CN115478508B - Road marking high-pressure cleaning system and cleaning device based on fuzzy control - Google Patents
Road marking high-pressure cleaning system and cleaning device based on fuzzy control Download PDFInfo
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- CN115478508B CN115478508B CN202210919246.3A CN202210919246A CN115478508B CN 115478508 B CN115478508 B CN 115478508B CN 202210919246 A CN202210919246 A CN 202210919246A CN 115478508 B CN115478508 B CN 115478508B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 119
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 239000007921 spray Substances 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 238000004590 computer program Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000002427 irreversible effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000003709 image segmentation Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
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- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides a road marking high-pressure cleaning system and a cleaning device thereof based on fuzzy control, wherein the cleaning system comprises a working condition machine, a speed detection assembly, a marking detection module and a nozzle output pressure control assembly; the speed detection assembly, the marking detection module and the spray head output pressure control assembly are connected with the working condition machine; the operating mode machine is configured to implement the following steps by executing an internally stored program: receiving walking speed information acquired by the speed detection assembly and amplified; receiving an initial image acquired by a marking detection module, performing image processing on the initial image, and generating a road surface marking integrity level corresponding to the initial image; and sending the walking speed information and the road surface marking integrity level to a spray head output pressure control assembly so as to control the output pressure of the cleaning spray head of the cleaning device. In addition, the existing cleaning device is fixed in working mode, when the speed of the vehicle is low or the integrity of the marking is low, unnecessary energy loss is generated, and irreversible damage to the road surface is also possible.
Description
Technical Field
The invention relates to the technical field of high-pressure jet cleaning, in particular to a road marking high-pressure cleaning system based on fuzzy control and a cleaning device thereof.
Background
With the development of social economy and the rise of the living standard of people, the number of private cars of domestic families is also continuously rising. But a large number of private cars are convenient for people and greatly increase the pressure of road traffic. In the current situation, the standardization of the traffic sign board and the definition of the road mark are particularly important. The traffic road sign board and the marking can not only lighten the working pressure of traffic police, but also enable drivers to effectively judge the driving route, thereby ensuring the travel safety of people and solving the traffic standards. The method is characterized in that a high-pressure water jet technology is used for removing road marks, and compared with the mark removal technologies such as a domestic common polishing method, a shot blasting impact method and the like, the method has the advantages that the road marks are removed by the high-pressure water jet technology, so that the damage to road surfaces is small, and no mark residual marks exist basically. In addition, the high-pressure water jet road marking removal method has the characteristics of high engineering efficiency, less labor investment and wide application range, and is the primary choice for removing the road marking in the current traffic construction department.
The existing high-pressure water jet cleaning device adopts a constant-power working mode, namely, only a cleaning mode when the maximum power is set for the cleaning mechanism, and once the vehicle speed is reduced due to the road condition or the integrity of the marking is lower, the cleaning mechanism still operates at the maximum power, so that not only unnecessary energy loss is generated, but also irreversible damage to the road surface is possible.
In view of this, the present application has been proposed.
Disclosure of Invention
In view of the above, the present invention aims to provide a road marking high-pressure cleaning system and a cleaning device thereof based on fuzzy control, which can effectively solve the problems that the adopted high-pressure water jet cleaning device in the prior art has unique working mode, when the vehicle speed needs to be reduced or the integrity of the marking is low, unnecessary energy loss is generated, and irreversible damage is possibly generated to the road surface.
The invention provides a road marking high-pressure cleaning system based on fuzzy control, which comprises a working condition machine, a speed detection assembly, a marking detection module and a nozzle output pressure control assembly, wherein the working condition machine is connected with the speed detection assembly;
the control end of the speed detection assembly, the control end of the marking detection module and the control end of the spray head output pressure control assembly are electrically connected with the control end of the working condition machine, the output end of the speed detection assembly is electrically connected with the input end of the working condition machine, the output end of the working condition machine is electrically connected with the input end of the spray head output pressure control assembly, and the output end of the spray head output pressure control assembly is used for being connected with a cleaning spray head of the cleaning device;
Wherein the machine is configured to implement the following steps by executing a computer program stored therein:
Receiving walking speed information acquired by the speed detection assembly and amplified;
receiving an initial image acquired by the marking detection module, and performing image processing on the initial image to generate a road surface marking integrity grade corresponding to the initial image, wherein the road surface marking integrity grade comprises the following specific steps of:
performing calibration processing on the initial image to generate a segmentation image capable of calibrating a road marking area in the initial image;
Carrying out graying treatment on the segmented image to generate a gray image;
Performing binarization processing on the gray level image to generate a target image without removing the area of the marked line;
Comparing the target image to generate a road surface marking integrity grade corresponding to the initial image, wherein the road surface marking integrity grade is the ratio of the total area of the target image and the gray level image;
And sending the walking speed information and the road surface marking integrity grade to the spray head output pressure control assembly so as to control the output pressure of the cleaning spray head of the cleaning device.
Preferably, the cleaning device further comprises a spray head rotation control assembly, wherein the control end of the spray head rotation control assembly is electrically connected with the control end of the working condition machine, and the output end of the spray head rotation control assembly is used for being connected with a cleaning spray head of the cleaning device.
Preferably, the method further comprises:
preprocessing the walking speed information to generate an input voltage value;
And controlling the voltage value of the spray head rotation control assembly according to the input voltage value so as to realize the rotation control of the cleaning spray head of the cleaning device.
Preferably, the speed detection assembly comprises a speed detection module, a hall sensor and a first controller, wherein the output end of the speed detection module is electrically connected with the input end of the hall sensor, the output end of the hall sensor is electrically connected with the input end of the first controller, and the output end of the first controller is electrically connected with the input end of the working condition machine;
the speed detection module is configured to acquire the walking speed of the cleaning device.
Preferably, the reticle detection module is a camera.
Preferably, the spray head output pressure control assembly comprises a fuzzy controller, a motor controller, a water tank, a stop valve, a booster pump, a first driving motor, a first filter, a second driving motor, a high-pressure pump, an overflow valve and a high-pressure unloading valve;
The control end of the fuzzy controller is electrically connected with the output end of the working condition machine, the output end of the fuzzy controller is electrically connected with the control end of the motor controller, the output end of the motor controller is connected with the control end of the first driving motor and the control end of the second driving motor, the first driving motor is coaxially connected with the booster pump, the water inlet of the booster pump is connected with the stop valve, the stop valve is connected with the water tank, the water outlet of the booster pump is connected with the water inlet of the high-pressure pump through the first filter, the high-pressure pump is coaxially connected with the second driving motor, the water outlet of the high-pressure pump is connected with the overflow valve and the first interface of the high-pressure unloading valve, the outlet of the overflow valve is connected with the water tank, and the second interface of the high-pressure unloading valve is used for being connected with the cleaning device.
Preferably, the high-pressure unloading valve comprises a two-position two-way air control valve and a two-position four-way electromagnetic valve, wherein a first interface of the two-position two-way air control valve is connected with the water outlet of the high-pressure pump, a second interface of the two-position two-way air control valve is connected with the water tank, an input port of the two-position two-way air control valve is connected with an output port of the two-position four-way electromagnetic valve, an output port of the two-position two-way air control valve is connected with an input port of the two-position four-way electromagnetic valve, and a first interface of the two-position four-way electromagnetic valve is used for being connected with the cleaning device.
Preferably, the sprayer output pressure control assembly further comprises a pressure gauge connected with the high pressure pump outlet.
Preferably, the spray head rotation control assembly comprises a pneumatic motor, an electric proportional valve, a second filter, an air compressor, and a third drive motor;
The third driving motor is coaxially connected with the air compressor, the outlet of the air compressor is connected with the inlet of the electric proportional valve through the second filter, the outlet of the electric proportional valve is connected with the pneumatic motor, and the pneumatic motor is used for being connected with the cleaning device.
The invention also provides a road marking high-pressure cleaning device based on fuzzy control, which comprises a device body and the road marking high-pressure cleaning system based on fuzzy control, wherein the speed detection assembly is arranged on a wheel of the device body, the marking detection module is arranged at the front end part of the device body, and the output end of the nozzle output pressure control assembly is connected with a cleaning nozzle of the device body.
In summary, the road marking high-pressure cleaning system based on the fuzzy control and the cleaning device thereof provided by the embodiment can detect the traveling speed of the cleaning device and the integrity level of the road marking and convert the traveling speed and the integrity level of the road marking into signals to be input into the fuzzy controller, and the fuzzy controller performs fuzzy control on the output pressure of the high-pressure pump according to the input traveling speed of the cleaning mechanism and the integrity level of the road marking, so that reasonable control of the output jet pressure of the high-pressure jet generating system and the rotation speed of the cleaning disc under the corresponding speed and the integrity level of the road marking is realized. Therefore, the problems that the high-pressure water jet cleaning device in the prior art has only one adopted working mode, and when the vehicle speed needs to be reduced or the integrity of the marking is low, unnecessary energy loss is generated, and irreversible damage to the road surface is likely to occur are solved.
Drawings
Fig. 1 is a schematic flow chart of a road marking high-pressure cleaning system based on fuzzy control according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a road marking high-pressure cleaning system based on fuzzy control according to the first aspect of the present invention.
Fig. 3 is a schematic structural diagram of a road marking high-pressure cleaning system based on fuzzy control according to a second aspect of the present invention.
Fig. 4 is a schematic structural diagram of a road marking high-pressure cleaning device based on fuzzy control according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 2, a first embodiment of the present invention provides a road marking high pressure cleaning system based on fuzzy control, which includes a working condition machine 1, a speed detecting component 2, a marking detecting module 3, and a nozzle output pressure controlling component 4;
The control end of the speed detection assembly 2, the control end of the marking detection module 3 and the control end of the spray head output pressure control assembly 4 are electrically connected with the control end of the working condition machine 1, the output end of the speed detection assembly 2 is electrically connected with the input end of the working condition machine 1, the output end of the working condition machine 1 is electrically connected with the input end of the spray head output pressure control assembly 4, and the output end of the spray head output pressure control assembly 4 is used for being connected with a cleaning spray head of a cleaning device;
Wherein the working machine 1 is configured to implement the following steps by executing a computer program stored therein:
s101, receiving walking speed information acquired by the speed detection assembly 2 and subjected to amplification processing;
S102, receiving an initial image acquired by the marking detection module 3, and performing image processing on the initial image to generate a road surface marking integrity level corresponding to the initial image;
Specifically, step S102 includes: performing calibration processing on the initial image to generate a segmentation image capable of calibrating a road marking area in the initial image;
Carrying out graying treatment on the segmented image to generate a gray image;
Performing binarization processing on the gray level image to generate a target image without removing the area of the marked line;
And comparing the target image to generate a road surface marking integrity grade corresponding to the initial image, wherein the road surface marking integrity grade is the ratio of the total area of the target image and the gray level image.
Specifically, in this embodiment, after the cleaning device is powered on, the marking detection module 3 starts to collect the road surface information, shoots a road surface image, that is, the initial image, processes the initial image by using an image segmentation algorithm, marks out the road marking area in the initial image, after the marking is completed, performs the graying processing on the marked image, and performs the binarization processing on the image after the graying processing, so as to obtain the area without removing the marking, wherein the ratio of the area to the total area is the grading basis of the integrity grade of the road surface marking, and the integrity detection problem of the road surface performance can be solved according to the integrity grade of the road surface marking. The working condition machine 1 processes the image output marking integrity level through an image segmentation algorithm and a target detection algorithm, so that the detection speed of the road surface marking integrity is improved.
And S103, the walking speed information and the road surface marking integrity level are sent to the spray head output pressure control assembly 4 so as to control the output pressure of the cleaning spray head of the cleaning device.
In one possible embodiment of the present invention, the speed detecting assembly 2 includes a speed detecting module 21, a hall sensor 22, and a first controller 23, wherein an output end of the speed detecting module 21 is electrically connected to an input end of the hall sensor 22, an output end of the hall sensor 22 is electrically connected to an input end of the first controller 23, and an output end of the first controller 23 is electrically connected to an input end of the working machine 1;
wherein the speed detection module 21 is configured to acquire the walking speed of the cleaning device.
Specifically, in this embodiment, the speed detection module 21 may be configured at a rear wheel of the cleaning device, and is configured to detect a running speed of the cleaning device, where the hall sensor 22 amplifies the speed information collected by the speed detection module 21 and sends the speed information to the first controller 23, that is, the hall sensor 22 inputs the speed information into the first controller 23 after performing waveform conversion and shaping processing, and the first controller 23 converts an input signal into speed data and inputs the speed data to the working machine 1. The first controller 23 may be a single-chip microcomputer; it should be noted that in other embodiments, other types of first controllers may be used, and the present invention is not limited thereto, but these embodiments are all within the scope of the present invention.
In one possible embodiment of the present invention, the reticle detecting module 3 may be a camera.
Specifically, in this embodiment, the camera may be configured in the front portion of the cleaning device, for collecting the road surface marking information, and the camera forms a certain included angle with the road surface, so as to collect the marking of the road surface better. The camera shoots the information of the road surface to be cleaned and marked line images, the information is sent to the working condition machine 1 through a GigE interface, and the working condition machine 1 sends the signals obtained after processing to the fuzzy controller through a CAN interface; the processing of the working condition machine 1 on the image comprises the steps of dividing a standard line range in the image, graying the image after the image is divided to obtain a gray image, carrying out binarization processing on the gray image, and calculating the area of a black-white area to determine the road surface integrity level. It should be noted that in other embodiments, other types of reticle inspection modules may be used, and these embodiments are not limited in detail herein, but are within the scope of the present invention.
Referring to fig. 3, in one possible embodiment of the present invention, the nozzle output pressure control assembly 4 includes a fuzzy controller 41, a motor controller 42, a water tank 43, a shut-off valve 44, a booster pump 45, a first driving motor 46, a first filter 47, a second driving motor 48, a high pressure pump 49, an overflow valve 410, and a high pressure unloading valve;
The control end of the fuzzy controller 41 is electrically connected with the output end of the working condition machine 1, the output end of the fuzzy controller 41 is electrically connected with the control end of the motor controller 42, the output end of the motor controller 42 is connected with the control end of the first driving motor 46 and the control end of the second driving motor 48, the first driving motor 46 is coaxially connected with the booster pump 45, the water inlet of the booster pump 45 is connected with the stop valve 44, the stop valve 44 is connected with the water tank 43, the water outlet of the booster pump 45 is connected with the water inlet of the high-pressure pump 49 through the first filter 47, the high-pressure pump 49 is coaxially connected with the second driving motor 48, the water outlet of the high-pressure pump 49 is connected with the overflow valve 410 and the first interface of the high-pressure unloading valve, the outlet of the overflow valve 410 is connected with the water tank 43, and the second interface of the high-pressure unloading valve is used for being connected with a cleaning device.
Specifically, in this embodiment, the fuzzy controller 41 uses the speed and the road surface information as input values to perform fuzzy control on the rotation speed and the torque of the second driving motor 48, where the fuzzy control includes the fuzzy of the input signal, the determination of the membership degree of the input signal, the determination of the fuzzy control value of the output signal, and the anti-fuzzy. The fuzzy controller 41 performs fuzzification processing on the input data detected by the speed detection component 2, namely the walking speed information, the road surface marking integrity level, the preset cleaning device speed and the preset road surface marking integrity level, so as to obtain the corresponding fuzzy quantity and membership value of the cleaning device speed and the road surface marking integrity level, at this time, the fuzzy controller 41 searches the fuzzy control quantity in a preset fuzzy control library according to the obtained fuzzy quantity and membership value, and the searched fuzzy control quantity is defuzzified to finally generate the rotating speed and torque precision value of the driving motor.
In this embodiment, the fuzzy controller 41 sends the rotation speed and torque information of the driving motor to the motor controller 41, the motor controller 42 controls the second driving motor 48 according to the obtained rotation speed and torque information of the driving motor, and the motor speed and torque of the second driving motor 48 control the pressure output of the cleaning device; wherein, because of the accurate control of the motor controller 42 to the second driving motor 48, the second driving motor 48 can control the output pressure of the high-pressure pump 49 more accurately. In brief, the camera and the speed detection module on the cleaning device are signal input parts of the system, collect the information including cleaning speed and marking information to be removed from the road surface, output control signals to the motor control box of the high-pressure pump 49 in real time according to the collected information of the camera and the speed detection module, and control the output pressure of the high-pressure pump 49. It should be noted that in other embodiments, other types of nozzle output pressure control assemblies may be used, and these embodiments are not limited in detail herein, but are within the scope of the present invention.
In this embodiment, the ambiguity domain of the integrity level of the road surface mark is [0,1], the ambiguity subset is { NB, NS, O, PS, PB }, the representative mark integrity is ambiguous, more clear, and clear is exemplified: the maximum speed of the cleaning device can reach 0.7m/s when the marked line is more fuzzy, the speed domain of the cleaning mechanism is [0,0.7] m/s, the model set is { NB, NS, O, PS, PB }, and the speed of the cleaning device is slow, medium speed, fast and fast; the argument of the rotating speed of the driving motor is [950-1500] r/min, the fuzzy subset is { NB, NS, O, PS, PB }, and the rotating speed of the driving motor is slow, medium speed, fast and fast; the argument of the torque of the driving motor is [140-250] N.m, the fuzzy subset is { NB, NS, O, PS, PB }, and the torque of the driving motor is small, medium, large and large.
Setting expected values for the road marking integrity level domains [0,1] to be 0.5, setting control expected values for the speed domains [0,0.7] m/s of the cleaning device to be 0.4m/s, setting expected values for the motor rotation speed domains [950-1500] r/min to be 1200r/min, setting expected values for the motor torque domains [140-250] Nxm to be 170 Nxm, establishing a membership function of fuzzy quantity, and adopting a Gaussian membership function and a triangular membership function.
The driving motor is connected with the load pump, the torque and the rotating speed can be controlled according to the fuzzy control rule, the integrity of the marking is increased, the removal difficulty is increased, the water flow pressure is required to be increased, and the torque and the rotating speed of the motor are increased. Wherein, the fuzzy control rule is as follows:
1.I F(v＝NB)and(u＝NB)then(n＝T＝NB)
2.I F(v＝NB)and(u＝NS)then(n＝T＝NB)
3.I F(v＝NB)and(u＝O)then(n＝T＝NS)
4.I F(v＝NB)and(u＝PS)then(n＝T＝NS)
5.I F(v＝NB)and(u＝PB)then(n＝T＝O)
6.I F(v＝NS)and(u＝NB)then(n＝T＝NB)
7.I F(v＝NS)and(u＝NS)then(n＝T＝NS)
8.I F(v＝NS)and(u＝O)then(n＝T＝NS)
9.I F(v＝NS)and(u＝PS)then(n＝T＝O)
10.I F(v＝NS)and(u＝PB)then(n＝T＝PS)
11.I F(v＝O)and(u＝NB)then(n＝T＝NS)
12.I F(v＝O)and(u＝NS)then(n＝T＝NS)
13.I F(v＝O)and(u＝O)then(n＝T＝O)
14.I F(v＝O)and(u＝PS)then(n＝T＝PS)
15.I F(v＝O)and(u＝PB)then(n＝T＝PS)
16.I F(v＝PS)and(u＝NB)then(n＝T＝NS)
17.I F(v＝PS)and(u＝NS)then(n＝T＝O)
18.I F(v＝PS)and(u＝O)then(n＝T＝PS)
19.I F(v＝PS)and(u＝PS)then(n＝T＝PS)
20.I F(v＝PS)and(u＝PB)then(n＝T＝PB)
21.I F(v＝PB)and(u＝NB)then(n＝T＝O)
22.I F(v＝PB)and(u＝NS)then(n＝T＝PS)
23.I F(v＝PB)and(u＝O)then(n＝T＝PS)
24.I F(v＝PB)and(u＝PS)then(n＝T＝PB)
25.I F(v＝PB)and(u＝PB)then(n＝T＝PB)
the motor speed and torque fuzzy control has 25 rules, and a fuzzy control table for driving the motor is shown in table 1:
Table 1:
The fuzzy control rule searches the fuzzy control quantity in the established fuzzy control table according to the speed, the fuzzy quantity of the road surface marking integrity level and the membership, and the found fuzzy control quantity is subjected to reverse gelatinization to output the accurate values of the motor rotating speed and the motor torque to the motor controller.
In one possible embodiment of the present invention, the high-pressure unloading valve includes a two-position two-way pneumatic control valve 411, and a two-position four-way solenoid valve 412, wherein a first port of the two-position two-way pneumatic control valve 411 is connected to the water outlet of the high-pressure pump 49, a second port of the two-position two-way pneumatic control valve 411 is connected to the water tank 43, an input port of the two-position two-way pneumatic control valve 411 is connected to an output port of the two-position four-way solenoid valve 412, an output port of the two-position two-way pneumatic control valve 411 is connected to an input port of the two-position four-way solenoid valve 412, and a first port of the two-position four-way solenoid valve 412 is used for connection to a cleaning device.
Specifically, in the present embodiment, when the two-position four-way solenoid valve 412 is not energized, the two-position two-way pneumatic control valve 411 is closed, and the high-pressure jet generated by the high-pressure pump 49 returns to the water tank 43; when the two-position four-way solenoid valve 412 is energized, the two-position two-way pneumatic control valve 411 will open, and the high-pressure jet generated by the high-pressure pump 49 will enter the cleaning device. It should be noted that in other embodiments, other types of high-pressure unloading valves may be used, and these embodiments are not limited in detail herein, but are within the scope of the present invention.
In one possible embodiment of the present invention, the sprayer output pressure control assembly 4 further includes a pressure gauge 413, the pressure gauge 413 being connected to the outlet of the high pressure pump 49.
In particular, in this embodiment, the pressure gauge is a gauge that uses an elastic element as a sensing element to measure and indicate a pressure higher than the ambient pressure, and is very commonly used, and it is almost used in all industrial processes and scientific fields. Is widely visible in the fields of heating power pipe networks, oil and gas transmission, water and gas supply systems, vehicle maintenance factories, shops and the like. In particular, in the industrial process control and technical measurement process, the mechanical pressure gauge is increasingly widely used due to the characteristics of high mechanical strength, convenient production and the like of the elastic sensitive element of the mechanical pressure gauge. When the road marking high-pressure cleaning system based on fuzzy control is used, the internal pressure of the high-pressure pump 49 is displayed on the pressure gauge 413, and a user can adjust the pressure of the high-pressure pump 49 according to the pressure value displayed by the pressure gauge 413; the user can clearly know the current pressure of the high-pressure pump 49 through the pressure gauge 413.
Referring to fig. 2, in one possible embodiment of the present invention, the cleaning device further includes a nozzle rotation control assembly 5, a control end of the nozzle rotation control assembly 5 is electrically connected to a control end of the working machine 1, and an output end of the nozzle rotation control assembly 5 is used for being connected to a cleaning nozzle of the cleaning device.
In one possible embodiment of the present invention, further comprising:
preprocessing the walking speed information to generate an input voltage value;
And controlling the voltage value of the spray head rotation control assembly 5 according to the input voltage value so as to realize the rotation control of the cleaning spray head of the cleaning device.
Referring to fig. 3, in one possible embodiment of the present invention, the spray head rotation control assembly 5 includes a pneumatic motor 51, an electric proportional valve 52, a second filter 53, an air compressor 54, and a third driving motor 55;
The third driving motor 55 is coaxially connected with the air compressor 54, an outlet of the air compressor 54 is connected with an inlet of the electric proportional valve 52 through the second filter 53, an outlet of the electric proportional valve 52 is connected with the air motor 51, and the air motor 51 is used for being connected with a cleaning device.
Specifically, in this embodiment, the working machine 1 controls the rotation of the rotary nozzle according to the traveling speed information; the speed detection assembly 2 inputs the acquired walking speed signal of the cleaning device into the working machine 1 for frequent processing, the working machine 1 controls the voltage of the input electric proportional valve 52 according to the input voltage, namely controls the opening of the electric proportional valve 52 according to the magnitude of the input voltage, high-pressure gas enters the pneumatic motor 51 through the electric proportional valve 52, further controls the rotating speed of the pneumatic motor 51, finally drives the spray head to rotate by the pneumatic motor 51, and simultaneously maintains an included angle between the high-pressure jet and the ground of 30-40 degrees all the time when the marking is cleaned by the high-pressure jet. It should be noted that in other embodiments, other types of nozzle rotation control assemblies may be used, and these embodiments are not limited in detail herein, but are within the scope of the present invention.
In this embodiment, the road marking high-pressure cleaning system based on fuzzy control dynamically adjusts the rotation speed of the rotating nozzle of the cleaning device according to the walking speed information in the operation process of the cleaning device, so that the high-pressure jet can impact the marking at an optimal angle, and the marking removing effect of the high-pressure cleaning device is effectively improved.
In summary, the road marking high-pressure cleaning system based on fuzzy control can detect the traveling speed of the cleaning device and the integrity level of the road marking and convert the traveling speed and the integrity level of the road marking into signals to be input into the fuzzy controller, and the fuzzy controller can carry out fuzzy control on the output pressure of the high-pressure pump according to the input traveling speed of the cleaning mechanism and the integrity level of the road marking, namely, the reasonable operation power of the cleaning device can be automatically matched by detecting the traveling speed of the cleaning device and the integrity level of the road marking, and the operation power of the high-pressure cleaning device can be regulated in real time according to the integrity information of the road marking and the traveling speed of the cleaning device; the reasonable control of the jet pressure output by the high-pressure jet generating system and the rotating speed of the cleaning disc under the corresponding speed and the integrity level of the pavement marking is realized, because the power of the cleaning device in the operation process is completely controlled by the system, the unnecessary energy consumption of the highest operation power of the system still used when the cleaning speed is lower or the integrity level of the marking to be removed is lower is reduced, the intelligent degree of equipment is improved, and the operation time of the high-pressure cleaning mechanism is prolonged.
Referring to fig. 4, a second embodiment of the present invention provides a road marking high-pressure cleaning device based on fuzzy control, which includes a device body 6, and the road marking high-pressure cleaning system based on fuzzy control as described in any one of the above, the speed detecting component 2 is configured on a wheel of the device body 6, the marking detecting module 3 is configured at a front end of the device body 6, and an output end of the nozzle output pressure controlling component 4 is connected with a cleaning nozzle of the device body 6.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention.
Claims (10)
1. The road marking high-pressure cleaning system based on fuzzy control is characterized by comprising a working condition machine, a speed detection assembly, a marking detection module and a nozzle output pressure control assembly;
the control end of the speed detection assembly, the control end of the marking detection module and the control end of the spray head output pressure control assembly are electrically connected with the control end of the working condition machine, the output end of the speed detection assembly is electrically connected with the input end of the working condition machine, the output end of the working condition machine is electrically connected with the input end of the spray head output pressure control assembly, and the output end of the spray head output pressure control assembly is used for being connected with a cleaning spray head of the cleaning device;
Wherein the machine is configured to implement the following steps by executing a computer program stored therein:
Receiving walking speed information acquired by the speed detection assembly and amplified;
receiving an initial image acquired by the marking detection module, and performing image processing on the initial image to generate a road surface marking integrity grade corresponding to the initial image, wherein the road surface marking integrity grade comprises the following specific steps of:
performing calibration processing on the initial image to generate a segmentation image capable of calibrating a road marking area in the initial image;
Carrying out graying treatment on the segmented image to generate a gray image;
Performing binarization processing on the gray level image to generate a target image without removing the area of the marked line;
Comparing the target image to generate a road surface marking integrity grade corresponding to the initial image, wherein the road surface marking integrity grade is the ratio of the total area of the target image and the gray level image;
And sending the walking speed information and the road surface marking integrity grade to the spray head output pressure control assembly so as to control the output pressure of the cleaning spray head of the cleaning device.
2. The fuzzy control-based road marking high pressure cleaning system of claim 1, further comprising a spray head rotation control assembly, wherein a control end of the spray head rotation control assembly is electrically connected with a control end of the working machine, and an output end of the spray head rotation control assembly is used for being connected with a cleaning spray head of the cleaning device.
3. The fuzzy control-based road marking high pressure cleaning system of claim 2, further comprising:
preprocessing the walking speed information to generate an input voltage value;
And controlling the voltage value of the spray head rotation control assembly according to the input voltage value so as to realize the rotation control of the cleaning spray head of the cleaning device.
4. The fuzzy control based road marking high pressure cleaning system of claim 1, wherein the speed detection assembly comprises a speed detection module, a hall sensor, and a first controller, wherein an output end of the speed detection module is electrically connected with an input end of the hall sensor, an output end of the hall sensor is electrically connected with an input end of the first controller, and an output end of the first controller is electrically connected with an input end of the working machine;
the speed detection module is configured to acquire the walking speed of the cleaning device.
5. The fuzzy control based road marking high pressure cleaning system of claim 1, wherein the marking detection module is a camera.
6. The fuzzy control based road marking high pressure cleaning system of claim 1, wherein the spray head output pressure control assembly comprises a fuzzy controller, a motor controller, a water tank, a shut-off valve, a booster pump, a first drive motor, a first filter, a second drive motor, a high pressure pump, an overflow valve, and a high pressure unloading valve;
The control end of the fuzzy controller is electrically connected with the output end of the working condition machine, the output end of the fuzzy controller is electrically connected with the control end of the motor controller, the output end of the motor controller is connected with the control end of the first driving motor and the control end of the second driving motor, the first driving motor is coaxially connected with the booster pump, the water inlet of the booster pump is connected with the stop valve, the stop valve is connected with the water tank, the water outlet of the booster pump is connected with the water inlet of the high-pressure pump through the first filter, the high-pressure pump is coaxially connected with the second driving motor, the water outlet of the high-pressure pump is connected with the overflow valve and the first interface of the high-pressure unloading valve, the outlet of the overflow valve is connected with the water tank, and the second interface of the high-pressure unloading valve is used for being connected with the cleaning device.
7. The fuzzy control based road marking high pressure cleaning system of claim 6, wherein the high pressure unloading valve comprises a two-position two-way pneumatic control valve and a two-position four-way solenoid valve, a first interface of the two-position two-way pneumatic control valve is connected with the water outlet of the high pressure pump, a second interface of the two-position two-way pneumatic control valve is connected with the water tank, an input port of the two-position two-way pneumatic control valve is connected with an output port of the two-position four-way solenoid valve, an output port of the two-position two-way pneumatic control valve is connected with an input port of the two-position four-way solenoid valve, and a first interface of the two-position four-way solenoid valve is used for being connected with a cleaning device.
8. The fuzzy control based road marking high pressure cleaning system of claim 6, wherein the spray head output pressure control assembly further comprises a pressure gauge connected to the high pressure pump outlet.
9. The fuzzy control-based road marking high pressure cleaning system of claim 2, wherein the spray head rotation control assembly includes a pneumatic motor, an electrical proportional valve, a second filter, an air compressor, and a third drive motor;
The third driving motor is coaxially connected with the air compressor, the outlet of the air compressor is connected with the inlet of the electric proportional valve through the second filter, the outlet of the electric proportional valve is connected with the pneumatic motor, and the pneumatic motor is used for being connected with the cleaning device.
10. The road marking high-pressure cleaning device based on fuzzy control is characterized by comprising a device body and the road marking high-pressure cleaning system based on fuzzy control according to any one of claims 1 to 9, wherein the speed detection assembly is arranged on a wheel of the device body, the marking detection module is arranged at the front end part of the device body, and the output end of the nozzle output pressure control assembly is connected with a cleaning nozzle of the device body.
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| CN106245567A (en) * | 2016-08-31 | 2016-12-21 | 重庆广播电视大学 | A kind of road-cleaning System and method for based on cloud platform |
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| JPH0680007A (en) * | 1992-09-03 | 1994-03-22 | Omron Corp | Vehicle control device |
| DE102009006146A1 (en) * | 2009-01-26 | 2010-07-29 | Sandmaster Gesellschaft für Spielsandpflege und Umwelthygiene mbH | Mobile HD cleaning machine for outdoor plastic floors, and their application |
| KR102333543B1 (en) * | 2021-02-08 | 2021-12-01 | 권기혁 | System and mehtod for managing road surface condition |
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| CN103628439A (en) * | 2013-11-28 | 2014-03-12 | 江苏大学 | Ultra-high pressure water jet cleaning device for intelligently removing zebra stripes |
| CN106245567A (en) * | 2016-08-31 | 2016-12-21 | 重庆广播电视大学 | A kind of road-cleaning System and method for based on cloud platform |
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