract core coordinated parameters: hose operating conditions (pull-out / retract / bending criticality) and actual extension / retraction tension. Tension deviation Reel operating status;

[0108] Based on the extracted parameters, the high-pressure pump cooperative operating conditions are divided into normal cooperative operating conditions. exist Within ±5% range ), tension exceeding standard collaborative working condition ( ), bending critical cooperative working condition ( ≥ ), long-distance pull-out collaborative working condition ( >10m (can be preset) 4 types, different pressure regulation strategies are matched for different collaborative working conditions;

[0109] The collaborative working condition determination results are combined with the core collaborative parameters. Encapsulate and send to the tension-pressure dynamic matching calculation submodule.

[0110] Tension-Pressure Dynamic Matching Calculation Submodule:

[0111] Based on the tension-pressure dynamic matching algorithm, and according to different cooperative working conditions, the target output pressure of the high-pressure pump is calculated in real time according to the principles of "reducing pressure when tension exceeds the limit, reducing pressure when bending to the critical point, reducing pressure when pulling out over long distances, and maintaining pressure under normal working conditions". This achieves reverse linkage between pressure and tension (the greater the tension, the lower the pressure, avoiding deformation of the hose due to dual action):

[0112] Normal collaborative operating conditions: Control the high-pressure pump to maintain the rated operating pressure. Ensures effective cleaning without the need for pressure adjustment;

[0113] Excessive tension in collaborative working conditions ( Based on tension deviation The target pressure is calculated in real time using the following formula:

[0114]

[0115] in The pressure adjustment coefficient is calibrated to 0.8, introducing tension deviation. This allows for precise adaptive adjustment of pressure; the greater the tension deviation, the lower the pressure, and the minimum pressure will not be lower than [a certain value]. To prevent the pump from running dry;

[0116] Bending critical cooperative condition ( ≥ Immediately reduce the pressure of the high-pressure pump to [the value of the pump]. Reduce the internal pressure of the hose by 50%, reduce the rigidity of the hose, avoid knotting caused by hard pulling, and at the same time send a "pressure reduction signal" to the core control module to reduce the tension in conjunction with the core control module;

[0117] Long-distance pull-out collaborative working condition ( >10m): Reduce the pressure of the high-pressure pump to... 70% of the rigidity of long-distance hoses is reduced due to high pressure, making the hoses more flexible, improving the smoothness of pulling out, and avoiding tangling caused by excessive rigidity;

[0118] Hose recovery condition: If the recovery speed Reduce the pressure 80% of the hose pressure is reduced to minimize its impact on cable recovery and ensure neat cable routing.

[0119] High-pressure pump command generation and issuance, and execution status synchronization feedback submodule:

[0120] Target output pressure Converted to a 4-20mA analog command recognizable by the high-pressure pump frequency converter (4mA corresponds to...) 20mA corresponds (Supports stepless adjustment); step adjustment directly sends a fixed analog value, while stepless adjustment adjusts the analog value in real time.

[0121] The command is sent to the high-pressure pump frequency converter via the 485 communication interface, and the command sending time and target pressure value are recorded at the same time.

[0122] Real-time acquisition of the actual operating status of the high-pressure pump: The actual output pressure of the high-pressure pump is acquired through the frequency converter. Operating speed and target pressure Compare and calculate the pressure deviation. ;

[0123] If pressure deviation If the error is ≤±5%, it is considered normal execution, and a collaborative execution confirmation signal is sent to the core control module; if... If the deviation exceeds ±5%, immediately fine-tune the analog command using the PID algorithm until the deviation is ≤ ±5%.

[0124] The actual operating status of the high-pressure pump ( The operating speed and pressure deviation are encapsulated into a collaborative execution feedback data frame, which is synchronously sent to the core control module and protection module via the CAN bus. The core control module can correct the tension control parameters according to the actual pressure value, forming a two-way collaborative closed loop of "reel tension - high pressure pump pressure".

[0125] Hose abnormality early warning and graded protection module

[0126] Hardware interaction interface: A two-way data channel is established through the CAN bus with the hose status sensing and data preprocessing module (receiving raw data after filtering from various dimensions), the hose anti-tangling intelligent control core module (receiving the actual execution status of the motor), and the reel and high-pressure pump collaborative scheduling module (receiving the actual execution status of the high-pressure pump); it is directly connected to the audible and visual alarm (buzzer + warning light), emergency stop relay (controlling the reel motor and high-pressure pump power supply), and reel emergency unlocking mechanism (electromagnetic control valve) on the hardware platform; it is also equipped with a display screen (for displaying abnormal information and fault codes).

[0127] Submodule breakdown and overall operation logic: This module contains 4 refined submodules, with the core being a multi-dimensional anomaly fusion judgment algorithm and a hierarchical linkage protection strategy. The operation process and judgment / protection details of each submodule are as follows:

[0128] Multi-dimensional anomaly feature extraction submodule:

[0129] To address the issue of single-dimensional data failing to accurately identify anomalies, a multi-dimensional anomaly fusion judgment logic is employed to extract direct and indirect anomaly features, achieving comprehensive identification of hose anomaly states.

[0130] Direct abnormal characteristics (directly related to hose tangling / knotting / damage): Excessive tension ( or ), and slow loading and unloading ( Sudden drop rate ≥ 50% and lasting 0.5s), severe cable misalignment (guide mechanism displacement deviation) ), the hose was severely bent ( ), The take-up and undo lengths do not match the angular velocity of the reel ( Deviation >10% indicates hose entanglement.

[0131] Indirect abnormal characteristics (anti-tangle control failure caused by hardware malfunction): sensor malfunction (suspected malfunction / fault signal sent by the sensing module), excessive motor execution deviation (reel / guide mechanism execution deviation > ±10% and lasting for 1 second), high-pressure pump pressure runaway ( >±20% and lasting for 1 second), CAN bus communication interruption (no data frame received for 3 consecutive times).

[0132] The extracted abnormal features are timestamped and quantized, and the abnormal features are converted into "0-1" binary data (0 for no abnormality, 1 for abnormality). At the same time, the occurrence time, duration and size of the abnormal features are recorded and packaged into an abnormal feature dataset.

[0133] Anomaly Level Determination and Early Warning Submodule:

[0134] Based on three dimensions—"degree of impact, whether it is a precursor to tangling / knotting, and whether it can be automatically corrected"—abnormalities are categorized into three levels: Level 1 Minor Abnormality, Level 2 Moderate Abnormality, and Level 3 Severe Abnormality. Different levels are matched with different early warning methods, and fault codes and abnormal information are generated simultaneously to achieve visualized early warning. The abnormality level determination rules (core, designed for core issues) are as follows:

[0135] The criteria for determining a Level 1 minor anomaly are simply meeting one of the following: cable misalignment. and ≤ ,tension and ≤ Hose bending and ≤ If the motor / pump execution deviation is >±5% and ≤±10%, its core impact is slight unevenness of the wiring and slight bending of the hose, which are precursors to tangling / knotting. These can be automatically corrected by the system, and there is no risk of hose damage.

[0136] The criteria for determining a level 2 moderate anomaly are that either cable misalignment or cable offset must be met. and ≤ ,tension and ≤ or , sluggish release and retraction ( The rate of sudden drop is ≥50% and continues The hose was severely bent. The core impacts of sensor malfunctions and occasional communication interruptions are severe cable misalignment, hose nearing knots, and difficulty in retraction and extension. The system's automatic correction is difficult, and there is a risk of minor hose damage.

[0137] The criteria for determining a Level 3 severe anomaly are that either the cabling is offset or the cable is misaligned. ,tension (Risk of tearing) or (Completely loose and tangled), stuck in the retraction / release mechanism ( A sudden drop rate ≥50% lasting for ≥1 second is considered a hose entanglement / knotting, sensor malfunction, motor / pump malfunction, communication interruption, or hose entanglement. If the deviation is greater than 10% and lasts for 0.5 seconds, the core impact is that the hose is tangled / knotted and the wiring is completely disordered, posing a risk of irreversible damage to the hose and hardware failure, requiring immediate shutdown.

[0138] Early warning execution process:

[0139] Level 1 Minor Abnormality: The control warning light remains on green, the buzzer does not sound, and the display shows abnormal information (such as "slight cable misalignment") and fault code, without interrupting operation;

[0140] Level 2 Moderate Abnormality: The control warning light remains constantly yellow, the buzzer sounds an intermittent alarm (1 time / second), and the display screen scrolls to show abnormal information, fault codes, and correction suggestions (such as "reduce the retraction speed") to remind the operator to pay attention;

[0141] Level 3 Severe Abnormality: The control warning light flashes red, the buzzer sounds a continuous alarm, and the display screen shows the abnormal information, fault codes, and emergency handling suggestions (such as "Stop the machine immediately and check for hose entanglement").

[0142] All abnormal information and fault records are automatically stored in the module's built-in storage area (which can store 1,000 records) for subsequent operating condition analysis and fault diagnosis.

[0143] Graded protection action execution submodule:

[0144] Based on the level of abnormality, differentiated and progressive protection actions are adopted. All protection actions are linked to the control of the reel, guide mechanism, and high-pressure pump. The core revolves around "stopping winding and unwinding, releasing tension, unlocking the reel, and stopping the machine for protection," avoiding hose damage caused by forceful pulling. The graded linkage protection strategy is as follows:

[0145] (1) Level 1 minor abnormality protection action (automatic software correction without interrupting operation)

[0146] The system sends correction commands to the core control module, which automatically fine-tunes the displacement of the guide mechanism (correcting cable misalignment) and the torque of the reel motor (reducing tension); it also sends pressure fine-tuning commands to the collaborative scheduling module to appropriately reduce the pressure of the high-pressure pump; it limits the reel winding and unwinding speed to ≤0.5m / s to reduce the risk of aggravated abnormalities; and it continuously monitors abnormal characteristics. If the abnormality is resolved after automatic correction, normal operating parameters are restored.

[0147] (2) Level 2 moderate abnormality protection action (software restriction + partial shutdown, prompting manual intervention)

[0148] A power limiting command is sent to the core control module to reduce the output power of the reel motor by 30%, limiting the take-up and undo speed to ≤0.3m / s, while simultaneously controlling the guide mechanism to stop automatic translation and maintain its current position; a pressure regulation command is sent to the collaborative scheduling module to reduce the pressure of the high-pressure pump to Reduce the pressure in the hose by 50%; if the abnormality is not resolved within 10 seconds, suspend the reel winding and unwinding operation (the high-pressure pump is still running, and cleaning can continue), and send a "manual intervention reminder" to the operator; prohibit high-speed reel winding to avoid aggravating the abnormality.

[0149] (3) Level 3 severe abnormality protection action (system-wide shutdown + emergency unlocking to prevent hose damage)

[0150] Immediately disconnect the power to the reel motor and guide mechanism stepper motor (via emergency stop relay) to stop all winding and unwinding operations, preventing forced winding and unwinding from causing hose tearing, tangling, or knotting; send an emergency stop command to the high-pressure pump to immediately disconnect the high-pressure pump power, stop pressure output, release internal pressure in the hose, and restore the hose's flexibility for manual unwinding; control the reel emergency unlocking mechanism (energizing the electromagnetic control valve) to release the braking torque of the reel motor, allowing the reel to rotate freely and preventing damage from forced pulling during manual unwinding; continuously maintain the flashing red light and buzzer alarm until the operator presses the emergency stop reset button; if it is determined that "the hose is tangled / knotted," additionally lock the reel rewinding action, allowing only pulling out for manual unwinding.

[0151] Fault clearing and system reset submodule:

[0152] Implement a step-by-step system reset after fault resolution to avoid recurrence of abnormalities caused by direct reset:

[0153] Fault resolution determination: After the operator has investigated and resolved the fault, press the reset button. The module will re-collect multi-dimensional abnormal features. If all abnormal features have returned to the normal range, the fault is determined to be resolved. If abnormal features still exist, the protection state will continue to be maintained, and the display screen will show "Fault not resolved, please investigate again".

[0154] Step-by-step system reset: After the fault is cleared, perform the reset actions in sequence as follows:

[0155] Emergency unlocking mechanism reset: Cut off the power supply to the solenoid control valve and restore the braking torque of the reel motor;

[0156] High-pressure pump reset: Controls the high-pressure pump to start and gradually restore it to the rated pressure. (Avoid hose impact caused by step pressure);

[0157] Reel / Guide Mechanism Reset: Controls the reel motor and guide mechanism to return to their initial positions and recalibrates the cable routing zero point;

[0158] System parameter reset: Restores all control parameters (tension, cable spacing, damping, pressure) to preset values, clears current abnormal records, and retains historical fault records.

[0159] After the reset is complete, the sound and light alarm will return to normal (green light stays on, no buzzer), the display screen will show "System reset complete, normal operation is possible", and the system will return to the standby state, waiting for the operator to start the operation.

[0160] If an abnormal feature is detected again during the reset process, the reset will be stopped immediately, the system will return to the protected state, and the message "Reset failed, abnormality recurred" will be displayed.

[0161] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-pressure washer with an anti-tangle hose storage structure, comprising an L-shaped frame (1), a set of moving wheels (2), a housing (3), a power unit (4), a hose reel assembly (5), a connecting bracket (6), a delivery hose (7), a spray gun (8), and a control unit (9), characterized in that: The bottom of the L-shaped frame (1) is provided with a set of movable wheels (2) for realizing the overall movement of the cleaning machine; The outer shell (3) is mounted on the L-shaped frame (1), and the power assembly (4) is housed inside it. The hose reel assembly (5) is mounted on the housing (3) via a connecting bracket (6) for winding and unwinding the delivery hose (7). One end of the delivery hose (7) is connected to the outlet of the power unit (4), and the other end is connected to the spray gun (8). The control unit (9) is mounted on the L-shaped frame (1), electrically connected to the power assembly (4), and includes: The hose status sensing and data preprocessing module is used to collect and process the extension and retraction length, linear speed, tension, bending angle and guide mechanism displacement data of the delivery hose (7), and perform preprocessing. The core module for intelligent control of hose anti-winding is used to control the hose reel assembly (5) to perform anti-winding winding and layered wiring operations based on the standardized data, through the tension dynamic adaptation control algorithm and the layered wiring adaptive adjustment algorithm. The reel and high-pressure pump coordinated scheduling module is used to dynamically adjust the output pressure of the power component (4) according to the working condition and tension state of the delivery hose (7), so as to realize the coordinated control of the hose reel assembly (5) and the power component (4); The hose abnormality warning and graded protection module is used to determine the grade based on the delivery hose (7) and multi-dimensional abnormal characteristics, and to trigger graded warning and protection actions for the hose reel assembly (5) and the power assembly (4).

2. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The hose status sensing and data preprocessing module is connected to the encoder, tension and pressure sensor, bending sensor and displacement sensor set on the hose reel assembly (5); the encoder is installed on the reel spindle, the tension and pressure sensor is installed at the hose outlet guide wheel, the bending sensor is embedded in the front end of the conveying hose (7) and the displacement sensor is installed on the reel lateral guide mechanism.

3. A high-pressure washer with an anti-tangle hose storage structure according to claim 2, characterized in that, The intelligent control core module for hose anti-tangling is electrically connected to the drive motor of the hose reel assembly (5) and the stepper motor of the lateral guide mechanism through the PWM pulse output interface, and is also connected to the hose status sensing and data preprocessing module and the reel and high-pressure pump coordinated scheduling module through the data bus.

4. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The reel and high-pressure pump coordinated scheduling module is electrically connected to the high-pressure pump frequency converter of the power component (4) through a communication interface, and is connected to the hose anti-winding intelligent control core module and the hose status perception and data preprocessing module through a data bus.

5. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The hose abnormality warning and graded protection module is connected to the hose status perception and data preprocessing module, the hose anti-tangling intelligent control core module and the reel and high-pressure pump coordinated scheduling module via a data bus, and is electrically connected to the warning light, buzzer, emergency stop relay, electromagnetic control valve and display screen respectively; the emergency stop relay is connected to the drive motor of the hose reel assembly (5) and the power supply of the high-pressure pump of the power component (4), and the electromagnetic control valve is connected to the emergency unlocking mechanism of the hose reel assembly (5).

6. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The control unit (9) is signal-connected to at least one of a pressure sensor, a flow sensor, a temperature sensor, and a current sensor for monitoring the status of the high-pressure water system, and is electrically connected to at least one of a safety valve control circuit, a power limiting circuit, or an automatic shutdown circuit for performing graded protection actions.

7. A high-pressure washer with an anti-tangle hose storage structure according to claim 5, characterized in that, The emergency stop relay is connected in series with the drive motor of the hose reel assembly (5), the stepper motor of the guide mechanism of the hose reel assembly (5), and the power supply circuit of the high-pressure pump of the power assembly (4).

8. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The modules within the control unit (9) are connected via a high-speed CAN bus. The high-speed CAN bus is equipped with a real-time data interface and a status scheduling mechanism for data interaction and command issuance between the hose status perception and data preprocessing module, the hose anti-tangling intelligent control core module, the reel and high-pressure pump collaborative scheduling module, and the hose abnormality early warning and graded protection module.

9. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The hose reel assembly (5) is a reel device with an anti-tangling structure that allows the hose to be wound in a regular manner.

10. A high-pressure washer with an anti-tangle hose storage structure according to claim 1, characterized in that, The control component (9) is installed between the L-shaped frames (1).

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