CN114089769B - Control method for automatic operation electric cleaning vehicle - Google Patents
Control method for automatic operation electric cleaning vehicle Download PDFInfo
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- CN114089769B CN114089769B CN202111395531.1A CN202111395531A CN114089769B CN 114089769 B CN114089769 B CN 114089769B CN 202111395531 A CN202111395531 A CN 202111395531A CN 114089769 B CN114089769 B CN 114089769B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004140 cleaning Methods 0.000 title description 10
- 241001417527 Pempheridae Species 0.000 claims abstract description 119
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 59
- 239000000428 dust Substances 0.000 claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 47
- 238000012544 monitoring process Methods 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 7
- 239000013589 supplement Substances 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010408 sweeping Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control method for an automatic operation electric sweeper, which is used for controlling the automatic operation of the automatic operation electric sweeper and comprises the steps of starting self-checking, identifying obstacles, identifying garbage, identifying dust and the like.
Description
Technical Field
The invention relates to the technical field of operation control of automatic operation electric sweeper, in particular to a control method capable of controlling the automatic operation electric sweeper to finish automatic operation.
Background
The electric sweeper is pollution-free multifunctional sweeping sanitation integrated operation equipment which is developed along with the urban process and the green environment protection concept, has compact structure, complete functions and high operation efficiency, has multiple functions of sweeping operation, spraying dust fall, high-pressure cleaning and the like, and is one representative product of new-generation intelligent operation equipment. In recent years, along with continuous development and popularization and application of big data, intelligentization, internet of things and automation technology, automatic operation electric sweeper based on the automatic driving technology is gradually developed and put into various large-scale production and living fields such as hospitals, schools, communities and factories, the operation environment is greatly improved, the consumption of related operators is reduced, and the social labor force is saved.
But the automatic operation electric motor sweeper that uses at present, the ubiquitous single task that only can accomplish automatic cleaning operation, and the operation mode is comparatively fixed, for example only can adopt the measure of emergency braking to carry out dangerous dodge when meetting the barrier, in order to ensure vehicle safety, still can not carry out nimble processing according to the state of barrier, also can not be according to the flexible corresponding measure of starting of rubbish volume size, intensity size etc. again, change the dynamics of cleaning, and can't carry out comprehensive real-time monitoring to automobile body self basic corollary equipment, therefore stability in use is low, cleaning effect is difficult to optimize.
Disclosure of Invention
The invention aims to solve the technical problem of providing the control method for the automatic operation electric sweeper, which can flexibly treat obstacles, has adjustable cleaning force and can monitor the state of self supporting facilities in real time.
In order to solve the technical problems, the technical scheme of the invention is as follows: a control method for an automatic operation electric sweeper, which is used for controlling the automatic operation of the automatic operation electric sweeper and comprises the following steps,
S 1 start-up self-test
S 1-1 Starting the electric sweeper, and setting standard values of road surface garbage size, garbage density, dust concentration and monitoring parameters of basic matched equipment;
S 1-2 selecting a working area map or importing a new working area map to finish the selection of the working area;
S 1-3 automatically detecting the state of the vehicle before the electric sweeper enters the operation, and judging whether the vehicle has faults according to the automatic detection result;
when the fault is judged to exist, carrying out automatic fault analysis, informing maintenance personnel to maintain, and restarting after maintenance is finished;
when no fault is determined, automatically entering the next step;
S 2 obstacle recognition
Identifying the road surface, judging whether an obstacle exists on the road, and entering an obstacle avoidance strategy when the obstacle exists; when no obstacle is determined, the electric sweeper continuously and automatically runs according to the current state;
S 3 garbage identification
S 3-1 The electric sweeper carries out real-time identification on the road surface garbage size in the running process, compares the numerical value formed by identification with the set garbage size standard value, when the real-time identified garbage size value is larger than the set garbage size standard value,controlling a sucker front door of the electric sweeper to be opened, increasing suction force to enable garbage to smoothly enter, and if not, continuing automatic operation according to the current state;
S 3-2 the electric sweeper carries out real-time identification on the road surface garbage density in the running process, compares the numerical value formed by identification with the set garbage density standard value, and controls the fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is larger than the set garbage density standard value, or else, continues to automatically operate according to the current state;
S 4 dust identification
Collecting dust concentration values in a sucking disc opening and a dustbin of the electric sweeper in real time, comparing the dust concentration values with preset dust concentration standard values, and controlling a spraying dust settling function before starting the electric sweeper when the dust concentration value collected in real time at the sucking disc opening is larger than the set dust concentration standard value, otherwise, continuing to automatically operate according to the current state; when the dust concentration value collected in the dustbin in real time is larger than the set dust concentration standard value, the electric sweeper is controlled to start the spraying dust fall function in the dustbin, otherwise, the automatic operation is continued according to the current state.
As an optimal technical scheme, the standard value setting of the monitoring parameters of the basic supporting equipment further comprises standard value setting of the residual capacity of garbage, the residual water in the water tank and the electric quantity of the battery.
As a preferable technical scheme, the method also comprises the following steps,
S 5 monitoring of remaining capacity of refuse
The method comprises the steps of collecting residual capacity information in a dustbin in real time, and controlling an electric sweeper to work normally before the dustbin is full; when the capacity of the dustbin is full, the electric sweeper is controlled to stop working;
S 6 monitoring of water remaining in a cistern
Acquiring the water quantity value in the upper water tank of the electric sweeper in real time, comparing the water quantity value with the set water surplus standard value in the water tank, and controlling the automatic operation of the electric sweeper to stop when the acquired real-time water quantity value is smaller than the water surplus standard value in the water tank, otherwise, continuing the automatic operation according to the current state;
S 7 battery power monitoring
The battery management system on the electric sweeper monitors the battery electric quantity in real time and compares the battery electric quantity with a set battery electric quantity standard value, when the acquired real-time battery electric quantity is smaller than the battery electric quantity standard value, the automatic operation of the electric sweeper is controlled to stop, only the running function is kept, and the electric sweeper automatically returns to a charging area to supplement electric energy, otherwise, the automatic operation is continued according to the current state.
As a preferred technical solution, the obstacle avoidance strategy comprises the steps of,
S 2-1 identifying the movement state of the obstacle;
S 2-2 when the motor sweeper is identified as a movement obstacle, the motor sweeper enters an emergency braking state;
S 2-3 when the obstacle is identified as a fixed obstacle, the obstacle is bypassed by the radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive past the obstacle by a radar signal, the running path is automatically reset, the electric sweeper returns to the original path again, and the automatic running operation is continued.
As an improvement to the above technical solution, the S 2 Obstacle recognition, S 3 Garbage identification S 4 Dust identification S 5 Garbage remaining capacity monitoring, S 6 Monitoring and S of water remaining in water tank 7 The battery power monitoring is implemented in a synchronous real-time circulation manner in the automatic operation process of the electric sweeper.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the data setting and the operation area setting when the electric sweeper is started are finished through starting self-checking, so that the electric sweeper can finish automatic sweeping tasks of different operation environments, obstacle recognition is used for guaranteeing safe and stable operation of the electric sweeper, the sweeping task of the set area can be finished to the greatest extent, the operation intensity of the electric sweeper can be adjusted through garbage recognition, the cleaning effect is guaranteed through cooperation with a water remaining amount monitoring step in a water tank, and battery electric quantity monitoring is used for detecting the electric quantity of the electric sweeper in real time, so that the electric sweeper can automatically return to a charging area to timely supplement electric energy, and the automatic operation of the electric sweeper is more intelligent and efficient.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention.
Wherein:
FIG. 1 is a flow chart of an embodiment of the invention for initiating a self test;
FIG. 2 is a flow chart of operations of obstacle recognition, trash recognition, and dust recognition in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of the operation of the basic companion device monitoring in accordance with an embodiment of the present invention.
Detailed Description
The invention is further illustrated in the following, in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. It is needless to say that the person skilled in the art realizes that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive in scope.
The control method for the automatic operation electric sweeper is used for controlling the automatic operation of the automatic operation electric sweeper, and components such as a wire control chassis, a sweeping operation system, a dustbin storage system, a radar monitoring system, a central control system, a hydraulic control system, a conventional electric control system, a high-voltage electric control system, various sensors and the like are arranged on the automatic operation electric sweeper, so that the automatic operation control of the electric sweeper is completed in a matched mode, and the structure is well known to one of ordinary skill in the art and is not described in detail herein. After the electric sweeper is used, automatic operation, flexible obstacle avoidance, basic configuration monitoring and the like of the electric sweeper can be realized, environmental sanitation maintenance in a designated area can be completed, the electric sweeper is stable in operation and can timely supplement electric energy, the efficiency of environmental cleaning work is improved, and the use of manpower and labor force is greatly reduced.
As shown in fig. 1, the present embodiment mainly includes the following steps:
S 1 start-up self-test
S 1-1 Starting the electric sweeper, setting standard values of monitoring parameters of the road surface garbage size, the garbage density, the dust concentration and basic supporting equipment, wherein the dust concentration comprises a dust concentration value of a sucking disc opening and a dust concentration value in a dustbin, taking the dust concentration value as a comparison standard for monitoring each value in real time in a follow-up automatic operation process, and automatically controlling corresponding component actions according to a comparison result so as to ensure a sweeping effect. The standard values can be set on site during starting, or can be planned and designed in advance to form various automatic cleaning modes and stored in a central control system of the electric sweeper, and when the electric sweeper is used, the electric sweeper can be used by selecting a proper operation mode according to the operation of different environments.
S 1-2 And selecting a working area map or importing a new working area map to finish the working area selection. Various operation area maps can be stored in a central control system of the electric sweeper in advance and can be directly selected for use. If the electric sweeper is placed in a new working area, a map of the area needs to be acquired through the internet and the like and is imported into a central control system of the electric sweeper for calling.
S 1-3 The state of the vehicle before the electric sweeper enters the operation is automatically detected, and whether the vehicle has faults or not is judged according to the automatic detection result, so that the follow-up self-running operation can be smoothly started and stably run to completion. The automatic detection comprises various functional detection and vehicle original state detection, such as voltage, control, sensors, signals, driving computers and the like. When the detection and judgment are that the motor sweeper has faults, the central control system is used for carrying out automatic fault analysis, and informing maintenance personnel of maintenance in a screen display or sound and light alarm mode, and after the maintenance is finished and the motor sweeper is restarted, the steps are repeated until the motor sweeper has no faults; when it is determined that there is no fault, the next step is automatically entered.
As shown in FIG. 2, S 2 Obstacle recognition
Identifying the road surface, judging whether an obstacle exists on the road, entering an obstacle avoidance strategy when the road surface is judged to be the obstacle, wherein the obstacle avoidance strategy comprises the following steps,
S 2-1 identifying the movement state of the obstacle;
S 2-2 when the motor sweeper is identified as a movement obstacle, the motor sweeper enters an emergency braking state so as to avoid collision. The central control system can start obstacle alarm during emergency braking to remind the opposite side to pay attention to avoid, so that accidents can be effectively reduced.
S 2-3 When the obstacle is identified as a fixed obstacle, the obstacle is bypassed by the radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive past the obstacle by a radar signal, the running path is automatically reset, the electric sweeper returns to the original path again, and the automatic running operation is continued.
When the electric sweeper is judged to be free of obstacles, the electric sweeper continues to automatically run according to the current state. The detection and the type judgment of the obstacle are mainly completed through the cooperation of the radar monitoring system and the central control system, and the steps are repeatedly circulated infinitely and fed back in real time in the automatic operation process of the electric sweeper.
When judging whether the obstacle is a movement obstacle, the speed of the distance change between the obstacle and the obstacle can be judged by means of the cooperation of a radar monitoring system or a positioning system on the electric sweeper and the travelling speed of the obstacle, if the speed of the distance change is in a fixed ratio with the speed of the distance change, the obstacle can be judged to be of a non-movement type, and if the speed of the distance change is not in a fixed ratio, the obstacle is of a movement type.
S 3 Garbage identification
S 3-1 The electric sweeper carries out real-time identification on the size of the road surface garbage in the running process, and compares the value formed by identification with the set garbage size standard value, when the real-time identified garbage size value is larger than the set garbage size standard value, the sucking disc front door of the electric sweeper is controlled to be opened, the suction force is increased to enable the garbage to smoothly enter, otherwise, the automatic operation is continued according to the current state, and the garbage is controlled to be openedThe size refers to the size of the outline of the single garbage, and the garbage information can be acquired by means of a camera system or a scanning system on the electric sweeper and transmitted to a central control system for data processing and comparison.
S 3-2 And the electric sweeper carries out real-time identification on the road surface garbage density in the running process, compares the numerical value formed by identification with the set garbage density standard value, and controls the fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is larger than the set garbage density standard value, or else, continues automatic operation according to the current state. The garbage density value is the garbage amount in a unit area, and is obtained by calculation by a central control system according to garbage amount information acquired by the electric sweeper. In the automatic operation process of the electric sweeper, garbage identification is repeatedly circulated infinitely, and real-time feedback is carried out.
S 4 Dust identification
Collecting dust concentration values in a suction cup opening and a dustbin of the electric sweeper in real time, wherein the dust concentration values can be obtained through dust concentration detectors respectively arranged at the suction cup opening and in the dustbin and are compared with preset dust concentration standard values, when the dust concentration values collected at the suction cup opening in real time are larger than the preset dust concentration standard values, the spraying dust fall function before the electric sweeper is started is controlled, otherwise, the automatic operation is continued according to the current state, namely, a normal operation mode is carried out; when the dust concentration value collected in the dustbin in real time is larger than the set dust concentration standard value, the electric sweeper is controlled to start the spraying dust fall function in the dustbin, otherwise, the automatic operation is continued according to the current state.
As shown in fig. 3, the standard value setting of the monitoring parameter of the basic supporting equipment further comprises standard value setting of the residual capacity of garbage, the residual water in the water tank and the electric quantity of the battery. The embodiment further comprises the following steps of realizing real-time detection of the vehicle state and making corresponding information feedback and functional actions.
S 5 Monitoring of remaining capacity of refuse
The method comprises the steps of collecting residual capacity information in the dustbin in real time, for example, monitoring the residual capacity of the dustbin by using a video system, and controlling the electric sweeper to normally operate by using a central control system when the capacity of the dustbin is full, namely, the capacity of the dustbin is not full; when the capacity of the dustbin is full, the electric sweeper is controlled to stop working and return to the garbage station for garbage transfer treatment, and alarm information and the like can be generated at the same time.
S 6 Monitoring of water remaining in a cistern
The water level value in the upper water tank of the electric sweeper is obtained in real time through the water level gauge in the water tank, so that whether the water level in the water tank is in the allowable value of the operation range is judged, namely, the detection value of the water level gauge is compared with the set water margin standard value in the water tank, when the obtained real-time water level value is smaller than the water margin standard value in the water tank, the automatic operation of the electric sweeper is controlled to stop, and otherwise, the automatic operation is continued according to the current state.
S 7 Battery power monitoring
The battery management system on the electric sweeper monitors the battery electric quantity in real time and compares the battery electric quantity with a set battery electric quantity standard value, when the acquired real-time battery electric quantity is smaller than the battery electric quantity standard value, the automatic operation of the electric sweeper is controlled to stop, only the running function is kept, and the electric sweeper automatically returns to a charging area to supplement electric energy, otherwise, the automatic operation is continued according to the current state.
S described in the present embodiment 2 Obstacle recognition, S 3 Garbage identification S 4 Dust identification S 5 Garbage remaining capacity monitoring, S 6 Monitoring and S of water remaining in water tank 7 The battery power monitoring is implemented in a synchronous real-time circulation mode in the automatic operation process of the electric sweeper, real-time feedback is carried out, and through the circulation monitoring of the method, the continuous reciprocation of signals and instructions is carried out, so that the unmanned operation function of the automatic operation electric sweeper is realized.
According to the invention, the data setting and the operation area setting of the electric sweeper during starting are finished through starting self-checking, so that the electric sweeper can finish automatic sweeping tasks of different operation environments, obstacle recognition is used for guaranteeing safe and stable operation of the electric sweeper, the sweeping task of the set area can be finished to the greatest extent, the operation intensity of the electric sweeper can be adjusted through garbage recognition, the sweeping effect is guaranteed through cooperation with a water remaining amount monitoring step in a water tank, and battery electric quantity monitoring is used for detecting the electric quantity of the electric sweeper in real time, so that the electric sweeper can automatically return to a charging area to timely supplement electric energy, and the automatic operation of the electric sweeper is more intelligent and more efficient.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (2)
1. The control method for the automatic operation electric sweeper is used for controlling the automatic operation of the automatic operation electric sweeper and is characterized in that: comprises the steps of,
S 1 start-up self-test
S 1-1 Starting the electric sweeper, and setting standard values of road surface garbage size, garbage density, dust concentration and monitoring parameters of basic matched equipment;
S 1-2 selecting a working area map or importing a new working area map to finish the selection of the working area;
S 1-3 automatically detecting the state of the vehicle before the electric sweeper enters the operation, and judging whether the vehicle has faults according to the automatic detection result;
when the fault is judged to exist, carrying out automatic fault analysis, informing maintenance personnel to maintain, and restarting after maintenance is finished;
when no fault is determined, automatically entering the next step;
S 2 obstacle recognition
Identifying the road surface, judging whether an obstacle exists on the road, and entering an obstacle avoidance strategy when the obstacle exists; when no obstacle is determined, the electric sweeper continuously and automatically runs according to the current state;
S 3 garbage identification
S 3-1 The method comprises the steps that the electric sweeper carries out real-time identification on the size of road surface garbage in the running process, the numerical value formed by identification is compared with a set garbage size standard value, when the real-time identified garbage size value is larger than the set garbage size standard value, the front door of a sucking disc of the electric sweeper is controlled to be opened, suction force is increased to enable garbage to smoothly enter, and otherwise automatic operation is continued according to the current state;
S 3-2 the electric sweeper carries out real-time identification on the road surface garbage density in the running process, compares the numerical value formed by identification with the set garbage density standard value, and controls the fan motor of the electric sweeper to increase the rotating speed and enhance the suction force when the real-time identified garbage density value is larger than the set garbage density standard value, or else, continues to automatically operate according to the current state;
S 4 dust identification
Collecting dust concentration values in a sucking disc opening and a dustbin of the electric sweeper in real time, comparing the dust concentration values with preset dust concentration standard values, and controlling a spraying dust settling function before starting the electric sweeper when the dust concentration value collected in real time at the sucking disc opening is larger than the set dust concentration standard value, otherwise, continuing to automatically operate according to the current state; when the dust concentration value collected in the dustbin in real time is larger than the set dust concentration standard value, controlling the electric sweeper to start the spraying dust-falling function in the dustbin, otherwise, continuing to automatically operate according to the current state;
the standard value setting of the monitoring parameters of the basic supporting equipment also comprises standard value setting of the residual capacity of garbage, the residual water in the water tank and the electric quantity of the battery;
the method also comprises the following steps of,
S 5 monitoring of remaining capacity of refuse
The method comprises the steps of collecting residual capacity information in a dustbin in real time, and controlling an electric sweeper to work normally before the dustbin is full; when the capacity of the dustbin is full, the electric sweeper is controlled to stop working;
S 6 monitoring of water remaining in a cistern
Acquiring the water quantity value in the upper water tank of the electric sweeper in real time, comparing the water quantity value with the set water surplus standard value in the water tank, and controlling the automatic operation of the electric sweeper to stop when the acquired real-time water quantity value is smaller than the water surplus standard value in the water tank, otherwise, continuing the automatic operation according to the current state;
S 7 battery power monitoring
The battery management system on the electric sweeper monitors the battery electric quantity in real time and compares the battery electric quantity with a set battery electric quantity standard value, when the acquired real-time battery electric quantity is smaller than the battery electric quantity standard value, the automatic operation of the electric sweeper is controlled to stop, only the running function is kept, and the electric sweeper automatically returns to a charging area to supplement electric energy, otherwise, the automatic operation is continued according to the current state;
the S is 2 Obstacle recognition, S 3 Garbage identification S 4 Dust identification S 5 Garbage remaining capacity monitoring, S 6 Monitoring and S of water remaining in water tank 7 The battery power monitoring is implemented in a synchronous real-time circulation manner in the automatic operation process of the electric sweeper.
2. The control method for an automatic operation electric sweeper according to claim 1, characterized by: the obstacle avoidance strategy includes the steps of,
S 2-1 identifying the movement state of the obstacle;
S 2-2 when the motor sweeper is identified as a movement obstacle, the motor sweeper enters an emergency braking state;
S 2-3 when the obstacle is identified as a fixed obstacle, the obstacle is bypassed by the radar monitoring system on the electric sweeper, and after the electric sweeper is confirmed to drive past the obstacle by a radar signal, the running path is automatically reset, the electric sweeper returns to the original path again, and the automatic running operation is continued.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006209644A (en) * | 2005-01-31 | 2006-08-10 | Matsushita Electric Works Ltd | Cleaning robot |
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| JP2006209644A (en) * | 2005-01-31 | 2006-08-10 | Matsushita Electric Works Ltd | Cleaning robot |
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