CN114875829A - A self-adaptive adjustment system for a wall cleaning vehicle brush - Google Patents

Abstract

The invention discloses a self-adaptive adjustment system for a brush of a wall surface cleaning vehicle, which comprises an obstacle ultrasonic ranging sensor for monitoring the distance between the brush and an obstacle, a cleaning surface ultrasonic ranging sensor for monitoring the distance between a rolling brush and a cleaning surface, and a controller for receiving measurement signals of the obstacle ultrasonic ranging sensor and the cleaning surface ultrasonic ranging sensor; the controller drives the horizontal sliding mechanism of the cleaning arm and the rolling brush angle adjusting oil cylinder through the proportional valve group, so that the brush and the rolling brush are adjusted; and a display for displaying real-time monitoring data is arranged on the controller. The rolling brush is automatically attached to the surface to be cleaned to a preset distance during cleaning operation, so that the operation difficulty is reduced; the rolling brush is automatically adjusted according to a preset value in the cleaning operation process, so that the stable cleaning operation effect is ensured; the obstacle avoidance device can also automatically avoid the change of the cleaned surface, and greatly improves the operation efficiency and the safety.

Description

A self-adaptive adjustment system for a wall cleaning vehicle brush

technical field

The invention relates to the technical field of sanitation vehicles, in particular to an adaptive adjustment system for a wall cleaning vehicle brush.

Background technique

When the wall cleaning vehicle is operating, it is often located in special driving areas such as tunnels and elevated roads. The distance between the vehicle and the surface to be cleaned directly affects the development of the cleaning operation. The cleaning process is generally far and high from the operator, and it is difficult to observe the brush. The degree of fit between the roller brush and the wall requires manual operation by the operator, which is time-consuming and labor-intensive, and the distance between the brush and the wall that the vehicle cleans during driving changes all the time, which is difficult to adjust in real time, resulting in uneven cleaning effect. There is no memory function for each operation, the operation at a fixed location requires a lot of repetitive labor, and each manual deployment is time-consuming and laborious. At present, the wall cleaning vehicles and tunnel cleaning vehicles produced by domestic manufacturers are not equipped with an adaptive adjustment system.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a brush self-adaptive adjustment system applied to a wall cleaning vehicle. By setting an ultrasonic ranging sensor at a suitable position of the brush, the distance between the brush and the wall can be collected in real time. Even if there is a slight deviation, or the shape of the cleaning surface changes, the control system can preset the distance between the roller brush and the surface to be cleaned, and automatically adjust the posture of the roller brush dynamically during the operation, so that the brush tool and the wall can be maintained without frequent manual adjustment. The distance between the surfaces is constant, ensuring that the cleaning roller brush and the wall are at a relatively constant distance, ensuring the stable cleaning operation effect, and greatly improving the operation efficiency and safety.

The present invention is achieved through the following technical solutions. An adaptive adjustment system for a wall cleaning vehicle brush includes a brush installed on a wall cleaning vehicle, the brush includes a roller brush, and the brush is installed on the cleaning vehicle. On the arm horizontal sliding mechanism, the roller brush realizes the fit between the roller brush and the cleaning surface through the angle adjustment oil cylinder of the roller brush;

It also includes an obstacle ultrasonic ranging sensor that monitors the distance between the brush and the obstacle, a cleaning surface ultrasonic ranging sensor that monitors the distance between the roller brush and the cleaning surface, and a cleaning surface ultrasonic ranging sensor that receives the measurement signals of the obstacle ultrasonic ranging sensor and the cleaning surface. controller;

The controller drives the horizontal sliding mechanism of the cleaning arm and the angle adjustment oil cylinder of the rolling brush through the proportional valve group, so as to realize the adjustment of the brush and the rolling brush;

The controller is provided with a display for displaying real-time monitoring data.

As a preferred solution of the self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention: it also includes a joystick that issues a manipulation command to the controller; the controller receives the manipulation command from the joystick, and sends an electrical signal to the controller. The control command is sent to the proportional valve group, so as to drive the horizontal sliding mechanism of the cleaning arm to make the brush in a proper position, and drive the angle adjustment cylinder of the roller brush to make the roller brush fit the cleaning surface. After the adjustment is completed, the posture can be adjusted. The data is stored in the controller for later manipulation.

As a preferred solution of the self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention, there are two brushes, which are respectively installed at the front and rear of the wall cleaning vehicle.

As a preferred solution of the self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention: the controller can set a preset value through the display, and communicate with the obstacle ultrasonic ranging sensor and the cleaning surface ultrasonic ranging sensor. The monitored values are compared to determine whether the brushes and roller brushes are in a suitable cleaning position.

As a preferred solution of the self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention: a switch is provided on the operating handle, which can quickly turn on and off the system to ensure safety in emergency situations.

The beneficial technical effects of the present invention are as follows: the system automatically attaches the roller brush to the surface to be cleaned to a preset distance during the cleaning operation, thereby reducing the difficulty of operation; during the cleaning operation, the roller brush is automatically adjusted according to the preset value to ensure stable cleaning operation effect; It can automatically avoid obstacles to changes in the surface to be cleaned, greatly improving work efficiency and safety.

Description of drawings

1 is a system block diagram of a self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention;

FIG. 2 is a circuit diagram of a self-adaptive adjustment system for a wall cleaning vehicle brush according to the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can do so without departing from the connotation of the present invention. Similar promotion, therefore, the present invention is not limited by the specific embodiments disclosed below.

As shown in Figures 1 and 2, an adaptive adjustment system for a wall cleaning vehicle brush includes a brush installed on a wall cleaning vehicle, the brush includes a roller brush, and the brush is installed on a cleaning arm On the horizontal sliding mechanism, the roller brush realizes the fit between the roller brush and the cleaning surface by adjusting the oil cylinder of the roller brush angle;

It also includes an obstacle ultrasonic ranging sensor that monitors the distance between the brush and the obstacle, a cleaning surface ultrasonic ranging sensor that monitors the distance between the roller brush and the cleaning surface, and a cleaning surface ultrasonic ranging sensor that receives the measurement signals of the obstacle ultrasonic ranging sensor and the cleaning surface. controller;

The controller drives the horizontal sliding mechanism of the cleaning arm and the angle adjustment oil cylinder of the rolling brush through the proportional valve group, so as to realize the adjustment of the brush and the rolling brush;

The controller is provided with a display for displaying real-time monitoring data.

It also includes a joystick that issues a control command to the controller; the controller receives the control command from the joystick, and sends the control command to the proportional valve group in the form of an electrical signal, thereby driving the horizontal sliding mechanism of the cleaning arm to keep the brush in the position. Appropriate position, and drive the angle adjustment cylinder of the roller brush, so that the roller brush fits the cleaning surface. After the adjustment is completed, the attitude adjustment data can be stored in the controller, which is convenient for later manipulation and use.

There are two said brushes, and they are respectively installed on the front and rear of the wall washing vehicle.

The controller can set a preset value through the display and compare it with the value monitored by the obstacle ultrasonic ranging sensor and the cleaning surface ultrasonic ranging sensor, so as to determine whether the brush and the roller brush are in a suitable cleaning position.

The control handle is provided with a switch, which can quickly turn on and off the system to ensure safety in emergency situations.

Take the installation of brushes at the front and rear of the wall cleaning vehicle as an example:

Brush Adaptive Adjustment System

Arrange the controller, display, and joystick in the cab, install the obstacle ultrasonic ranging sensor I, obstacle ultrasonic ranging sensor II, and cleaning surface ultrasonic ranging sensor I on the adjustable ultrasonic ranging sensor mounting bracket on the brush. And cleaning surface ultrasonic ranging sensor II; among them, cleaning surface ultrasonic ranging sensor I and cleaning surface ultrasonic ranging sensor II are mainly used to monitor the distance between the roller brush and the cleaning surface, obstacle ultrasonic ranging sensor I and obstacle ultrasonic ranging Sensor II is mainly used to monitor the distance between the brush and the obstacle in front. Through the monitored distance, it can judge whether the distance between the roller brush and the cleaning surface is in the proper distance and fit, and send the corresponding PWM to the proportional solenoid valve group through the controller. The proportional signal enables the horizontal sliding mechanism of the cleaning arm and the oil cylinder to adjust the angle of the roller brush to perform corresponding actions to ensure the fit between the brush and the wall; at the same time, there is a switch on the control handle, which can quickly turn on and off the system to ensure emergency situations. security.

Automatically fit the cleaning surface before operation

When the vehicle is at a suitable position from the cleaning surface, the proportional electrical signal is input to the controller through the action of the joystick, and the controller outputs the corresponding PWM proportional signal to the proportional solenoid valve group. The proportional solenoid valve group drives the horizontal sliding mechanism of the cleaning arm and the The roller brush angle adjustment oil cylinder performs corresponding actions until the roller brush enters the working range that can be automatically expanded; at this time, the distance L between the roller brush and the wall can be set on the display, that is, the relative fit between the roller brush and the wall during the operation is expected. After this data is set once, it can be stored in memory, and can be directly recalled later or modified according to different working conditions; after finishing the value setting, press the shortcut key on the joystick, the brush will enter the automatic fit state, and the controller will collect the cleaning surface Ultrasonic ranging sensor I ranging value L1, cleaning surface ultrasonic ranging sensor II ranging value L2, at this time, the controller sends a corresponding PWM proportional signal to the proportional solenoid valve group, so that the horizontal sliding mechanism of the cleaning arm slides in an appropriate direction , until the absolute value of the difference between any one of L1, L2 and the preset value L is ≤50mm (here 50mm is the preset value of the control system, which is the tolerance of deviation, which can be set through the display 2), stop the horizontal sliding mechanism. Then the controller compares the difference between L1 and L2 at this time, sends the corresponding PWM proportional signal to the proportional solenoid valve group, and the roller brush angle adjusts the oil cylinder to perform the corresponding action until the absolute value of the difference between L1 and L2 is less than or equal to 50mm (here 50mm is the control The default value of the system is the tolerance of deviation, which can be set through the display 2), it will automatically fit the cleaning surface before completing the brush operation, and the user can enter the operation state without manual adjustment.

Self-adaptive cleaning surface adjustment of brushes during operation

During the same operation, with the change of the angle and radian of the cleaning surface, the controller 1 collects the distance measurement value L1 of the ultrasonic distance measuring sensor I of the cleaning surface, and the distance measurement value L2 of the ultrasonic distance measuring sensor II of the cleaning surface. The proportional solenoid valve group sends out the corresponding PWM proportional signal, so that the horizontal sliding mechanism of the cleaning arm slides in an appropriate direction, until the absolute value of the difference between any one of L1, L2 and the preset value L is ≤50mm (here 50mm is the preset value of the control system. The setting value is the tolerance of deviation, which can be set by display 2), stop the movement of the horizontal sliding mechanism; then the controller 1 compares the difference between L1 and L2 at this time, and sends the corresponding PWM proportional signal to the proportional solenoid valve group, rolling The brush angle adjustment cylinder performs corresponding actions until the absolute value of the difference between L1 and L2 is less than or equal to 50mm (here 50mm is the preset value of the control system, which is the tolerance of deviation, which can be set through the display 2), and the brush tool automatically during the operation is completed. Adapt to cleaning surface adjustment, greatly improve work efficiency and work effect.

Avoid obstacles during work

In the operation project, the obstacle ultrasonic ranging sensor I and the obstacle ultrasonic ranging sensor II detect the distance of the obstacle in front of the brush in real time. When the obstacle is 1000mm away from the vehicle (here 1000mm is the preset value of the control system, which is the tolerance of deviation). When the vehicle is in the hydraulic slow-speed travel mode, it will automatically enter the neutral gear, and the display will prompt the driver to use the joystick to operate the cleaning brush to a suitable position to avoid obstacles before the vehicle can continue to work, greatly improving job safety.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (5)

1. An adaptive adjustment system for a wall cleaning vehicle brush, characterized in that: it comprises a brush installed on a wall cleaning vehicle, the brush comprises a roller brush, and the brush is installed on a cleaning arm to slide horizontally. In terms of mechanism, the roller brush realizes the fit between the roller brush and the cleaning surface by adjusting the oil cylinder of the roller brush angle; It also includes an obstacle ultrasonic ranging sensor that monitors the distance between the brush and the obstacle, a cleaning surface ultrasonic ranging sensor that monitors the distance between the roller brush and the cleaning surface, and a cleaning surface ultrasonic ranging sensor that receives the measurement signals of the obstacle ultrasonic ranging sensor and the cleaning surface. controller; The controller drives the horizontal sliding mechanism of the cleaning arm and the angle adjustment oil cylinder of the rolling brush through the proportional valve group, so as to realize the adjustment of the brush and the rolling brush; The controller is provided with a display for displaying real-time monitoring data. 2 . The self-adaptive adjustment system for a wall cleaning vehicle brush according to claim 1 , further comprising: a joystick that issues a manipulation command to the controller; the controller receives the manipulation command from the joystick, and 2 . The control command is sent to the proportional valve group in the form of electric signal, so as to drive the horizontal sliding mechanism of the cleaning arm to make the brush in a proper position, and drive the angle adjustment cylinder of the roller brush to make the roller brush fit the cleaning surface. After the adjustment is completed, Attitude adjustment data can be stored in the controller for later manipulation and use. 3 . The self-adaptive adjustment system for a wall cleaning vehicle brush according to claim 1 or 2 , wherein the brushes have two and are respectively installed at the front and rear of the wall cleaning vehicle. 4 . 4 . The self-adaptive adjustment system for a wall cleaning vehicle brush according to claim 3 , wherein the controller can set a preset value through the display, and communicate with the obstacle ultrasonic ranging sensor and the cleaning surface. 5 . The values monitored by the ultrasonic ranging sensor are compared to determine whether the brush and the roller brush are in a suitable cleaning position. 5 . The self-adaptive adjustment system for wall cleaning vehicle brushes according to claim 2 , wherein a switch is provided on the operating handle, which can quickly turn on and off the system to ensure safety in emergency situations. 6 .

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