A dust-suction cleaning system for a high-speed sweeper and a collaborative working method thereof

Abstract

The application belongs to the technical field of dust suction cleaning vehicles, and particularly relates to a dust suction cleaning system for a high-speed cleaning vehicle and a collaborative operation method thereof. Under the working conditions of high-speed, strong turbulence and high-frequency bumping of 30-80 km / h of highways and urban expressways, the technology has significant structural defects and cannot meet the high-speed cleaning operation requirements. The application solves the problems of poor high-speed vibration resistance and easy jamming of the lifting of the traditional cleaning equipment. The application adopts a rigid-flex coupling structure of multi-dimensional flexible suspension combined with rigid synchronous lifting, which can not only buffer high-speed bumping impact and avoid structural fatigue damage, but also ensure the synchronization of the lifting postures of both sides, eliminate the heavy load lifting deflection and jamming failure, and greatly improve the high-speed operation stability and reliability of the equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of vacuum sweeper vehicles, specifically a vacuum sweeping system for high-speed sweepers and its collaborative operation method. Background Technology

[0002] Under high-speed, turbulent, and high-frequency bumpy conditions at speeds of 30-80 km / h on highways and urban expressways, this type of technology has significant structural defects and cannot meet the needs of high-speed cleaning operations.

[0003] The mainstream technical solutions for existing highway sweeping equipment, and the closest existing patents to this invention, CN218711232U and CN114892789A, generally adopt a structure with chassis power take-off, single-stage suction and sweeping, simple flexible shock absorption, and single-sided hydraulic lifting, which is only suitable for low-speed municipal sweeping conditions. For example, the structure has poor vibration resistance and the lifting mechanism is prone to jamming. The existing equipment sweeping assembly is rigidly fixed and relies only on a simple shock absorption structure for buffering. High-speed bumps can easily cause structural fatigue cracking. At the same time, the single-sided hydraulic lifting has no synchronous constraint, and the uneven force on the heavy-load lifting makes it very easy to tilt and jam, resulting in poor equipment stability. Secondly, high-speed dust suppression fails, and the sweeping quality is poor. The single-stage sweeping combined with the front simple water spray method cannot offset the tail turbulence generated by high-speed driving, making it difficult to suppress the flying of fine dust, resulting in serious secondary dust pollution, and it cannot achieve layered sweeping of coarse and fine garbage. It also lacks working condition collaborative operation logic. The single sweeping module cannot adaptively adjust the sweeping posture and operating parameters according to road bumps and vehicle speed changes, resulting in extremely poor adaptability to high-speed conditions.

[0004] In summary, existing technologies suffer from core problems such as weak high-speed damage resistance, poor dust suppression and cleaning effects, lack of intelligent collaborative operation mechanisms, and power coupling interference, making them unsuitable for high-speed road cleaning scenarios. Therefore, this invention proposes a high-speed sweeper vacuum cleaning system and collaborative operation method, specifically addressing the aforementioned technical pain points and achieving stable, dust-free, intelligent, and high-quality cleaning operations under complex high-speed road conditions. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this invention to solve its technical problem is: a high-speed sweeping vehicle vacuum cleaning system, including a frame, on which a first cleaning device and a second cleaning device are mounted. Both the first and second cleaning devices include a suction assembly, a filter assembly, and a collection bin. A synchronous movement system is provided between the frame and the first and second cleaning devices. The synchronous movement system includes a flexible suspension assembly and a mechanical synchronous lifting mechanism. The flexible suspension assembly includes an upper connecting frame, a lower suspension frame, and an elastic buffer rod connecting the upper connecting frame and the lower suspension frame. A movable lifting ring is provided at the top of the upper connecting frame. The movable lifting ring is hinged to the frame via a horizontal pin. The suction components of the first and second cleaning devices are both fixedly installed at the bottom of the lower suspension frame. The mechanical synchronous lifting mechanism includes a single drive motor, a rigid double drive shaft, a first spiral lift, and a second spiral lift. The two ends of the rigid double drive shaft are respectively connected to the input ends of the first and second spiral lifts. The output ends of the first and second spiral lifts are both fixedly connected to the lower suspension frame. A collaborative control center is provided on the frame, which is connected to the first cleaning device, the second cleaning device, and the mechanical synchronous lifting mechanism via signals.

[0007] As a preferred technical solution, the elastic buffer rod includes a tie rod and an elastic element. The lower suspension frame is provided with a guide hole, the tie rod slides through the guide hole, the top end of the elastic element abuts against the upper connecting frame, and the bottom end abuts against the lower suspension frame. The lower suspension frame is also provided with a movable inclined positioning rod.

[0008] As a preferred technical solution, the mechanical synchronous lifting mechanism also includes a right-angle commutator, a single drive motor is fixedly installed on the upper connecting frame, the output shaft of the single drive motor is connected to the input shaft of the right-angle commutator, and the two output ends of the right-angle commutator are respectively connected to one end of the rigid double transmission shaft.

[0009] As a preferred technical solution, both the first and second spiral jacks are equipped with worm gear mechanisms. The mechanical synchronous lifting mechanism also includes a safety limit component, which includes a limit chain. The top end of the limit chain is fixedly connected to the upper connecting frame, and the bottom end is fixedly connected to the lower suspension frame.

[0010] As a preferred technical solution, the front end of the suction component of the first cleaning device is provided with an anti-backflow suction port, the air outlet of the filter component is connected to a water vapor spray head, the nozzle of the water vapor spray head faces the ground, and the suction component of the second cleaning device is located behind the first cleaning device.

[0011] As a preferred technical solution, an independent decoupled power module is provided in the chassis. The independent decoupled power module includes an independent diesel generator set. The power output end of the independent diesel generator set is electrically connected to the first sweeping device (10), the second sweeping device and the mechanical synchronous lifting mechanism respectively. The independent decoupled power module also includes an independent main control unit. The independent main control unit is integrated with the collaborative control center, and there is only a one-way status data transmission line between the independent main control unit and the sweeper chassis controller.

[0012] As a collaborative operation solution, the collaborative operation method of the vacuum cleaning system for high-speed sweepers includes the following steps: S1: High-speed road condition recognition: When the vehicle speed sensor detects that the vehicle speed is greater than the set high-speed threshold and the road vibration sensor detects high-frequency bumps, the collaborative control center triggers the high-speed damage resistance collaborative mode. S2: Suspension and lifting posture coordination: Under high-speed and bumpy conditions, the coordination control center controls the mechanical synchronous lifting mechanism to lift the first and second cleaning devices to the set safe ground clearance and lock the drive source of the mechanical synchronous lifting mechanism. S3: Dual-module sweeping quality coordination: When the road surface smoothness is restored, the coordination control center unlocks the drive source, drives the first and second spiral lifts to descend synchronously, so that the first and second sweeping devices simultaneously contact the ground, and controls the first sweeping device to suck up the garbage with the first negative pressure, and controls the second sweeping device to perform suction and sweeping with the second negative pressure.

[0013] Furthermore, in step S2, when the displacement sensor of the flexible suspension assembly detects that the instantaneous impact displacement exceeds the set safety threshold, the collaborative control center increases the spray pressure of the water vapor spray head of the first cleaning device.

[0014] Furthermore, in step S3, during the descent of the mechanical synchronous lifting mechanism, the collaborative control center monitors the load torque difference between the first and second screw jacks in real time. When the load torque difference exceeds the set skew threshold, the collaborative control center controls the drive source of the mechanical synchronous lifting mechanism to reduce its speed until the load torque difference returns to a safe range.

[0015] Furthermore, when the fans of the suction components of the first and second cleaning devices start simultaneously, the coordinated control center sends a power compensation signal to increase the generator output power.

[0016] The beneficial effects of this invention are as follows: 1. This invention solves the problems of poor high-speed vibration resistance and easy jamming during lifting in traditional cleaning equipment. The invention employs a rigid-flexible coupling structure combining multi-dimensional flexible suspension with rigid synchronous lifting. This structure can buffer high-speed bumps and impacts, prevent structural fatigue damage, and ensure synchronized lifting posture on both sides, eliminating skewness and jamming during heavy-load lifting, thus significantly improving the stability and reliability of the equipment during high-speed operation.

[0017] 2. This invention achieves zero secondary dust generation under high-speed operating conditions and significantly improves cleaning quality. The invention employs a front and rear dual-stage independent cleaning structure to achieve layered cleaning of coarse and fine debris; combined with a rear-mounted water vapor curtain dust suppression structure, it effectively counteracts high-speed turbulence at the vehicle's rear, suppressing secondary dust generation at the source. This solves the problems of ineffective dust suppression and incomplete cleaning in traditional single-stage cleaning systems, making it suitable for high-speed road cleaning needs.

[0018] 3. This invention uses multiple sensors in conjunction with a coordinated control center to achieve linked adaptive adjustment of vehicle speed, road surface bumps, sweeping posture, lifting position, and power output. It can automatically switch between anti-damage mode and sweeping mode, has a high degree of intelligence, and is perfectly adapted to complex road conditions with alternating high speeds and bumps. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional schematic diagram of the synchronous activity system in this invention; Figure 3 This is a schematic diagram of the synchronous activity system in this invention; Figure 4 This is a side view of the synchronous activity system in this invention; Figure 5 This is a schematic diagram of the mechanical synchronous lifting mechanism in this invention; In the diagram: 1. Chassis; 10. First sweeping device; 11. Anti-backflow suction port; 12. Water vapor spray head; 20. Second sweeping device; 30. Synchronous movement system; 31. Flexible suspension assembly; 311. Upper connecting frame; 312. Lower suspension frame; 313. Elastic buffer rod; 314. Movable lifting ring; 315. Movable inclined positioning rod; 32. Mechanical synchronous lifting mechanism; 321. Single drive motor; 322. Right-angle commutator; 323. Rigid dual drive shaft; 324. First screw jack; 325. Second screw jack; 326. Safety limit assembly; 40. Cooperative control center. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] Example: Figure 1-5 As shown, this embodiment provides a high-speed sweeper vacuum cleaning system, mainly used in high-speed sweeping conditions such as highways and urban expressways with operating speeds of 30km / h-80km / h. The system includes a frame 1, and a first sweeping device 10 and a second sweeping device 20 sequentially installed along the vehicle's travel direction on the frame 1.

[0023] Specifically, the first sweeping device 10 and the second sweeping device 20 are both independent working modules, each containing a suction component, a filter component, and an independent collection bin. They are installed through-type, bringing the center of gravity of both sweeping devices closer to the chassis beam of the vehicle frame 1, effectively lowering the overall vehicle center of gravity at high speeds and improving driving stability during high-speed cornering and lane changes. The suction component of the first sweeping device 10 has an anti-backflow suction port 11 at its front end, used to suck up large debris under high-speed airflow and prevent debris from being ejected. Its filter component's outlet is connected to a water vapor spray head 12, with the nozzle of the water vapor spray head 12 facing the ground at a 35-45 degree angle to the ground plane. This specific angle effectively penetrates the tail turbulence generated by high-speed travel, redirecting the filtered humidified air back to the ground to moisten dust and prevent secondary dust re-entrainment. The suction component of the second sweeping device 20 is located behind the first sweeping device 10 and is used for secondary fine suction sweeping to ensure the final cleaning quality.

[0024] The system also includes an independent decoupled power module, which includes an independent diesel generator set and an independent main control unit. The power output of the independent diesel generator set is electrically connected to the first sweeping device 10, the second sweeping device 20 and the mechanical synchronous lifting mechanism 32, respectively. The independent main control unit 52 is integrated with the collaborative control center 40, and there is only a one-way status data transmission line 53 between the independent main control unit 52 and the sweeper chassis controller. This one-way isolation in the physical wiring harness completely decouples the operating system from the chassis driving system, avoiding the impact of high-speed and high-load operation on the chassis electrical grid.

[0025] Example 2: To ensure that the sweeping device is not damaged by bumps and that the lifting process does not jam under high-speed and complex road conditions, this system incorporates a flexible load-bearing and synchronous lifting system 30 between the vehicle frame 1 and the first sweeping device 10 and the second sweeping device 20. This system includes a flexible suspension assembly 31 and a mechanical synchronous lifting mechanism 32. Through the lifting control of this system, the first sweeping device 10 and the second sweeping device 20 can perform ground sweeping at the most suitable height, eliminating the need for pulleys required in traditional road sweeping devices.

[0026] The flexible suspension assembly 31 includes an upper connecting frame 311, a lower suspension frame 312, and an elastic buffer rod 313 connecting the two. The top of the upper connecting frame 311 is provided with a movable hanging ring 314, which is hinged to the vehicle frame 1 by a horizontal pin, so that the entire suspension assembly has the freedom of swinging back and forth and left and right. The lower suspension frame 312 is also provided with a movable inclined positioning rod 315, which reinforces the position of the first sweeping device 10 and the second sweeping device 20, and stabilizes and eliminates the stress generated by the operation of the brush wheel and the vehicle driving with the ground during operation. The first sweeping device 10 and the second sweeping device 20 are both fixedly installed at the bottom of the lower suspension frame 312. The elastic buffer rod 313 includes a tie rod and an elastic element. The lower suspension bracket 312 is provided with a guide hole, and the tie rod slides through the guide hole; the elastic element is sleeved on the section of the tie rod located between the upper connecting bracket 311 and the lower suspension bracket 312, and the top end of the elastic element abuts against the upper connecting bracket 311 and the bottom end abuts against the lower suspension bracket 312. When the vehicle is traveling at high speed and generates up-and-down bumps, the lower suspension bracket 312 slides along the tie rod axis and compresses the elastic element; when the vehicle accelerates, decelerates or turns and generates horizontal inertial force, the movable hanging ring 314 tilts slightly, and in conjunction with the shear deformation of the elastic element, absorbs multidimensional composite impact stress.

[0027] The mechanical synchronous lifting mechanism 32 includes a single drive motor 321, a right-angle commutator 322, and a rigid dual drive shaft 323. The single drive motor 321 is fixedly mounted on the upper connecting frame 311 or the vehicle frame 1, and its output shaft is connected to the input shaft of the right-angle commutator 322. The two output ends of the right-angle commutator 322 are respectively connected to one end of the rigid dual drive shaft 323. The two ends of the rigid dual drive shaft 323 are respectively connected to a first spiral jack 324 and a second spiral jack 325, both of which are equipped with a worm gear mechanism with a self-locking function. The output ends of the first spiral jack 324 and the second spiral jack 325 are fixedly connected to the lower suspension frame 312. In addition, the mechanical synchronous lifting mechanism 32 also includes a safety limit component 326, which includes a limit chain. The top end of the limit chain is fixedly connected to the vehicle frame 1 or the upper connecting frame 311, and the bottom end is fixedly connected to the lower suspension frame 312, providing mechanical fall protection.

[0028] Mechanical Coordination Principle: When the flexible suspension assembly 31 undergoes elastic swing deformation due to road impact, the rigid dual drive shafts 323, due to their mechanical hard connection, force the first spiral lift 324 and the second spiral lift 325 to maintain synchronous extension and retraction. This design cleverly solves the contradiction in traditional technology where flexible suspension leads to skewed lifting and rigid connection leads to high-speed vibration breakage, maintaining the horizontal posture of the sweeping device while absorbing impact.

[0029] Example 3: The collaborative control center 40 receives signals from the vehicle speed sensor, road vibration sensor, and displacement sensor, and executes the following collaborative operation methods: 1. Coordinated High-Speed ​​Driving and Dual-Stage Sweeping Quality: When the vehicle speed sensor detects a speed exceeding a set high-speed threshold (e.g., 40 km / h) and the road vibration sensor detects a vibration frequency within the normal range, the coordinated control center 40 controls the mechanical synchronous lifting mechanism 32 to drive the first spiral lift 324 and the second spiral lift 325 to descend synchronously, causing the first sweeping device 10 and the second sweeping device 20 to simultaneously contact the ground. At this time, the first sweeping device 10 operates at a first high negative pressure to suck up large debris, while the second sweeping device 20 operates at a second low negative pressure for fine sweeping. The coordinated control center 40 dynamically adjusts the spray pressure of the water vapor spray head 12 according to the current vehicle speed; the faster the vehicle speed, the greater the spray pressure, to counteract the high-speed wake disturbance.

[0030] 2. Suspension and Lifting Attitude Coordination During High-Speed ​​Bumps: When the road vibration sensor detects high-frequency, severe bumps, the coordination control center 40 triggers the high-speed damage resistance coordination mode. The coordination control center 40 controls the mechanical synchronous lifting mechanism 32 to raise the first sweeping device 10 and the second sweeping device 20 to the set safe ground clearance and locks the single drive motor 321. At this time, the lifting mechanism stops operating, and the flexible suspension component 31 independently absorbs the road impact, preventing the precision lifting mechanism from being damaged or jammed during severe vibrations. During this process, if the displacement sensor detects that the instantaneous impact displacement of the flexible suspension component 31 exceeds the set safety threshold, the coordination control center 40 will instantly increase the spray pressure of the water vapor spray head 12 of the first sweeping device 10 to compensate for the dust leakage caused by the instantaneous increase in the ground clearance of the suction inlet due to the severe bouncing of the vehicle body.

[0031] 3. Anti-skew synchronous descent when the road surface is restored to smoothness: When the road surface smoothness is restored, the collaborative control center 40 unlocks the single drive motor 321, driving the dual sweeping device to descend. During the descent, the collaborative control center 40 monitors the load torque difference between the first spiral lift 324 and the second spiral lift 325 in real time. Due to the possibility of uneven force on both sides under high speed and heavy load, when the load torque difference exceeds the set skew threshold, it is determined that the lower suspension frame 312 is slightly skewed due to uneven force. At this time, the collaborative control center 40 controls the single drive motor 321 to reduce its speed or make reverse fine adjustments until the load torque difference is restored to a safe range, thereby completely preventing the lifting mechanism from skewing and jamming.

[0032] 4. Power decoupling and coordination during simultaneous startup of dual modules: When the suction component fans of the first cleaning device 10 and the second cleaning device 20 start simultaneously, a huge starting current will be generated. The coordination control center 40 sends a power compensation signal to the independent decoupled power module, controls the power regulation module of the independent diesel generator set to increase the generator output power, thereby suppressing the voltage drop caused by the simultaneous startup of dual modules and ensuring stable system operation.

[0033] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-speed sweeper vacuum cleaning system, comprising a frame (1), characterized in that: The frame (1) is equipped with a first cleaning device (10) and a second cleaning device (20). Both the first cleaning device (10) and the second cleaning device (20) include a suction assembly, a filter assembly, and a collection bin. A synchronous movement system (30) is provided between the frame (1) and the first cleaning device (10) and the second cleaning device (20). The synchronous movement system (30) includes a flexible suspension assembly (31) and a mechanical synchronous lifting mechanism (32). The flexible suspension assembly (31) includes an upper connecting frame (311), a lower suspension frame (312), and an elastic buffer rod (313) connecting the upper connecting frame (311) and the lower suspension frame (312). The top of the upper connecting frame (311) is provided with a movable lifting ring (314). The movable lifting ring (314) is hinged to the frame (1) by a horizontal pin. The suction components of the first cleaning device (10) and the second cleaning device (20) are both fixedly installed at the bottom of the lower suspension frame (312). The mechanical synchronous lifting mechanism (32) includes a single drive motor (321), a rigid double drive shaft (323), a first spiral lift (324) and a second spiral lift (325). The two ends of the rigid double drive shaft (323) are respectively connected to the input ends of the first spiral lift (324) and the second spiral lift (325). The output ends of the first spiral lift (324) and the second spiral lift (325) are both fixedly connected to the lower suspension frame (312). A collaborative control center (40) is provided on the frame (1), which is signal connected to the first cleaning device (10), the second cleaning device (20) and the mechanical synchronous lifting mechanism (32).

2. The vacuum cleaning system for a high-speed sweeper according to claim 1, characterized in that: The elastic buffer rod (313) includes a pull rod and an elastic element. The lower suspension frame (312) is provided with a guide hole. The pull rod slides through the guide hole. The top end of the elastic element abuts against the upper connecting frame (311) and the bottom end abuts against the lower suspension frame (312). The lower suspension frame (312) is also provided with a movable inclined positioning rod (315).

3. The vacuum cleaning system for a high-speed sweeper according to claim 1, characterized in that: The mechanical synchronous lifting mechanism (32) also includes a right-angle commutator (322). The single drive motor (321) is fixedly installed on the upper connecting frame (311). The output shaft of the single drive motor (321) is connected to the input shaft of the right-angle commutator (322). The two output ends of the right-angle commutator (322) are respectively connected to one end of the rigid double transmission shaft (323).

4. The vacuum cleaning system for a high-speed sweeper according to claim 1, characterized in that: Both the first screw jack (324) and the second screw jack (325) are equipped with worm gear mechanisms. The mechanical synchronous lifting mechanism (32) also includes a safety limit component (326). The safety limit component (326) includes a limit chain. The top end of the limit chain is fixedly connected to the upper connecting frame (311), and the bottom end is fixedly connected to the lower suspension frame (312).

5. The vacuum cleaning system for a high-speed sweeper according to claim 1, characterized in that: The first cleaning device (10) has an anti-backflow suction port at the front end of the suction component, and the air outlet of the filter component is connected to a water vapor spray head with the nozzle facing the ground. The suction component of the second cleaning device (20) is located behind the first cleaning device (10).

6. The vacuum cleaning system for a high-speed sweeper according to claim 1, characterized in that: The vehicle frame (1) is equipped with an independent decoupled power module, which includes an independent diesel generator set. The power output end of the independent diesel generator set is electrically connected to the first sweeping device (10), the second sweeping device (20), and the mechanical synchronous lifting mechanism (32), respectively. The independent decoupled power module also includes an independent main control unit, which is integrated with the collaborative control center (40). The independent main control unit and the sweeper chassis controller are only connected by a one-way status data transmission line.

7. A collaborative operation method for a high-speed sweeper vacuum cleaning system as described in any one of claims 1 to 6, characterized in that: Includes the following steps: S1: High-speed road condition recognition: When the vehicle speed sensor detects that the vehicle speed is greater than the set high-speed threshold and the road vibration sensor detects high-frequency bumps, the collaborative control center (40) triggers the high-speed anti-damage collaborative mode. S2: Suspension and lifting posture coordination: Under high-speed bumpy conditions, the coordination control center (40) controls the mechanical synchronous lifting mechanism (32) to lift the first cleaning device (10) and the second cleaning device (20) to the set safe ground clearance, and locks the drive source of the mechanical synchronous lifting mechanism (32); S3: Dual-module cleaning quality coordination: When the road surface smoothness is restored, the coordination control center (40) unlocks the drive source and drives the first spiral lift (324) and the second spiral lift (325) to descend synchronously, so that the first cleaning device (10) and the second cleaning device (20) simultaneously adhere to the ground, and controls the first cleaning device (10) to suck up the garbage with the first negative pressure, and controls the second cleaning device (20) to perform suction and sweeping with the second negative pressure.

8. The collaborative operation method according to claim 7, characterized in that: In step S2, when the displacement sensor of the flexible suspension assembly (31) detects that the instantaneous impact displacement exceeds the set safety threshold, the collaborative control center (40) increases the spraying pressure of the water vapor spray head of the first cleaning device (10).

9. The collaborative operation method according to claim 7, characterized in that: In step S3, during the descent of the mechanical synchronous lifting mechanism (32), the collaborative control center (40) monitors the load torque difference between the first screw jack (324) and the second screw jack (325) in real time. When the load torque difference exceeds the set skew threshold, the collaborative control center (40) controls the drive source of the mechanical synchronous lifting mechanism (32) to reduce the speed until the load torque difference is restored to a safe range.

10. The collaborative operation method according to claim 7, characterized in that: When the fans of the suction components of the first cleaning device (10) and the second cleaning device (20) start simultaneously, the collaborative control center (40) sends a power compensation signal to increase the output power of the generator.

Images