Cleaning vehicle for aviation fuel supply system and control method

Abstract

This application provides a cleaning vehicle and control method for an aviation fuel supply system. The cleaning vehicle includes a robotic arm, a camera, a working pipeline, a power supply system, and a control system. The camera is located at the end of the robotic arm. The working pipeline is connected to the robotic arm. The power supply system includes a chassis generator, a plunger pump, a backup generator, a battery, and an inverter. The chassis generator and backup generator are electrically connected to the battery for charging. The inverter connects the battery to the robotic arm and the camera. The plunger pump is driven by the backup generator. The control system is used to: when the cleaning vehicle is in operation, control the chassis generator to charge the battery; when the cleaning vehicle is idling and the battery voltage is below a preset threshold, control the plunger pump to drive the backup generator to rotate, thus charging the battery. This application can ensure the cleaning vehicle has a power supply under various operating conditions, ensuring the normal operation of the cleaning vehicle.

Description

Technical Field

[0001] This application relates to the field of cleaning control technology for aviation fuel supply systems, and in particular to a cleaning vehicle and control method for aviation fuel supply systems. Background Technology

[0002] Aviation fuel supply systems are exposed to complex climates and high-intensity loads year-round, making them highly susceptible to accumulating dust, water, oil, and other foreign matter. If not effectively cleaned over a long period, this can easily lead to valve corrosion, blockages in passageways, and other problems.

[0003] Cleaning trucks are specialized vehicles used within airports for cleaning apron pipe manholes and valve wells. Current power supply solutions for cleaning trucks typically rely solely on the chassis engine to drive a generator that charges the vehicle's battery. The battery then powers critical equipment such as robotic arms and cameras via an inverter. However, when the vehicle is stationary, the chassis generator's output power is low, resulting in insufficient charging efficiency and difficulty maintaining battery charge balance. Since robotic arms and cameras continuously consume power during operation, if the battery voltage drops below the equipment's operating threshold, the system will be unable to continue driving the robotic arms and cameras, forcing the cleaning operation to stop and impacting efficiency and reliability. Summary of the Invention

[0004] This application provides a cleaning vehicle and control method for a reliably powered aviation fuel supply system.

[0005] This application provides a cleaning vehicle for an aviation fuel supply system, including: a robotic arm, a camera, a working pipeline, a power supply system, and a control system; The camera is mounted at the end of the robotic arm and is used to acquire visual images of the target work area; The working pipeline is connected to the robotic arm and moves with the movement of the robotic arm; The power supply system includes: a chassis generator, a plunger pump, a backup generator, a battery, and an inverter; the chassis generator and the backup generator are electrically connected to the battery for charging the battery; the inverter is connected to the battery, the robotic arm, and the camera; the plunger pump is driven by the backup generator. The control system is communicatively connected to the robotic arm, the camera, and the battery. The control system is used to: drive the robotic arm to move in coordination with the working pipeline based on the visual image, so as to perform work on the target work area; when the cleaning vehicle is in driving condition, control the chassis generator to charge the battery; when the cleaning vehicle is in idling condition and the battery voltage is lower than a preset threshold, control the plunger pump to drive the standby generator to rotate, so that the standby generator charges the battery.

[0006] Optionally, the chassis generator is installed in the engine compartment at the front of the cleaning vehicle; the cleaning vehicle includes a water tank and an electrical box, the electrical box being located on one side of the water tank in the left-right direction, and the robotic arm being located behind the water tank; the electrical box includes a first layer and a second layer, the second layer being higher than the first layer; in the front-rear direction of the cleaning vehicle, the first layer is arranged from front to back with the embolization pump, the backup generator and the inverter, and the second layer is arranged from front to back with the battery and the control system.

[0007] Optionally, the cleaning vehicle includes a power take-off (PTO), the gear of which meshes with the gear of the cleaning vehicle's transmission, and the output shaft of the PTO is connected to the input shaft of the plunger pump. The control system is used to: when the cleaning vehicle is in idling operation and the battery voltage is lower than a preset threshold, control the PTO to engage, so that the PTO takes power from the transmission and drives the plunger pump to rotate, so that the plunger pump drives the standby generator to rotate and generate electricity to charge the battery.

[0008] Optionally, the control system includes a charging controller, which is communicatively connected to the chassis generator and the backup generator, for distributing the charging power of the chassis generator and the backup generator according to the power requirements of the robotic arm and the camera.

[0009] Optionally, the control system includes a robotic arm controller, which is communicatively connected to the robotic arm and used to control the operation of the robotic arm; the charging controller and the robotic arm controller are integrated into one unit; or, The charging controller and the robotic arm controller are set up independently.

[0010] Optionally, the control system is used for: Based on the target work area and work mode, obtain the estimated work duration for this operation; Based on the estimated operation time and the preset energy consumption model, the estimated energy consumption of this operation is determined. If the current available power of the battery is greater than or equal to the product of the estimated energy consumption and the safety factor, during this operation, the power supply of the battery will be controlled, and the start of the plunger pump and the backup generator will be prohibited. If the current available power of the battery is less than the estimated energy consumption, the piston pump is controlled to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery reaches the estimated energy consumption.

[0011] Optionally, the control system is used for: The charging time required for the battery is determined based on the difference between the estimated energy consumption and the current available power. The current operation process is broken down into multiple operation cycles, and the idle time in each operation cycle is identified. The idle time includes at least one of the following: the time period during which the cleaning vehicle travels between adjacent target operation areas, the time period during which the robotic arm moves from the storage position to the operation position, and the waiting time period when the robotic arm switches between different operation pipelines. When the sum of the idle time reaches the charging time required, during the idle time, the plunger pump is controlled to drive the standby generator to charge the battery. If the sum of the idle time does not reach the charging time required, the plunger pump is controlled to drive the standby generator to charge the battery before or after the start of the current operation.

[0012] This application provides a control method for a cleaning vehicle of an aviation fuel supply system, applied to the control system of the cleaning vehicle as described in any of the above claims, the control method comprising: Based on the visual image, the robotic arm is driven to move in coordination with the working pipeline to perform work on the target working area; When the cleaning vehicle is in driving condition, the chassis generator is controlled to charge the battery; when the cleaning vehicle is in idling condition and the battery voltage is lower than a preset threshold, the plunger pump is controlled to drive the standby generator to rotate, so that the standby generator charges the battery.

[0013] Optionally, the control method includes: Based on the target work area and work mode, obtain the estimated work duration for this operation; Based on the estimated operation time and the preset energy consumption model, the estimated energy consumption of this operation is determined. If the current available power of the battery is greater than or equal to the product of the estimated energy consumption and the safety factor, during this operation, the power supply of the battery will be controlled, and the start of the plunger pump and the backup generator will be prohibited. If the current available power of the battery is less than the estimated energy consumption, the piston pump is controlled to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery reaches the estimated energy consumption.

[0014] Optionally, controlling the plunger pump to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power includes: The charging time required for the battery is determined based on the difference between the estimated energy consumption and the current available power. The current operation process is broken down into multiple operation cycles, and the idle time in each operation cycle is identified. The idle time includes at least one of the following: the time period during which the cleaning vehicle travels between adjacent target operation areas, the time period during which the robotic arm moves from the storage position to the operation position, and the waiting time period when the robotic arm switches between different operation pipelines. When the sum of the idle time reaches the charging time required, during the idle time, the plunger pump is controlled to drive the standby generator to charge the battery. If the sum of the idle time does not reach the charging time required, the plunger pump is controlled to drive the standby generator to charge the battery before or after the start of the current operation.

[0015] In some embodiments, the chassis generator is used to charge the battery while the vehicle is in motion. When idling and the battery voltage is insufficient, a piston pump drives a backup generator to generate electricity, ensuring that the robotic arm and camera continuously receive stable power, avoiding work interruption due to power loss, ensuring the power supply of the cleaning vehicle under various working conditions, and ensuring the normal operation of the cleaning vehicle.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 The diagram shown is a schematic block diagram of one embodiment of the cleaning vehicle for the aviation fuel supply system of this application.

[0019] Figure 2 As shown Figure 1 A cross-sectional view of one embodiment of the cleaning vehicle shown.

[0020] Figure 3 As shown Figure 2 The image shows a partial cross-sectional view of the cleaning truck.

[0021] Figure 4 As shown Figure 3 A cross-sectional view of one embodiment of the electrical box shown. Detailed Implementation

[0022] This application provides a cleaning vehicle and control method for an aviation fuel supply system. The cleaning vehicle and control method for the aviation fuel supply system of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0023] Figure 1 The diagram shown is a schematic block diagram of one embodiment of the cleaning vehicle 10 of the aviation fuel supply system of this application. Figure 1 As shown, the cleaning vehicle 10 for the aviation fuel supply system includes: a robotic arm 11, a camera 12, a working pipeline 13, a power supply system 14, and a control system 15.

[0024] A camera 12 is mounted at the end of the robotic arm 11 to acquire visual images of the target work area. A work conduit 13 is connected to the robotic arm 11 and moves with it. The optical acquisition window of the camera 12 faces the front and lower areas of the robotic arm 11 to acquire visual images of the target work area in real time. Multiple work conduits 13 extend along the body of the robotic arm 11 and connect to each segment of the arm, allowing the work conduits 13 to bend, extend, or rotate synchronously with the joint movements of the robotic arm 11.

[0025] The power supply system 14 includes: a chassis generator 141, a plunger pump 142, a standby generator 143, a battery 145, and an inverter 144. The chassis generator 141 and the standby generator 143 are electrically connected to the battery 145 for charging the battery 145. The inverter 144 connects the battery 145 to the robotic arm 11 and the camera 12. The plunger pump 142 is driven by the standby generator 143. The inverter 144 converts the direct current (DC) power from the battery 145 into alternating current (AC) power to supply the robotic arm 11 and the camera 12.

[0026] Battery 145 powers the robotic arm 11 and camera 12. Battery 145 includes an onboard start-stop battery capable of withstanding multiple high-current discharges in a short period, meeting the short-term high-current discharge requirements of the robotic arm 11. Power supply system 14 powers battery 145. Power supply system 14 powers battery 145 under various operating conditions of the cleaning vehicle 10.

[0027] The control system 15 is communicatively connected to the robotic arm 11, camera 12, and battery 145. The control system 15 is used to: drive the robotic arm 11 to move in conjunction with the working pipeline 13 based on visual images to perform work on the target work area; control the chassis generator 141 to charge the battery 145 when the cleaning vehicle 10 is in driving condition; and control the plunger pump 142 to drive the standby generator 143 to rotate when the cleaning vehicle 10 is idling and the voltage of the battery 145 is lower than a preset threshold, so that the standby generator 143 charges the battery 145.

[0028] The control system 15 includes an industrial controller or on-board computer integrated into the cleaning vehicle 10, which communicates with the servo drive of the robotic arm 11 and the image acquisition device of the camera 12 via cable or wireless means.

[0029] The control system 15 first receives visual images of the target work area captured by the camera 12, and extracts the contour, position, and posture information of the surface to be cleaned using an image recognition algorithm, thereby determining the target work position that the end effector of the robotic arm 11 should reach. Then, the control system 15 sends motion control commands to the robotic arm 11, driving it to move to the target work position. Based on the target work mode selected by the user or automatically determined by the system, the control system 15 controls the corresponding work pipeline 13 to open, allowing the cleaning medium to be sprayed from the end of the work pipeline 13 onto the target work area, thus completing the automated cleaning operation. In this way, the target work area can be automatically cleaned according to the target work mode, ensuring the consistency and reliability of the work results and improving work safety.

[0030] During the cleaning process by opening the working pipeline 13, the control system 15 continuously receives real-time visual images returned by the camera 12. The control system 15 compares and analyzes the visual images before and after cleaning to determine whether the cleanliness of the target working area has reached a preset threshold. If the cleanliness level does not meet the standard, the control system 15 automatically adjusts at least one of the following parameters: the dwell time of the robotic arm 11, the end-effector movement speed of the working pipeline 13, the swing path, and the medium flow rate or pressure of the working pipeline 13, until the visual image collected by the camera 12 shows that the cleaning is qualified, and then stops the target working mode. In this way, the cleaning vehicle 10 can adapt to working conditions with different levels of contamination, avoiding over-cleaning or under-cleaning.

[0031] The plunger pump 142 and the backup generator 143 serve as alternative charging options for the battery 145. When the vehicle is in normal operation, the chassis generator 141 charges the battery 145. When the vehicle is idling, the robotic arm 11 and camera 12 continuously consume power, easily causing the battery 145 to deplete. The control system 15 automatically starts the plunger pump 142 to drive the backup generator 143 to charge the battery via voltage monitoring, preventing the robotic arm 11 from malfunctioning due to low voltage.

[0032] In some embodiments, the chassis generator 141 is used to charge the battery 145 when the vehicle is in motion. When the battery 145 is idling and the voltage of the battery is insufficient, the piston pump 142 drives the standby generator 143 to generate electricity, ensuring that the robotic arm 11 and the camera 12 continuously receive stable power, avoiding work interruption due to power loss, ensuring the power supply of the cleaning vehicle 10 under various working conditions, and ensuring the normal operation of the cleaning vehicle.

[0033] Figure 2 As shown Figure 1A cross-sectional view of one embodiment of the cleaning vehicle 10 shown.

[0034] Figure 3 As shown Figure 2 The image shows a partial cross-sectional view of the cleaning vehicle 10.

[0035] Figure 4 As shown Figure 3 A cross-sectional view of one embodiment of the electrical box 18 shown.

[0036] The chassis generator 141 is mounted in the engine compartment at the front of the cleaning vehicle 10. The cleaning vehicle 10 includes a water tank 17 and an electrical box 18. The electrical box 18 is located on one side of the water tank 17 in the left-right direction, and the robotic arm 11 is located behind the water tank 17. The electrical box 18 includes a first layer 181 and a second layer 182, with the second layer 182 being higher than the first layer 181. In the front-rear direction of the cleaning vehicle 10, the first layer 181, from front to back, is equipped with a embolization pump 142, a standby generator 143, and an inverter 144. The second layer 182, from front to back, is equipped with a battery 145 and a control system 15.

[0037] The robotic arm 11 is located at the rear of the vehicle body of the cleaning vehicle 10. The robotic arm 11 is located behind the chassis frame 19 of the cleaning vehicle 10, that is, the robotic arm 11 protrudes from the rear end of the chassis frame 19 in the longitudinal direction of the vehicle or is basically flush with the rear end.

[0038] The water tank 17 is used to store the cleaning solution, and its capacity is set according to the operational requirements. The electrical box 18 is located on one side of the water tank 17 in the left-right direction, and the robotic arm 11 is located behind the water tank 17. In the vehicle's longitudinal direction, the water tank 17 is located in the front-middle or middle part of the chassis frame 19, and the robotic arm 11 is located at the rear of the chassis frame 19, behind the water tank 17. In this way, the length and width space of the chassis frame 19 can be fully utilized, resulting in a compact vehicle layout and high space utilization.

[0039] The electrical box 18 is a closed cabinet. The electrical box 18 includes a first layer 181 and a second layer 182 in the vertical direction. The height of the second layer 182 is higher than the height of the first layer 181, and the second layer 182 is located above the first layer 181.

[0040] The electrical box 18 has a two-layer structure, with layer 181 as the lower layer and layer 182 as the upper layer. Heavy-duty equipment such as the plunger pump 142, standby generator 143, and inverter 144 are placed in layer 181, while electrical equipment such as the battery 145 and control system 15 are placed in layer 182. This lowers the vehicle's center of gravity and facilitates moisture and water protection for the electrical system. The electrical box 18 is equipped with explosion-proof glands at both the inlet and outlet terminals.

[0041] The cleaning vehicle 10 includes a power take-off (PTO), the gear of which meshes with the gearbox of the cleaning vehicle 10, and the output shaft of the PTO is connected to the input shaft of the plunger pump 142. The control system 15 is used to: when the cleaning vehicle 10 is in idling operation and the voltage of the battery 145 is lower than a preset threshold, control the PTO to engage, causing the PTO to take power from the gearbox and drive the plunger pump 142 to rotate, which in turn drives the standby generator 143 to generate electricity to charge the battery 145.

[0042] When the cleaning truck 10 is in idling operation and the voltage of the battery 145 is lower than a preset threshold, the control system 15 issues a control command to engage the power take-off (PTO). After engagement, the PTO's gears mesh with the gearbox gears, drawing power from the gearbox and driving the plunger pump 142 to rotate via the output shaft. Since the plunger pump 142 is connected to the standby generator 143, its rotation drives the standby generator 143 to rotate as well, thus generating electrical energy. The electrical energy generated by the standby generator 143 is rectified and regulated by the inverter 144 to charge the battery 145, supplementing the battery's power consumption during idling. Thus, no external power supply is needed during idling operation, fully utilizing the energy of the cleaning truck 10's own transmission system, improving energy efficiency, and ensuring the reliability of the power supply system 14 during prolonged idling.

[0043] In some embodiments, the control system 15 includes a charging controller, which is communicatively connected to the chassis generator 141 and the backup generator 143, for distributing the charging power of the chassis generator 141 and the backup generator 143 according to the power requirements of the robotic arm 11 and the camera 12.

[0044] The charging controller communicates with the chassis generator 141 and the backup generator 143 via a CAN bus or hardwired signal line. The charging controller monitors the power requirements of the robotic arm 11 and the camera 12 in real time. Specifically, the control system 15 calculates the total power requirement in the current operating state by detecting the current of each joint motor of the robotic arm 11, the operating current of the camera 12, and the output power of the inverter 144. Based on this total power requirement, the charging controller dynamically allocates the charging power of the chassis generator 141 and the backup generator 143 to charge the battery 145.

[0045] For example, when the cleaning vehicle 10 is in operation, the robotic arm 11 and camera 12 are usually not working or are only in a low-power standby state, with low power demand. At this time, the charging controller controls the chassis generator 141 to charge the battery 145 at a higher power, while keeping the standby generator 143 in standby or idling state. When the cleaning vehicle 10 is in idling operation, the robotic arm 11 and camera 12 are working continuously, with higher power demand. If the battery 145 voltage is lower than a preset threshold at this time, the charging controller first determines whether the current output capacity of the chassis generator 141 can meet the demand. If the output power of the chassis generator 141 is sufficient to meet the real-time power requirements of the robotic arm 11 and the camera 12, and there is still surplus power, the charging controller controls the chassis generator 141 to use the surplus power to charge the battery 145. If the output power of the chassis generator 141 is insufficient to simultaneously meet the power requirements for operation and charging, the charging controller issues a command to drive the piston pump 142 to rotate the standby generator 143 to generate electricity, and controls the standby generator 143 to output supplementary power to charge the battery 145 together with the chassis generator 141.

[0046] The charging controller can also adjust the power distribution ratio in real time according to changes in power demand. For example, when the robotic arm 11 performs rapid movement or high-torque operation, the power demand increases instantaneously. The charging controller can reduce or even suspend the charging power of the chassis generator 141, prioritizing the use of all the output power of the chassis generator 141 for the operation power of the robotic arm 11 and camera 12, while instructing the backup generator 143 to take over the charging task of the battery 145. When the robotic arm 11 enters a low-power hold-up state, the charging controller resumes the charging function of the chassis generator 141. In this way, the charging controller ensures a stable power supply for the robotic arm 11 and camera 12, while optimizing the charging efficiency of the battery 145 and avoiding overload of the chassis generator 141 or ineffective idling of the backup generator 143.

[0047] The cab of the cleaning truck 10 includes a power display interface to show the real-time available power of the battery 145, so that the driver can know the power status of the battery 145 in a timely manner.

[0048] The control system 15 includes a robotic arm controller, which is communicatively connected to the robotic arm 11 and is used to control the operation of the robotic arm 11. The robotic arm controller is communicatively connected to the robotic arm 11 via a CAN bus or a dedicated signal line and is used to send motion commands to the robotic arm 11 to control the position, speed, and torque of the robotic arm 11.

[0049] In some embodiments, the charging controller and the robotic arm controller are integrated. Specifically, they are integrated into the same industrial controller or embedded computer, such as an industrial PC with a multi-core processor, which simultaneously runs the control logic of the charging controller and the control logic of the robotic arm. This integrated controller communicates with both the chassis generator 141 and the backup generator 143 to achieve dynamic distribution of charging power, and also communicates with the robotic arm 11 to send motion commands. By integrating the charging controller and the robotic arm controller, the internal wiring of the control system 15 is simplified, the number of electrical interfaces and space occupied are reduced, manufacturing costs are lowered, and it also facilitates the coordinated scheduling of the control system 15.

[0050] In other embodiments, the charging controller and the robotic arm controller are set up independently. Specifically, the charging controller may be a battery management unit (BMS) or a programmable logic controller (PLC); the robotic arm controller may be a motion control card or a robot-specific controller. The charging controller is installed near the battery 145 and the inverter 144, while the robotic arm controller is installed near the cable interface of the robotic arm. The charging controller and the robotic arm controller communicate with each other via a CAN bus.

[0051] The charging controller and the robotic arm controller are set up independently, which facilitates adjustment, fault detection and maintenance of individual controllers, reducing the risk of overall system failure.

[0052] In some embodiments, the control system 15 is configured to: obtain the estimated operation time of the current operation based on the target operation area and operation mode; determine the estimated energy consumption of the current operation based on the estimated operation time and a preset energy consumption model; if the current available power of the battery 145 is greater than or equal to the product of the estimated energy consumption and the safety factor, control the battery 145 to supply power during the current operation and prohibit the start of the plunger pump 142 and the standby generator 143; if the current available power of the battery 145 is less than the estimated energy consumption, control the plunger pump 142 to drive the standby generator 143 to charge the battery 145 based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery 145 reaches the estimated energy consumption.

[0053] The target work area can be input by the operator through an interactive interface or acquired by camera 12. Work modes include cleaning mode, blowing mode, and suction mode. Work piping 13 includes a cleaning piping corresponding to the cleaning mode, a blowing piping corresponding to the blowing mode, and a suction piping corresponding to the suction mode. During operation, the work piping 13 corresponding to the work mode is activated, and the robotic arm 11 works in conjunction with this work piping 13 to perform the corresponding mode of work. Different work modes perform different actions and consume different amounts of power.

[0054] The energy consumption model can be pre-determined through experimental calibration. Different operating modes correspond to different energy consumption model parameters. Based on the current operating mode, the corresponding energy consumption model parameters are called to obtain the current energy consumption model, and then the estimated energy consumption is calculated.

[0055] In some embodiments, the safety factor ranges from 1.1 to 1.3. If the current available charge of the battery 145 is greater than or equal to the product of the estimated energy consumption and the safety factor, it indicates that the battery 145 has sufficient charge, not only meeting all the energy consumption requirements of this operation but also having a certain safety margin. In this case, the control system 15 controls the battery 145 as the sole power source to supply power to the robotic arm 11, camera 12, and other electrical equipment. At the same time, the control system 15 prohibits the starting of the plunger pump 142 and the backup generator 143, that is, it does not convert engine power into additional electrical energy to avoid unnecessary fuel consumption and mechanical wear. Meanwhile, the chassis generator 141 also remains in a floating charge state, without charging the battery, allowing the battery 145 to independently support the operation process.

[0056] If the current available power of battery 145 is less than the estimated energy consumption, it indicates that the existing power of battery 145 is insufficient to support the full energy consumption of this operation. In this case, control system 15 calculates the difference between the estimated energy consumption and the current available power, and controls plunger pump 142 to drive standby generator 143 to charge battery 145. Specifically, control system 15 calculates the required average charging power based on the difference and the estimated operation duration, and considering charging efficiency, controls standby generator 143 to output the corresponding charging power.

[0057] During charging, the control system 15 monitors the current available power of the battery 145 in real time until it reaches or exceeds the estimated energy consumption. Once the battery 145 reaches the estimated energy consumption, the control system 15 can stop the backup generator 143 from generating electricity and switch to power supply from the battery 145 to complete the remaining work.

[0058] The control system 15 determines whether to activate the plunger pump 142 and the backup generator 143 for supplementary charging based on the comparison between the actual charge of the battery 145 and the energy consumption required for operation. This avoids unnecessary energy waste and noise caused by power generation, and ensures that even if the initial charge of the battery 145 is insufficient, all operation tasks can be completed by charging while using or pre-charging, thereby improving the operational reliability and energy economy of the cleaning vehicle 10.

[0059] In some embodiments, the control system 15 is configured to: determine the charging time required for the battery 145 based on the difference between the estimated energy consumption and the current available power; decompose the current operation process into multiple operation cycles and identify the idle time in each operation cycle; the idle time includes at least one of the following: the time period during which the cleaning vehicle 10 travels between adjacent target operation areas, the time period during which the robotic arm 11 moves from the storage position to the operation position, and the waiting time period when the robotic arm 11 switches between different operation pipelines; when the sum of the idle times reaches the charging time required, control the plunger pump 142 to drive the backup generator 143 to charge the battery 145 within the idle time; when the sum of the idle times does not reach the charging time required, control the plunger pump 142 to drive the backup generator 143 to charge the battery 145 before or after the start of the current operation.

[0060] The control system 15 calculates the difference between the estimated energy consumption and the current available power of the battery 145. Based on this difference and the rated charging power of the standby generator 143, the control system 15 determines the required charging time for the battery 145. The required charging time represents the cumulative time that the standby generator 143 needs to actually generate electricity and charge the battery to make up for the power shortage.

[0061] The control system 15 breaks down the current operation into multiple consecutive operation cycles in terms of time. By analyzing the preset operation process, the motion planning of the robotic arm 11, and the visual images captured by the camera 12, the control system 15 identifies the idle time in each operation cycle. The idle time refers to the period during which the power demand of the robotic arm 11, camera 12, and operation pipeline 13 is significantly reduced, and no critical operation actions are required. The battery 145 can be charged without affecting the normal operation process.

[0062] If the total idle time reaches or exceeds the charging time, the control system 15 controls the plunger pump 142 to drive the standby generator 143 to charge the battery 145 only during each idle period, and suspends charging during non-idle periods. Specifically, at the beginning of each idle period, the control system 15 issues a command to engage the power take-off or adjust the speed of the plunger pump 142, causing the plunger pump 142 to drive the standby generator 143 to rotate and generate electricity, which is then used to charge the battery 145 via the inverter 144; when the idle period ends and the actual work period is about to begin, the control system 15 immediately stops charging. In this way, the charging process is completely embedded in the gaps in the work process, without occupying additional work time, and without interfering with the normal operation of the robotic arm 11 and the work pipeline 13.

[0063] If the total idle time is less than the required charging time, the power shortfall cannot be made up by relying solely on the idle time during operation. Before or after the start of the current operation, the control system 15 utilizes a continuous period to complete the remaining charging. Specifically, the control system 15 calculates the additional charging time required based on the difference between the required charging time and the sum of the idle time. Before or after the operation, the control system 15 controls the plunger pump 142 to drive the standby generator 143 to continuously charge until the accumulated charging time reaches the required charging time. At this point, the available power of the battery 145 reaches or exceeds the estimated energy consumption.

[0064] In some embodiments, charging is performed when the cleaning vehicle 10 is parked and does not need to be moved before the operation begins, and during the period when the cleaning vehicle 10 returns to the garage or waits for the next task after the operation ends. In this way, even if the total idle time is insufficient, it can be ensured that the battery 145 is replenished to the power level required for the entire operation cycle before the operation officially begins or after it is completely finished.

[0065] In a preferred embodiment, the control system 15 also monitors the actual operation progress. If, due to changes in the on-site conditions, such as the actual operation time being longer than the estimated time or the idle time being shorter than the pre-identified time, the idle time cannot meet the actual charging needs, the control system 15 can temporarily switch to a charging mode before or after the operation begins, or appropriately reduce the movement speed of the robotic arm 11 to extend the idle time percentage, thereby adaptively adjusting the charging strategy.

[0066] In this way, the cleaning truck 10 makes full use of its idle time during operation to recharge, which avoids the efficiency loss caused by scheduling charging time separately, and ensures that there is a backup charging solution when the idle time is insufficient, thereby maximizing the continuous operation capability and time utilization efficiency of the cleaning truck 10.

[0067] This application also provides a control method for a cleaning vehicle of an aviation fuel supply system, applied to the control system of the cleaning vehicle as described above, the control method comprising: Based on visual images, the robotic arm is driven to coordinate the movement of the working pipeline in order to perform work on the target work area; When the cleaning truck is in driving condition, the chassis generator is controlled to charge the battery; when the cleaning truck is idling and the battery voltage is lower than the preset threshold, the plunger pump is controlled to drive the standby generator to rotate, so that the standby generator charges the battery.

[0068] In some embodiments, the control method includes: Based on the target work area and work mode, obtain the estimated work duration for this operation; Based on the estimated operation time and the preset energy consumption model, the estimated energy consumption of this operation is determined. If the current available power of the battery is greater than or equal to the product of the estimated energy consumption and the safety factor, the battery power supply shall be controlled during this operation, and the plunger pump and the standby generator shall be prohibited from being started. If the current available power of the battery is less than the estimated energy consumption, the piston pump is controlled to drive the standby generator to charge the battery based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery reaches the estimated energy consumption.

[0069] In some embodiments, controlling the plunger pump to drive the standby generator to charge the battery based on the difference between the estimated energy consumption and the current available power includes: The charging time required for the battery is determined based on the difference between the estimated energy consumption and the current available power. The operation process is broken down into multiple operation cycles, and the idle time in each operation cycle is identified. The idle time includes at least one of the following: the time period during which the cleaning vehicle travels between adjacent target operation areas, the time period during which the robotic arm moves from the storage position to the operation position, and the waiting time period when the robotic arm switches between different operation pipelines. When the sum of the idle time reaches the time required for charging, the plunger pump is controlled to drive the standby generator to charge the battery during the idle time. When the idle time is less than the required charging time, the control plunger pump drives the standby generator to charge the battery before or after the start of the current operation.

Claims

1. A cleaning vehicle for an aviation fuel supply system, characterized in that include: Robotic arm, camera, work pipeline, power supply system and control system; The camera is mounted at the end of the robotic arm and is used to acquire visual images of the target work area; The working pipeline is connected to the robotic arm and moves with the movement of the robotic arm; The power supply system includes: chassis generator, embolism pump, standby generator, storage battery and inverter; The chassis generator and the backup generator are electrically connected to the battery for charging the battery; the inverter is connected to the battery, the robotic arm, and the camera; the plunger pump is driven by the backup generator. The control system is communicatively connected to the robotic arm, the camera, and the battery. The control system is used to: drive the robotic arm to move in coordination with the working pipeline based on the visual image, so as to perform work on the target work area; when the cleaning vehicle is in driving condition, control the chassis generator to charge the battery; when the cleaning vehicle is in idling condition and the battery voltage is lower than a preset threshold, control the plunger pump to drive the standby generator to rotate, so that the standby generator charges the battery.

2. A cleaning trolley for an aviation fuel supply system as claimed in claim 1, characterised in that, The chassis generator is installed in the engine compartment at the front of the cleaning vehicle; the cleaning vehicle includes a water tank and an electrical box, the electrical box is located on one side of the water tank in the left-right direction, and the robotic arm is located behind the water tank; the electrical box includes a first layer and a second layer, the second layer being higher than the first layer; in the front-rear direction of the cleaning vehicle, the first layer is arranged from front to back with the embolization pump, the backup generator and the inverter, and the second layer is arranged from front to back with the battery and the control system.

3. The cleaning vehicle for the aviation fuel supply system according to claim 1, characterized in that, The cleaning vehicle includes a power take-off (PTO), the gear of which meshes with the gear of the cleaning vehicle's transmission, and the output shaft of the PTO is connected to the input shaft of the plunger pump. The control system is used to: when the cleaning vehicle is in idling operation and the battery voltage is lower than a preset threshold, control the PTO to engage, so that the PTO takes power from the transmission and drives the plunger pump to rotate, so that the plunger pump drives the standby generator to rotate and generate electricity to charge the battery.

4. A cleaning trolley for an aviation fuel supply system as claimed in claim 1, characterised in that, The control system includes a charging controller, which is communicatively connected to the chassis generator and the backup generator, and is used to allocate the charging power of the chassis generator and the backup generator according to the power requirements of the robotic arm and the camera.

5. A cleaning trolley for an aviation fuel supply system as claimed in claim 4, characterised in that, The control system includes a robotic arm controller, which is communicatively connected to the robotic arm and used to control the operation of the robotic arm; the charging controller and the robotic arm controller are integrated into one unit; or, The charging controller and the robotic arm controller are set up independently.

6. A cleaning trolley for an aviation fuel supply system as claimed in claim 1, characterised in that, The control system is used for: Based on the target work area and work mode, obtain the estimated work duration for this operation; Based on the estimated operation time and the preset energy consumption model, the estimated energy consumption of this operation is determined. If the current available power of the battery is greater than or equal to the product of the estimated energy consumption and the safety factor, during this operation, the power supply of the battery will be controlled, and the start of the plunger pump and the backup generator will be prohibited. If the current available power of the battery is less than the estimated energy consumption, the piston pump is controlled to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery reaches the estimated energy consumption.

7. A cleaning trolley for an aviation fuel supply system as claimed in claim 6, characterised in that, The control system is used for: The charging time required for the battery is determined based on the difference between the estimated energy consumption and the current available power. The current operation process is broken down into multiple operation cycles, and the idle time in each operation cycle is identified. The idle time includes at least one of the following: the time period during which the cleaning vehicle travels between adjacent target operation areas, the time period during which the robotic arm moves from the storage position to the operation position, and the waiting time period when the robotic arm switches between different operation pipelines. When the sum of the idle time reaches the charging time required, during the idle time, the plunger pump is controlled to drive the standby generator to charge the battery. If the sum of the idle time does not reach the charging time required, the plunger pump is controlled to drive the standby generator to charge the battery before or after the start of the current operation.

8. A control method for a cleaning vehicle of an aviation fuel supply system, applied to the control system of the cleaning vehicle as described in any one of claims 1-7, characterized in that, The control method includes: Based on the visual image, the robotic arm is driven to move in coordination with the working pipeline to perform work on the target working area; When the cleaning vehicle is in driving condition, the chassis generator is controlled to charge the battery; when the cleaning vehicle is in idling condition and the battery voltage is lower than a preset threshold, the plunger pump is controlled to drive the standby generator to rotate, so that the standby generator charges the battery.

9. The control method of the cleaning cart of the aviation fuel supply system according to claim 8, characterized in that, The control method includes: Based on the target work area and work mode, obtain the estimated work duration for this operation; Based on the estimated operation time and the preset energy consumption model, the estimated energy consumption of this operation is determined. If the current available power of the battery is greater than or equal to the product of the estimated energy consumption and the safety factor, during this operation, the power supply of the battery will be controlled, and the start of the plunger pump and the backup generator will be prohibited. If the current available power of the battery is less than the estimated energy consumption, the piston pump is controlled to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power, so that the current available power of the battery reaches the estimated energy consumption.

10. The control method of the cleaning cart of the aviation fuel supply system according to claim 9, characterized in that, The step of controlling the plunger pump to drive the backup generator to charge the battery based on the difference between the estimated energy consumption and the current available power includes: The charging time required for the battery is determined based on the difference between the estimated energy consumption and the current available power. The current operation process is broken down into multiple operation cycles, and the idle time in each operation cycle is identified. The idle time includes at least one of the following: the time period during which the cleaning vehicle travels between adjacent target operation areas, the time period during which the robotic arm moves from the storage position to the operation position, and the waiting time period when the robotic arm switches between different operation pipelines. When the sum of the idle time periods reaches the charging time required, during the idle time period, the plunger pump is controlled to drive the standby generator to charge the battery. If the sum of the idle time does not reach the charging time required, the plunger pump is controlled to drive the standby generator to charge the battery before or after the start of the current operation.

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