High-pressure cleaning vehicle, motor rotating speed control device and method, and high-pressure cleaning vehicle

Abstract

The application discloses a high-pressure cleaning vehicle-mounted motor rotating speed control device, which comprises a vehicle-mounted controller, a vehicle-mounted motor, a high-pressure water pump, a nozzle, a road surface image acquisition unit, an electromagnetic valve and a waterway cut-off valve. The road surface image acquisition unit acquires the dirt degree of a road, the vehicle-mounted controller receives data and sends a rotating speed instruction to the vehicle-mounted motor through a CAN bus to control the rotating speed of the vehicle-mounted motor; the controller also controls the waterway cut-off valve through the electromagnetic valve to adjust the waterway between the high-pressure water pump and the nozzle. The device can adaptively adjust the rotating speed of the motor according to the road condition, realizes accurate and efficient cleaning, and reduces energy consumption. The application also discloses a vehicle applying the device and a corresponding control method.

Description

Technical Field

[0001] This invention belongs to the field of sanitation vehicle control technology. Specifically, this invention relates to a motor speed control device and control method for a high-pressure cleaning truck, as well as the high-pressure cleaning truck itself. Background Technology

[0002] Currently, most pure electric high-pressure cleaning trucks connect to the superstructure motor controller via a high-voltage power interface on the chassis, controlling the superstructure motor to operate at a constant speed. However, the degree of dirt on the road surface changes dynamically during operation, and a fixed speed cannot match the needs of different operating scenarios, easily leading to incomplete cleaning, wasted battery energy, and increased operating costs.

[0003] Existing technologies adjust the hydraulic pump displacement based on engine speed to control the water pump speed. However, these technologies are based on the architecture of fuel vehicles and cannot be adapted to pure electric vehicles. Furthermore, they cannot adaptively adjust the speed of the superstructure motor according to road conditions, thus failing to solve the aforementioned problems.

[0004] This invention provides a motor speed control device for a high-pressure cleaning vehicle, specifically addressing how to effectively control the motor speed to ensure cleaning performance while minimizing battery energy consumption. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a motor speed control device for a high-pressure cleaning vehicle, with the purpose of effectively controlling the motor speed to ensure cleaning performance while effectively reducing battery energy consumption.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a motor speed control device for a high-pressure cleaning vehicle, including a controller, a motor, a high-pressure water pump and a nozzle, wherein the motor is connected to the high-pressure water pump and the high-pressure water pump is connected to the nozzle; the motor speed control device for a high-pressure cleaning vehicle also includes a road image acquisition unit, a solenoid valve and a water circuit shut-off valve, wherein the water circuit shut-off valve is connected in series in the water circuit between the outlet of the high-pressure water pump and the nozzle. The communication terminal of the road image acquisition unit is electrically connected to the first communication terminal of the upper device controller, the second communication terminal of the upper device controller is electrically connected to the communication terminal of the upper device motor, the switch output terminal of the upper device controller is electrically connected to the control terminal of the solenoid valve, and the air output terminal of the solenoid valve is connected to the air control terminal of the water circuit shut-off valve.

[0007] The road surface image acquisition unit is a camera.

[0008] The upper-mount controller is a programmable controller with at least two CAN2.0B communication interfaces and at least one switch output channel, and its operating voltage is 9-36VDC.

[0009] The superstructure controller includes a core control module, a power management module, a CAN communication module, a digital input / output module, a data storage module, and a programming and debugging interface module; The power management module, CAN communication module, digital input / output module, and data storage module are all electrically connected to the core control module.

[0010] The CAN communication module is equipped with four independent CAN2.0A / B communication interfaces. Among the four CAN2.0A / B communication interfaces, the first CAN communication interface is connected to the CAN bus interface of the road image acquisition unit, the second CAN communication interface is connected to the CAN bus interface of the superstructure motor, and the remaining two are reserved communication interfaces.

[0011] The digital input / output module includes 26 digital input channels and 28 digital output channels; The 26 digital input channels include 18 independent high-level active DI channels, 6 AI / DI multiplexed channels, and 2 PI / DI multiplexed channels. All digital input channels have built-in opto-isolation circuits. The 28 digital output channels include 20 high-end DO output channels and 8 PWM / DO multiplexed channels. All digital output channels are equipped with short-circuit protection and the single-channel drive capability is not less than 3A.

[0012] The present invention also provides a high-pressure cleaning vehicle, including a motor speed control device mounted on the high-pressure cleaning vehicle.

[0013] This invention also provides a method for controlling the speed of a motor mounted on a high-pressure cleaning vehicle, applied to the aforementioned motor speed control device, comprising the following steps: S1. After the device is powered on, the upper controller acquires the current road dirt level value m obtained by the road image acquisition unit in real time; S2. The superstructure controller calculates the target speed of the superstructure motor based on the current road dirt level value m. S3. The upper-mount controller sends the target speed value to the upper-mount motor and controls the upper-mount motor to run at the target speed.

[0014] In step S2, the upper controller pre-stores the minimum value m of the road dirtiness level. min Maximum value of road dirtiness m max Minimum speed n of the upper motor min Maximum speed n of the upper motor max ; Step S2 specifically includes: When m≥m max At that time, the superstructure controller determines the target speed of the superstructure motor to be n. max ; When m > m min And m < m max At that time, the superstructure controller calculates the percentage change Δm in the current road dirt level, and calculates the target operating speed n of the superstructure motor based on Δm; When 0 < m ≤ m min At that time, the superstructure controller determines the target speed of the superstructure motor to be n. min ; When m≤0, the upper-mount controller determines the target speed of the upper-mount motor to be 0.

[0015] The formula for calculating the percentage change Δm in the current road dirtiness level is: Δm=[(mm min )÷(m max -m min )]×100% The formula for calculating the target operating speed n is: n= n min +Δm×(n max -n min ).

[0016] The high-pressure cleaning vehicle of the present invention has a motor speed control device. The camera collects the degree of dirt on the road, and the upper body controller sends the speed data to the upper body motor through the CAN bus. This allows the upper body motor speed to be adaptively controlled according to the degree of dirt on the road, thereby enabling precise control of the upper body motor speed, making road cleaning more accurate and effective. It also reduces the energy consumption of the vehicle battery and minimizes energy waste. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the motor speed control device mounted on the high-pressure cleaning vehicle of the present invention; Figure 2 This is a schematic diagram of the water circuit connection of the motor speed control device mounted on the high-pressure cleaning vehicle of the present invention; Figure 3 This is a structural diagram of the upper-mounted controller; Figure 4 This is a flowchart of the control method for the motor speed control device mounted on the high-pressure cleaning vehicle according to the present invention; The markings in the above figures are: 1. Upper motor; 2. Solenoid valve; 3. Upper controller; 4. Road image acquisition unit; 5. Water circuit shut-off valve; 6. Nozzle; 7. High-pressure water pump; 8. Water tank. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. Rather, these embodiments are provided to make the disclosure of the present invention more thorough and complete.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly associated with those skilled in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] The technical concept of this invention includes: With the development of refined and intelligent urban sanitation operations, high-pressure cleaning trucks, as important equipment for road cleaning and sanitation maintenance, are widely used in cleaning operations in urban roads, squares, tunnels, and other scenarios. Among them, new energy pure electric high-pressure cleaning trucks, with their advantages of zero emissions and low noise, are gradually becoming the mainstream models for sanitation operations. The power of their superstructure operating system comes from the superstructure motor 1. The speed control of the superstructure motor 1 directly determines the output water pressure and flow rate of the high-pressure water pump 7, thus affecting the overall cleaning effect and energy consumption level of the vehicle. Conventional pure electric high-pressure cleaning truck superstructure motor 1 speed control schemes mostly use the high-voltage power interface on the vehicle chassis to connect the electrical energy of the chassis's high-voltage power battery to the superstructure motor 1 controller, which drives the superstructure motor 1 to run. During operation, the speed of the superstructure motor 1 is mostly fixed and controlled at a preset constant value. This control scheme has simple logic and easy hardware architecture implementation, and can meet basic cleaning operation needs, so it is widely used in existing mass-produced models.

[0022] However, in actual sanitation operations, the operating scenarios of high-pressure cleaning trucks are constantly changing: different road surface materials (such as asphalt and cement roads), different levels of road dirt (such as daily dust, heavy oil stains, and stubborn stains), and different operating conditions (such as routine cleaning and targeted deep cleaning) all place drastically different demands on the output water pressure and flow rate of the high-pressure water pump 7. The upper-body motor 1, which uses constant speed control, cannot match the dynamically changing operating scenario requirements: when facing heavily soiled or stubbornly soiled roads, the water pressure and flow rate of the pump at a fixed speed are insufficient, easily leading to incomplete cleaning and stain residue, requiring rework and reducing operational efficiency; when facing lightly soiled or routinely cleaned roads, the pump output power at a fixed speed far exceeds the actual operating requirements, resulting in unnecessary waste of battery power, directly shortening the vehicle's single-charge operating range, and increasing the operating costs of sanitation operations. Simultaneously, the upper-body motor 1 operating at unnecessarily high speeds for extended periods will accelerate the mechanical wear of the motor body and the matching high-pressure water pump 7, shortening the equipment's lifespan and increasing maintenance costs.

[0023] To address the issues of poor operational adaptability and high energy consumption caused by constant speed control, existing technologies propose a water pump control scheme for cleaning trucks based on engine speed adjustment. This scheme collects the actual engine speed and adjusts the hydraulic pump displacement accordingly, thereby controlling the operating speeds of the high-pressure water pump 7 and the low-pressure water pump separately. This ensures that the water pump speed is unaffected by fluctuations in the actual engine speed. Furthermore, the speeds of the high-pressure water pump 7 and the low-pressure water pump can be arbitrarily adjusted by regulating the hydraulic pump displacement, thus matching the cleaning water spray volume requirements under different operational scenarios.

[0024] However, the inventors discovered during the development of this invention that the aforementioned prior art has at least the following technical defects: On the one hand, the solution is based on the engine-hydraulic drive architecture design of a fuel-powered cleaning vehicle, which cannot be adapted to the electric drive superstructure system of a new energy pure electric high-pressure cleaning vehicle, and cannot be applied to current pure electric sanitation vehicles; on the other hand, the solution can only achieve manual adjustment of the water pump speed or open-loop adjustment based on the engine speed, and cannot achieve adaptive closed-loop adjustment of the superstructure motor speed according to the actual dirtiness of the working surface and changes in the working scenario. Therefore, it still cannot solve the problem of not being able to simultaneously achieve cleaning effect and energy consumption control in dynamic working scenarios, and still suffers from defects such as substandard road cleaning and wasted battery energy. The technical solution of this invention is as follows: Firstly, such as Figures 1 to 3As shown, this embodiment of the invention provides a speed control device for a high-pressure cleaning vehicle's upper-mounted motor 1, including an upper-mounted controller 3, an upper-mounted motor 1, a high-pressure water pump 7, a nozzle 6, a road surface image acquisition unit 4, a solenoid valve 2, and a water circuit shut-off valve 5. The upper-mounted motor 1 is connected to the high-pressure water pump 7, and the high-pressure water pump 7 is connected to the nozzle 6. The water circuit shut-off valve 5 is connected in series in the water circuit between the outlet of the high-pressure water pump 7 and the nozzle 6. The communication terminal of the road surface image acquisition unit 4 is electrically connected to the first communication terminal of the upper-mounted controller 3, and the second communication terminal of the upper-mounted controller 3 is electrically connected to the communication terminal of the upper-mounted motor 1. The switch output terminal of the upper-mounted controller 3 is electrically connected to the control terminal of the solenoid valve 2, and the air circuit output terminal of the solenoid valve 2 is connected to the air circuit control terminal of the water circuit shut-off valve 5.

[0025] Specifically, the high-pressure cleaning vehicle's motor 1 speed control device according to this embodiment of the invention is divided into three interconnected subsystems: an electrical control system, a water circuit execution system, and a pneumatic control system. The electrical control system mainly includes a road surface image acquisition unit 4, a superstructure controller 3, and a superstructure motor 1, responsible for collecting road surface dirt information, calculating control logic, and controlling power output. The water circuit execution system includes a water tank 8, a high-pressure water pump 7, a water circuit shut-off valve 5, and nozzles 6, responsible for pressurizing and spraying clean water; its output water pressure is directly related to the speed of the superstructure motor 1. The pneumatic control system includes a solenoid valve 2 and an on-board air source, responsible for receiving instructions from the electrical control system and driving the water circuit shut-off valve 5 in the water circuit execution system to achieve coordinated control of the water circuit.

[0026] The linkage logic of the three subsystems is as follows: the road surface image acquisition unit 4 obtains information on the degree of dirt on the working road surface, and the superstructure controller 3 calculates the matching target speed of the motor, controls the superstructure motor 1 to drive the high-pressure water pump 7 to operate, and outputs clean water of corresponding pressure; at the same time, the superstructure controller 3 controls the opening and closing of the water circuit cut-off valve 5 through the solenoid valve 2 to realize the linkage between the water circuit and the operation of the superstructure motor 1, and finally completes the adaptive cleaning operation of the road surface with different degrees of dirt.

[0027] In this embodiment of the invention, the road image acquisition unit 4 adopts a vehicle-mounted industrial-grade wide-angle camera, specifically a vehicle-mounted front-view camera with AI image recognition function. The horizontal field of view of the camera is not less than 120°, the vertical field of view is not less than 60°, the image acquisition resolution is not less than 1920×1080, and the frame rate is not less than 30fps. It can cover the entire road surface area within the working width of the cleaning vehicle, ensuring no blind spots in the acquisition.

[0028] like Figure 2As shown in this embodiment of the invention, the water tank 8 is an on-board cleaning water storage container for the high-pressure cleaning truck. An outlet is located at the bottom of the water tank 8, and the outlet is connected to the inlet of the high-pressure water pump 7 via a low-pressure water pipe. A filter screen is installed at the outlet to filter impurities in the cleaning water, preventing impurities from entering the high-pressure water pump 7 and causing wear and damage to the pump body. A liquid level sensor is installed inside the water tank 8, and the signal output terminal of the liquid level sensor is connected to the upper structure controller 3 to collect the cleaning water level in the water tank 8 in real time. When the liquid level is lower than a preset lower limit, the upper structure controller 3 controls the upper structure motor 1 to stop running and simultaneously outputs an alarm signal to the on-board display screen to remind the operator to add water.

[0029] In this embodiment of the invention, the input shaft of the high-pressure water pump 7 is coaxially and fixedly connected to the output shaft of the upper motor 1. The rotational speed of the upper motor 1 directly determines the frequency of the high-pressure water pump 7, and thus determines the output flow rate and output pressure of the high-pressure water pump 7. Specifically, the output flow rate of the high-pressure water pump 7 is linearly positively correlated with the motor speed, and the output pressure is positively correlated with the square of the motor speed. By adjusting the rotational speed of the upper motor 1, the output water pressure and flow rate of the high-pressure water pump 7 can be effectively adjusted to match the cleaning needs of roads with different levels of dirt. The outlet of the high-pressure water pump 7 is connected to the inlet of the water circuit shut-off valve 5. A pressure sensor is installed at the outlet of the high-pressure water pump 7. The signal output terminal of the pressure sensor is electrically connected to the upper controller 3 for real-time acquisition of the output water pressure of the high-pressure water pump 7. The upper controller 3 corrects the motor speed based on the acquired water pressure data to ensure the stability of the output water pressure.

[0030] In this embodiment of the invention, the water circuit shut-off valve 5 can be a ball valve. The inlet of the water circuit shut-off valve 5 is connected to the outlet of the high-pressure water pump 7 through a high-pressure water pipe, and the outlet is connected to the inlet of the nozzle 6 through a high-pressure water pipe. The pneumatic control terminal is connected to the pneumatic output terminal of the solenoid valve 2. The water circuit shut-off valve 5 has two working positions: an on position and an off position. When the solenoid valve 2 is on, compressed air from the vehicle air source enters the pneumatic control terminal of the water circuit shut-off valve 5, driving the valve core to rotate to the on position, thus connecting the water circuit. The high-pressure water output by the high-pressure water pump 7 can be delivered to the nozzle 6 through the water circuit shut-off valve 5. When the solenoid valve 2 is off, the pneumatic control terminal of the water circuit shut-off valve 5 is depressurized, and the valve core rotates to the off position under the action of the return spring, thus shutting off the water circuit and stopping the nozzle 6 from spraying water. The inlets of all nozzles 6 are connected to the outlet of the water circuit shut-off valve 5 through high-pressure water pipes, enabling synchronous spraying operations.

[0031] In this embodiment of the invention, the control terminal of the solenoid valve 2 is electrically connected to the output channel of the upper-mount controller 3, and the pneumatic output terminal is connected to the pneumatic control terminal of the water circuit shut-off valve 5 through an air pipe. When the output channel of the upper-mount controller 3 outputs a high level, the coil of the solenoid valve 2 is energized, the valve core moves, the air circuit input terminal is connected to the output terminal, compressed air enters the pneumatic control terminal of the water circuit shut-off valve 5, driving the water circuit shut-off valve 5 to conduct; when the output channel of the upper-mount controller 3 outputs a low level, the coil of the solenoid valve 2 is de-energized, the valve core resets, the air circuit output terminal is connected to the exhaust port, the pneumatic control terminal of the water circuit shut-off valve 5 is depressurized, and the water circuit shut-off valve 5 is disconnected.

[0032] In this embodiment of the invention, the positive terminal of the camera's power supply is connected to the positive terminal of the vehicle's low-voltage power supply, and the negative terminal is connected to the negative terminal of the low-voltage power supply. The communication interface is connected to the CAN bus interface of the upper-mount controller 3. The positive terminal of the upper-mount controller 3's power supply is connected to the positive terminal of the vehicle's low-voltage power supply, and the negative terminal is connected to the negative terminal of the low-voltage power supply. The first communication interface is connected to the CAN bus interface of the camera, acquiring the road dirt level value emitted by the camera via CAN communication. The second communication interface is connected to the CAN bus interface of the upper-mount motor 1. The positive terminal of the high-voltage DC power supply of the upper-mount motor 1 is connected to the positive terminal of the chassis's high-voltage power supply, and the negative terminal is connected to the negative terminal of the chassis's high-voltage power supply. The CAN interface of the upper-mount motor 1 is connected to the CAN interface of the upper-mount controller 3.

[0033] In the development of this invention, the inventors overcame long-standing technological inertia and cognitive biases in the field. In the conventional technical solutions of existing pure electric high-pressure cleaning vehicles, those skilled in the art generally believe that the control of the superstructure operation system must be based on the vehicle controller (VCU) as the core control component. The control commands and operation logic calculations of the superstructure motor 1 must be completed through the vehicle controller, or the vehicle controller must forward commands and perform safety verification. This inherent perception leads to the need for significant modifications and adaptations to the underlying program and communication protocol of the vehicle controller in existing superstructure adaptive control solutions. This not only results in long development cycles and high modification costs, but also makes it impossible to directly apply to the upgrade and modification of existing models.

[0034] During the long-term research and development and on-site debugging of the electronic control system for sanitation vehicles, the inventors discovered that the dedicated superstructure controller 3 equipped with the existing pure electric high-pressure cleaning vehicle has the computing power, communication interface and IO port resources required for the adaptive control of the superstructure motor 1, and has a large number of redundant control ports and communication channels. It has the hardware foundation to independently complete the entire process control. However, those skilled in the art have always been limited by the inherent understanding that "superstructure control must rely on the vehicle controller" and have never thought of directly using the superstructure controller 3 as the only control core to independently complete the entire process of road dirt information collection, target speed calculation, motor closed-loop control and water circuit linkage control, completely bypassing the vehicle controller. This is also an important reason why the adaptive control scheme has always been unable to solve the problems of high modification cost and poor versatility in the existing technology.

[0035] Based on the above findings, the present invention completely eliminates the reliance of the existing technology on the vehicle controller, and directly uses the upper controller 3 as the sole control core of the entire speed control device. It does not require connection to the vehicle controller or any modification to the original vehicle control system. It can realize all control functions by utilizing the redundant communication interface and control port of the upper controller 3 itself, which greatly reduces the hardware cost and adaptation difficulty of the solution.

[0036] In this embodiment of the invention, the upper controller 3 is a programmable controller with at least two CAN2.0B communication interfaces and at least one switch output channel, and its operating voltage is 9-36VDC.

[0037] like Figure 3 As shown, in this embodiment of the invention, the upper-mount controller 3 adopts a modular design. The upper-mount controller 3 includes a core control module, a power management module, a CAN communication module, a digital input / output module, a data storage module, and a programming and debugging interface module. The power management module, the CAN communication module, the digital input / output module, and the data storage module are all electrically connected to the core control module.

[0038] The CAN communication module serves as the communication hub between the upper-mount controller 3 and external devices, responsible for data interaction with external CAN devices such as the camera, upper-mount motor 1, and vehicle controller VCU. In one specific embodiment of the invention, the CAN communication module is configured with four independent CAN2.0A / B communication interfaces. The first CAN communication interface is connected to the CAN bus interface of the road image acquisition unit 4, used to receive CAN data messages containing the road dirt level value m sent by the camera. The core control module parses and verifies the messages through a CAN communication processing subroutine, extracting the valid road dirt level value m for subsequent target speed calculation. The second CAN communication interface is connected to the CAN bus interface of the upper-mount motor 1, used to send target speed control commands to the motor controller of the upper-mount motor 1, and simultaneously receive operating status data such as the actual speed fed back by the upper-mount motor 1, realizing closed-loop control of the motor. The remaining third and fourth CAN communication interfaces are reserved communication interfaces.

[0039] In this embodiment of the invention, the digital input / output module includes 26 digital input channels and 28 digital output channels; The 26 digital input channels include 18 independent high-level active DI channels, 6 AI / DI multiplexed channels, and 2 PI / DI multiplexed channels. All digital input channels have built-in opto-isolation circuits. The 28 digital output channels include 20 high-end DO output channels and 8 PWM / DO multiplexed channels. All digital output channels are equipped with short-circuit protection, and the single-channel drive capability is not less than 3A.

[0040] In this embodiment of the invention, the DI channel is used to collect external switch signals such as the operation enable switch signal of the cleaning vehicle, the pressure switch signal of the high-pressure water pump 7, and the liquid level switch signal of the water tank 8. The core control module determines whether the operating conditions of the device are met based on the collected switch signals. For example, when the liquid level of the water tank 8 is lower than the preset lower limit, the upper motor 1 is controlled to stop running to avoid damage to the high-pressure water pump 7 due to dry running.

[0041] In this embodiment of the invention, only one of the 28 DO output channels is electrically connected to the control terminal of the solenoid valve 2 to output a switch control signal to control the on / off state of the solenoid valve 2. The remaining channels are the original channels and redundant channels used by the original vehicle. No modification is required to the original vehicle's IO port configuration, and they can be directly added and used.

[0042] Secondly, embodiments of the present invention provide a high-pressure cleaning vehicle, which is a new energy pure electric high-pressure cleaning vehicle. The pure electric high-pressure cleaning vehicle includes a vehicle chassis, a power battery system, a superstructure operation system, and a high-pressure cleaning vehicle superstructure motor 1 speed control device with the above-mentioned structure. This high-pressure cleaning vehicle superstructure motor 1 speed control device can be referred to... Figures 1 to 3 The details will not be elaborated further here. The upper structure operation system includes an upper structure motor 1, and the speed control device for the upper structure motor 1 of the high-pressure cleaning truck is used to realize the adaptive adjustment of the speed of the upper structure motor 1. Since the high-pressure cleaning truck of the present invention includes the speed control device for the upper structure motor 1 of the high-pressure cleaning truck in the above embodiment, it has all the advantages of the above-mentioned speed control device for the upper structure motor 1 of the high-pressure cleaning truck.

[0043] Thirdly, such as Figure 4 As shown, this embodiment of the invention provides a method for controlling the speed of a motor 1 mounted on a high-pressure cleaning vehicle, applied to the high-pressure cleaning vehicle motor 1 speed control device with the above-described structure, including the following steps: S1. After the device is powered on, the upper controller 3 acquires the current road dirt level value m identified by the road image acquisition unit 4 in real time; S2. The upper device controller 3 calculates the target speed value of the upper device motor 1 based on the current road dirt level value m. S3. The upper-mount controller 3 sends the target speed value to the upper-mount motor 1, and controls the upper-mount motor 1 to run at the target speed.

[0044] In step S1 above, the upper-mount controller 3 collects the operation enable switch signal of the cleaning vehicle. When the operator presses the operation enable switch and the operation enable signal is valid, the system enters the operation control process. When the operation enable signal is invalid, the system remains in standby mode, the upper-mount motor 1 does not start, and the solenoid valve 2 remains in the open state.

[0045] Meanwhile, the superstructure controller 3 collects the liquid level signal of the water tank 8 and the pressure signal of the high-pressure water pump 7. Only when the liquid level of the water tank 8 is higher than the preset lower limit or the high-pressure water pump 7 has a pressure failure, is the operation control process allowed. If the liquid level of the water tank 8 is lower than the lower limit, the superstructure controller 3 prohibits the superstructure motor 1 from starting and outputs an alarm signal to the vehicle display screen to prevent the high-pressure water pump 7 from running dry and being damaged.

[0046] When the operation enable signal is valid and the system is fault-free, the upper controller 3 receives CAN data messages containing the road dirtiness value m sent by the camera in real time through the communication interface. The core control module parses and verifies the message through the CAN communication processing subroutine. After the verification is successful, the valid road dirtiness value m in the message is extracted for subsequent target speed calculation.

[0047] In step S2 above, the upper controller 3 pre-stores the minimum value m of the road dirtiness level.min Maximum value of road dirtiness m max The minimum speed of the upper motor 1 is n. min The maximum speed of the upper motor 1 is n. max ; The above step S2 specifically includes: When m≥m max At that time, the upper controller 3 determines the target speed of the upper motor 1 to be n. max ; When m≥m max When the current road surface is determined to be heavily soiled, requiring maximum output water pressure and flow to ensure cleaning effectiveness, the upper controller 3 determines the target speed of the upper motor 1 to be the maximum operating speed n. max In the embodiments of the present invention, n max 3000 rpm; When m > m min And m < m max At that time, the upper-mounted controller 3 calculates the percentage change Δm in the current road dirt level, and calculates the target operating speed n of the upper-mounted motor 1 based on Δm; When m > m min And m < m max When the current road surface is determined to be in a moderately dirty condition, the motor speed needs to be linearly matched according to the degree of dirtiness. The upper controller 3 first calculates the percentage change Δm of the current road dirtiness, and then calculates the target working speed n of the upper motor 1 based on Δm. When 0 < m ≤ m min At that time, the upper controller 3 determines the target speed of the upper motor 1 to be n. min ; When 0 < m ≤ m min When the current road surface is determined to be slightly dirty, requiring only the minimum output water pressure to complete cleaning, the upper controller 3 determines the target speed of the upper motor 1 to be the minimum operating speed n. min In the embodiments of the present invention, n min It is 800 rpm; When m≤0, the upper controller 3 determines that the target speed of the upper motor 1 is 0; When m≤0, it is determined that there is no dirt on the current road surface and no cleaning operation is required. The upper controller 3 determines that the target speed of the upper motor 1 is 0rpm.

[0048] In step S2 above, the formula for calculating the percentage change Δm in the current road dirtiness level is: Δm=[(mm min )÷(m max -m min )]×100% In step S2 above, the formula for calculating the target operating speed n is: n= n min +Δm×(n max -n min ).

[0049] In step S3 above, when the target operating speed n is greater than 0, the superstructure controller 3 first outputs a control signal to the solenoid valve 2. The solenoid valve 2 is energized and conducts, driving the water circuit shut-off valve 5 to conduct water, and the water circuit between the high-pressure water pump 7 and the nozzle 6 is in a conducting state. Subsequently, the superstructure controller 3 encapsulates the target operating speed n into a control command message conforming to the CANopen protocol through the communication interface and sends it to the motor controller of the superstructure motor 1. The superstructure motor 1 is controlled to run stably at the target operating speed, driving the high-pressure water pump 7 to output high-pressure water of the corresponding pressure, which is sprayed onto the road surface through the nozzle 6 to complete the cleaning operation.

[0050] When the target operating speed n is 0, the superstructure controller 3 sends a control command with a speed of 0 through the communication interface to control the superstructure motor 1 to stop running; then, the superstructure controller 3 outputs a control signal to the solenoid valve 2, the solenoid valve 2 is de-energized and disconnects, the water circuit of the water circuit cut-off valve 5 is disconnected, the nozzle 6 stops spraying water, avoids waste of water resources and reduces the wear and tear of the high-pressure water pump 7.

[0051] The high-pressure cleaning vehicle equipped with the motor speed control device and control method of this invention has the following beneficial effects: First, this invention achieves adaptive closed-loop control of the motor speed on a pure electric high-pressure cleaning vehicle, completely solving the technical problem that existing fixed-speed control schemes cannot adapt to dynamic operating scenarios. This invention uses a camera to collect real-time data on the degree of dirt on the road surface and dynamically matches the target motor speed based on this level of dirt. For heavily soiled surfaces, it outputs the maximum speed to ensure cleaning effectiveness and avoid incomplete cleaning and rework. For lightly soiled surfaces, it outputs a lower speed to avoid unnecessary high-speed operation and battery energy waste. Actual operational tests show that, compared to traditional fixed-speed control schemes, the control scheme of this invention reduces overall vehicle energy consumption by 20%-35% and increases the operating range per charge by more than 25%, significantly reducing the operating costs of sanitation operations.

[0052] Secondly, the solution of this invention is fully compatible with the electric drive architecture of new energy pure electric high-pressure cleaning vehicles, solving the problem that existing hydraulic adjustment solutions for fuel vehicles are incompatible with pure electric models. This invention adopts a fully electrical control architecture, realizing communication and control of various components through a CAN bus. It eliminates the need for a hydraulic system, and the hardware architecture can be directly adapted to the electrical systems of existing mass-produced pure electric high-pressure cleaning vehicles without requiring significant modifications to the overall vehicle structure, facilitating mass production and upgrades of existing models.

[0053] Third, this invention achieves coordinated control of motor speed and water circuit operation, further improving energy efficiency and equipment lifespan. When no dirt is detected on the road surface, the motor stops and the water circuit is cut off simultaneously. This not only avoids the energy waste caused by the motor running idle, but also avoids the water waste caused by continuous water flow. At the same time, it reduces the unnecessary wear and tear on the motor and high-pressure water pump 7, extending the equipment's lifespan by more than 15% and reducing maintenance costs.

[0054] Fourth, the core control component of this invention adopts a dedicated vehicle controller adapted to harsh on-board environments. It features wide voltage input, high protection level, strong anti-interference capability, and wide operating temperature range. It can adapt to harsh environments such as vibration, high and low temperatures, strong electromagnetic interference, and water spray during sanitation vehicle operations, ensuring long-term stable operation of the control device. The control logic adopts a modular design, which can flexibly configure control parameters and adapt to high-pressure cleaning trucks of different models and different operational needs, possessing strong versatility and scalability.

[0055] Fifth, the control method of the present invention has clear logic, simple and efficient operation, and can realize highly adaptive control with strong real-time performance. It can quickly respond to changes in the degree of dirt on the road surface and ensure the cleaning effect under different working scenarios.

[0056] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A motor speed control device for a high-pressure cleaning vehicle, comprising a controller, a motor, a high-pressure water pump, and nozzles, wherein the motor is connected to the high-pressure water pump, and the high-pressure water pump is connected to the nozzles, characterized in that... It also includes a road surface image acquisition unit, a solenoid valve, and a water circuit shut-off valve, with the water circuit shut-off valve connected in series in the water circuit between the outlet of the high-pressure water pump and the nozzle. The communication terminal of the road image acquisition unit is electrically connected to the first communication terminal of the upper device controller, the second communication terminal of the upper device controller is electrically connected to the communication terminal of the upper device motor, the switch output terminal of the upper device controller is electrically connected to the control terminal of the solenoid valve, and the air output terminal of the solenoid valve is connected to the air control terminal of the water circuit shut-off valve.

2. The motor speed control device for the high-pressure cleaning vehicle according to claim 1, characterized in that, The road surface image acquisition unit is a camera.

3. The motor speed control device for the high-pressure cleaning vehicle according to claim 1, characterized in that, The upper-mount controller is a programmable controller with at least two CAN2.0B communication interfaces and at least one switch output channel, and its operating voltage is 9-36VDC.

4. The motor speed control device for the high-pressure cleaning vehicle according to claim 1, characterized in that, The superstructure controller includes a core control module, a power management module, a CAN communication module, a digital input / output module, a data storage module, and a programming and debugging interface module; The power management module, CAN communication module, digital input / output module, and data storage module are all electrically connected to the core control module.

5. The motor speed control device for the high-pressure cleaning vehicle according to claim 4, characterized in that, The CAN communication module is equipped with four independent CAN2.0A / B communication interfaces. Among the four CAN2.0A / B communication interfaces, the first CAN communication interface is connected to the CAN bus interface of the road image acquisition unit, the second CAN communication interface is connected to the CAN bus interface of the superstructure motor, and the remaining two are reserved communication interfaces.

6. The motor speed control device for the high-pressure cleaning vehicle according to claim 4, characterized in that, The digital input / output module includes 26 digital input channels and 28 digital output channels; The 26 digital input channels include 18 independent high-level active DI channels, 6 AI / DI multiplexed channels, and 2 PI / DI multiplexed channels. All digital input channels have built-in opto-isolation circuits. The 28 digital output channels include 20 high-end DO output channels and 8 PWM / DO multiplexed channels. All digital output channels are equipped with short-circuit protection and the single-channel drive capability is not less than 3A.

7. A high-pressure cleaning vehicle, characterized in that, The high-pressure cleaning vehicle is equipped with a motor speed control device as described in any one of claims 1-6.

8. A method for controlling the speed of a motor mounted on a high-pressure cleaning vehicle, applied to the high-pressure cleaning vehicle motor speed control device according to any one of claims 1-6, characterized in that, Includes the following steps: S1. After the device is powered on, the upper controller acquires the current road dirt level value m obtained by the road image acquisition unit in real time; S2. The superstructure controller calculates the target speed of the superstructure motor based on the current road dirt level value m. S3. The upper-mount controller sends the target speed value to the upper-mount motor and controls the upper-mount motor to run at the target speed.

9. The method for controlling the motor speed on a high-pressure cleaning vehicle according to claim 8, characterized in that, In step S2, the upper controller pre-stores the minimum value m of the road dirtiness level. min Maximum value of road dirtiness m max Minimum speed n of the upper motor min Maximum speed n of the upper motor max ; Step S2 specifically includes: When m≥m max At that time, the superstructure controller determines the target speed of the superstructure motor to be n. max ; When m > m min And m < m max At that time, the superstructure controller calculates the percentage change Δm in the current road dirt level, and calculates the target operating speed n of the superstructure motor based on Δm; When 0 < m ≤ m min At that time, the superstructure controller determines the target speed of the superstructure motor to be n. min ; When m≤0, the upper-mount controller determines the target speed of the upper-mount motor to be 0.

10. The method for controlling the motor speed on a high-pressure cleaning vehicle according to claim 9, characterized in that, The formula for calculating the percentage change Δm in the current road dirtiness level is: Δm=[(mm min )÷(m max -m min )]×100% The formula for calculating the target operating speed n is: n= n min +Δm×(n max -n min )。

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