AU2018445563B2 - Automatic control method for operations of road operating vehicle and road operating vehicle - Google Patents
Automatic control method for operations of road operating vehicle and road operating vehicle Download PDFInfo
- Publication number
- AU2018445563B2 AU2018445563B2 AU2018445563A AU2018445563A AU2018445563B2 AU 2018445563 B2 AU2018445563 B2 AU 2018445563B2 AU 2018445563 A AU2018445563 A AU 2018445563A AU 2018445563 A AU2018445563 A AU 2018445563A AU 2018445563 B2 AU2018445563 B2 AU 2018445563B2
- Authority
- AU
- Australia
- Prior art keywords
- road
- feature data
- worked
- working
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An automatic control method for operations of a road operating vehicle and the road operating vehicle applying said automatic control method. The automatic control method for operations of the road operating vehicle comprises: obtaining feature data of a road to be operated on; using feature data of a plurality of road templates of a road template database and the feature data of the road to be operated on so as to determine a matching road template, and retrieving a set of control parameters or control instructions corresponding to the matching road template of the road template database; according to the retrieved set of control parameters or control instructions, automatically controlling an operating mechanism of a road operating vehicle to adjust working parameters and/or working steps of the operating mechanism. The application of the described method may automatically select the working parameters and/or working steps of the operating mechanism for different road conditions, and improve the level of automatic control.
Description
W O 2 02 0 7 7 07 70 7 A 1|||||||||||||||||||||||||||||||||||||||III||||||||||||||||||||||||||||||i||||||||||||l||i OFFICE); iriifIX) #$ ii&ftY - k8)2, Beijing 100037 (CN)o
AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZWc
fi)): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), RIl (AM, AZ, BY, KG, KZ, RU, TJ, TM), IUI(AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG).
-J j [IdFTf *#tty- *,jK , (3))
[0001] The present application is based upon and claims priority to Chinese Application No. 201811201192.7, filed on October 16, 2018, with the title of the invention "AUTOMATIC OPERATION CONTROL METHOD FOR ROAD WORKING VEHICLE, AND ROAD WORKING VEHICLE", the entire contents of all of which are incorporated herein by reference.
[0002] The present disclosure relates to a special vehicle, in particular to an automatic operation control method of a road working vehicle, and the road working vehicle.
[0003] Road working vehicles are mainly applied to road facility work, for example, cleaning facilities on the road, sweeping the surface of the road, etc. At present, the control system of some of the road working vehicles such as the road sweeper may realize one-key operation in the selected mode. A driver manually operates buttons and transmits instructions to realize automatic control of the sweeping mechanism of the sweeper. However, when the working condition of the sweeping road surface changes, the operation parameter of the sweeper needs to be adjusted manually according to the working condition of the road surface, so the automatic control level is limited.
[0004] According to some embodiments of the present disclosure, an automatic operation control method of a road working vehicle is disclosed. By the method, at least one of working parameters and working steps of the working mechanism may be automatically selected for different working conditions of the road, and the automatic control level is increased. Meanwhile, the road working vehicle capable of applying the automatic control method is further disclosed. 1 18949750_1 (GH Matters) P116000.AU
[0005] According to an aspect of the present invention there is provided an automatic
operation control method of a road working vehicle. The automatic operation control method of the road working vehicle includes:
[0006] acquiring feature data of a road to be worked;
[0007] comparing feature data of a plurality of road models in a road model database with the feature data of the road to be worked to determine a matched road model, and obtaining a group of control parameters or control instructions corresponding matched road model in
the road model database; and
[0008] according to the obtained group of the control parameters or control instructions,
automatically controlling a working mechanism of the road working vehicle to adjust at least
one of a working parameter and a working step of the working mechanism; wherein the road
working vehicle is a road sweeper, and the working mechanism is a sweeping mechanism,
the feature data of the road to be worked or the feature data of the road model comprises at
least one of a group consisting of a road type, a road flatness, a road sign, a garbage type,
garbage distribution, a pedestrian position and a garbage granular size, and the working parameter comprises at least one of a group consisting of a driving speed, a raise dust degree,
an air quantity, a sweeping rotating speed and a water pressure.
[0009] In some embodiments, comparing the feature data of the plurality of road models in
a road model database with the feature data of the road to be worked in a fuzzy matching way, to determine the matched road model.
[0010] In some embodiments, the step of comparing feature data of a plurality of road models in a road model database with the feature data of the road to be worked to
determine a matched road model, includes:
[0011] comparing each feature data of each road model with each corresponding feature
data of the road to be worked, and if a difference or a ratio between a certain feature data of
one road model and the corresponding feature data of the road to be worked is in a preset range, determining that the feature data of the road model is matched the corresponding
feature data of the road to be worked; and
[0012] determining the road model with the largest number of feature data matched with that of the road to be worked in the plurality of road models as the matched road model.
2 18949750_1 (GHMatters) P116000.AU
[0013] In some embodiments, the automatic operation control method may further
include:
[0014] acquiring feature data of a road after work; and
[0015] comparing the feature data of the road after work with the feature data of the
corresponding road to be worked, and judging whether operation is qualified according to the comparison result.
[0016] In some embodiments, the automatic operation control method further includes: updating the control parameters or control instructions corresponding to the matched road
model according to the comparison result.
[0017] In some embodiments, the automatic operation control method further includes: adjusting at least one of the working parameter and the working step of the working
mechanism according to the comparison result.
[0018] In some embodiments, establishing the road model database includes:
[0019] acquiring feature data of a plurality of road models; and
[0020] distributing control parameters or control instructions to each road model according to the feature data of the road models.
[0021] In some embodiments,
[0022] the feature data of the road to be worked is acquired by acquiring and processing an image of the road to be worked; and/or
[0023] the feature data of the road to be worked is acquired by acquiring and processing an image of the road model.
[0024] In some embodiments, the image of the road to be worked or the image of the road model is acquired by a binocular camera.
[0025] Meanwhile, the present disclosure further discloses a road working vehicle,
including:
[0026] a working mechanism, configured to perform operation of the road working vehicle;
[0027] a first feature data acquisition device, configured to acquire feature data of the road to be worked;
[0028] a memory, configured to store a road model database, the road model database comprising feature data of a plurality of road models and multiple groups of control 3 18949750_1 (GHMatters) P116000.AU parameters or multiple groups of control instructions corresponding to the plurality of road models; and
[0029] a controller, connected with the working mechanism, the first feature data
acquisition device and the memory through signals, the controller being configured to
compare the feature data of a plurality of road models of the road model database and the feature data of the road to be worked to determine a matched road model, obtain one group of control parameters or control instructions corresponding to the matched road model, and
automatically control the working mechanism according to the obtained group of control
parameters or control instructions to adjust at least one of a working parameter and a
working step of the working mechanism;
[0030] wherein the road working vehicle is a road sweeper, and the working mechanism is
a sweeping mechanism, the feature data of the road to be worked or the feature data of the
road model comprises at least one of a group consisting of a road type, a road flatness, a road sign, a garbage type, garbage distribution, a pedestrian position and a garbage granular
size, and the working parameter comprises at least one of a group consisting of a driving speed, a raise dust degree, an air quantity, a sweeping rotating speed and a water pressure.
[0031] In some embodiments, the first feature data acquisition device includes:
[0032] a first camera, configured to acquire an image of the road to be worked; and
[0033] a first image processor, connected to the first camera and the controller through signals and configured to process the image of the road to be worked to acquire feature data
of the road to be worked.
[0034] In some embodiments, the road working vehicle further includes a second feature data acquisition device, configured to acquire feature data of a road after work; and the
controller is further connected with the second feature data acquisition device through signals and is configured to compare the feature data of the road after work with the feature
data of the corresponding road to be worked and judge whether the work is qualified
according to the comparison result.
[0035] In some embodiments, the second feature data acquisition device includes:
[0036] a second camera, configured to acquire an image of the road after work; and
[0037] a second image processor, connected to the second camera and the controller
4 18949750_1 (GHMatters) P116000.AU through signals and configured to process the image of the road after work to acquire feature data of the road after work.
[0038] Based on the automatic operation control method of the road working vehicle
provided by the present disclosure, the feature data of the road to be worked is acquired and
matched with the feature data of the road model in the road model database, so that the control parameters or control instructions of the working mechanism corresponding to the matched road model may be automatically selected to control the working mechanism,
which is helpful to improve the automatic control level of the road working vehicle during
work.
[0039] Other features and advantages of the present disclosure will become apparent by
the detailed destinations for exemplary embodiments of the present disclosure with reference to the following accompany drawings.
[0040] The accompanying drawings described herein are used to provide further
understanding of the present disclosure and constitute a part of the present disclosure. The schematic embodiments of the present disclosure and the description thereof are used to
explain the present disclosure, but do not constitute an inappropriate limitation to the present disclosure. In the accompanying drawings:
zO [0041] FIG. 1 is a schematic structural diagram for an operation control system of a road
working vehicle according to an embodiment of the present disclosure;
[0042] FIG. 2 is an exemplary flowchart of a method of establishing a road model database
in an automatic operation control method of a road working vehicle according to another embodiment of the present disclosure; and
[0043] FIG. 3 is an exemplary flowchart of an automatic control process of an automatic operation control method of a road working vehicle according to the embodiment shown in
FIG. 2.
[0044] The technical solutions in the embodiments of the present disclosure are described
5 18949750_1 (GHMatters) P116000.AU clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. The following description of the at least one exemplary embodiment is actually merely illustrative and never constitutes any limitation to the present disclosure and application or use thereof. All other embodiments made on the basis of the embodiments of the present disclosure by a person of ordinary skill in the art without paying any creative effort shall be included in the protection scope of the present disclosure.
[0045] Unless otherwise specified, relative arrangement, numerical expressions and values of parts and steps described in the embodiments do not limit the scope of the present
disclosure. Meanwhile, it should be understood that for the convenience of description, the
dimensions of each part shown in the accompanying drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to those of ordinary skill in the related field may not be discussed in detail, but, where appropriate,
the technologies, methods and equipment should be regarded as a part of the authorized specification. In all the examples shown and discussed herein, any specific value should be interpreted as merely exemplary rather than a limitation. Therefore, other examples of the
exemplary embodiments may have different values. It should be noted that similar reference
numerals and letters represent similar items in the accompanying drawings below. Therefore, once an item is defined in one drawing, it is unnecessary to further discuss the item in the subsequent drawings.
[0046] The automatic operation control method of the road working vehicle provided by
the embodiment of the present disclosure includes: feature data of a road to be worked are
acquired; feature data of a plurality of road models in a road model database are compared with the feature data of the road to be worked to determine a matched road model, and one
group of control parameters or control instructions corresponding to the matched road model in the road model database are obtained; and according to the obtained group of the
control parameters or control instructions, a working mechanism of the road working vehicle is automatically controlled to adjust at least one of a working parameter and a working step
of the working mechanism.
6 18949750_1 (GHMatters) P116000.AU
[0047] By the automatic operation control method of the road working vehicle provided by
the embodiment, the feature data of the road to be worked are acquired and matched with feature data of the road model in the road model database, so that at least one of the
working parameter and working step of the working mechanism of the road to be worked for
the current operation may be automatically controlled and adjusted through the control parameters or control instructions corresponding to the road model in the road model database, which is helpful to improve the automatic control level of the operation of the
road working vehicle.
[0048] In this embodiment, the road to be worked refers to a road to be operated when the
road working vehicle works, and the road model refers to some roads with representative
operation environments given for establishing the road model database and providing reference for the road to be worked when the road working vehicle works.
[0049] The feature data of the road to be worked or the feature data of the road model are
data which may reflecting the working environment of the road, for example, when the road
working vehicle is a road sweeper for sweeping a road surface, the feature data may include data that reflecting a road type, a road flatness, a road sign, a garbage type, garbage distribution, a pedestrian position or a garbage granular size.
[0050] As shown in FIG. 1, when a database is being established, feature data of a plurality of road models are acquired and then are stored into the road model database, for example,
a memory 2, then for the feature data of the road model, the suitable control parameters or
control instructions may be matched for the road model based on the existing operation practice experience or by the existing operation model, and the control parameters or
control instructions corresponding to the road model are stored into the road model
database to wait for transferring and using when the road working vehicle works.
[0051] When the road working vehicle works, the feature data of the road to be worked are firstly acquired, and then, for example, are transmitted to a controller 1 of a road working vehicle control system, and the feature data of the road to be worked are compared with the
feature data of the road model in the road model database through the controller 1to find a
road model with the feature data matched with the feature data of the road to be worked.
After the matched road model is found, the control parameters or control instructions of the
7 18949750_1 (GHMatters) P116000.AU matched road model are called from the road model database to control the working mechanism for the current work, so that for different roads to be worked, at least one of the suitable working parameter and working step may be automatically adjusted for the working mechanism.
[0052] When the road working vehicle is a road sweeper, the working parameter of the working mechanism may be at least one of a driving speed, a raise dust degree, an air quantity, a sweeping rotating speed and a water pressure.
[0053] As shown in FIG. 1, feature data may be acquired by a feature data acquisition
device, and the feature data of the road to be worked may be acquired by a first feature
acquisition device. The first feature acquisition device may be set as a first vision system, including a first camera 3 and a first image processor 4, wherein the first camera 3 shoots and acquires a video of the road to be worked when the road working vehicle works, and images from the video are processed by the first image processor 4, thereby acquiring the
feature data of the road to be worked. In some embodiments, the feature data of the road to
be worked may be acquired through ultrasonic detection and satellite remote sensing.
[0054] When the database is being established, the feature data of the road model may be acquired directly according to existing working experience data in addition to by the same
method as mentioned above.
[0055] Optionally, the first camera 3 may include a binocular camera. When the binocular
camera shoots a video for the road to be worked or the road model to acquire feature data,
the three-dimensional positioning on the road feature is more accurate, so that the acquired feature data are also more accurate.
[0056] In the embodiment, data transmission among the controller, the memory, the image processor and the camera may be realized through a CAN (controller area network) bus.
[0057] In some embodiments, comparing feature data of the plurality of road models in a road model database with the feature data of the road to be worked in a fuzzy matching way,
to determine the matched road model.
[0058] For example, the step of comparing feature data of a plurality of road models in a
road model database with feature data of the road to be worked to determine a matched
road model, may include:
8 18949750_1 (GHMatters) P116000.AU
[0059] each feature data of each road model is compared with each corresponding feature
data of the road to be worked, and if a difference or a ratio between a certain feature data of one road model and the corresponding feature data of the road to be worked is in a preset
range, it is determined that the certain feature data of the road model is matched the
corresponding feature data of the road to be worked; and
[0060] the road model with the largest number of feature data matched with that of the
road to be worked in plurality of road models is determined as the matched road model.
[0061] Fuzzy processing is performed when the feature data is matched, so that the road
model database is applied more widely, and meanwhile, the work speed of the system can be increased while it is ensured that a certain suitable degree of control parameters or control
instructions are found for the road to be worked.
[0062] In some embodiments, the automatic operation control method further includes:
feature data of a road after work are acquired; and the feature data of the road after work
are compared with the feature data of the corresponding road to be worked, and whether
operation is qualified is judged according to the comparison result.
[0063] The feature data of some roads that have been operated are acquired, then the feature data of the roads after work are compared with the feature data of the roads to be worked in some roads, and the work quality and effect may be evaluated according to the
comparison result.
[0064] As shown in FIG. 1, the feature data of the road after work may be acquired by a
second feature acquisition device. The second feature acquisition device may be provided with a second vision system, including a second camera 5 and a second image processor 6,
wherein the second camera 5 shoots and acquires a video of the road after work when the
road working vehicle works, and images from the video are processed by the second image processor 6, thereby acquiring the feature data of the road to be worked.
[0065] In some embodiments, the automatic operation control method further includes: updating the control parameters or control instructions corresponding to the matched road
model in the road model database according to above comparison result. After work is
performed by the control parameters or control instructions corresponding to the matched
road model, the control parameters or control instructions of the matched template in the
9 18949750_1 (GHMatters) P116000.AU road model database may be updated according to the comparison result before and after work, thereby optimizing the road model database.
[0066] In some embodiments, the automatic operation control method further includes: at
least one of the working parameter and the working step of the working mechanism is
adjusted according to above comparison result. When operation is performed by the control parameters or control instructions corresponding to the matched road model, at least one of the working parameter or the working step of the working mechanism for the current
operation is timely adjusted after the comparison result of the road before and after work,
thereby forming a feedback mechanism and being helpful to improve the operation quality during work.
[0067] In some embodiments, establishing a road model database includes:
[0068] acquiring feature data of a plurality of road models; and
[0069] the control parameters or control instructions are distributed to each road model
according to the feature data of the road model.
[0070] In some embodiments, the feature data of the road to be worked are acquired by acquiring and processing an image of the road to be worked; and/or the feature data of the road model are acquired by acquiring or processing the road model.
[0071] In some embodiments, the image of the road to be worked or the image of the road model is acquired by the binocular camera.
[0072] The embodiment of the present disclosure further discloses a road working vehicle, including: a working mechanism, configured to perform operation of the road working
vehicle; a first feature data acquisition device, configured to acquire feature data of a road to
be worked; a memory 2, configured to store a road model database, wherein the road model database includes feature data of a plurality of road models and multiple groups of control
parameters or control instructions corresponding to the plurality of road models; and a
controller 1, connected with the working mechanism, the feature data acquisition device and the memory 2 through signals, wherein the controller 1is configured to compare the feature
data of the plurality of road models of the road model database with the feature data of the
road to be worked to determine a matched road model, transfer one group of control
parameters or control instructions corresponding to the matched road model, and form
10 18949750_1 (GHMatters) P116000.AU control instructions according to the above called group of control parameters to automatically control the working mechanism to adjust at least one of a working parameter and a working step of the working mechanism.
[0073] As shown in FIG. 1, in some embodiments, the first feature data acquisition device
includes: a first camera 3, configured to acquire an image of a road to be worked; and a first image processor 4, connected with the first camera 3 and the controller 1 through signals and configured to process the image of the road to be worked to acquire the feature data of
the road to be worked.
[0074] In some embodiments, the road working vehicle further includes a second feature
data acquisition device, configured to acquire feature data of a road after work. The
controller is connected with the second feature data acquisition device through signals and is configured to compare the feature data of the road after work with the feature data of the corresponding road to be worked and judge whether the work is qualified according to the
comparison result.
[0075] As shown in FIG. 1, in some embodiments, the second feature data acquisition device includes: a second camera 5, configured to acquire an image of a road after work; and a second image processor 6, connected with the second camera 5 and the controller 1
through signals and configured to process the image of the road after work to acquire the feature data of the road after work.
2o [0076] The principle of the automatic operation control method of the road working vehicle
and the road working vehicle is illustrated below by a specific embodiment.
[0077] In this embodiment, the road working vehicle is a road sweeper, and the working
mechanism is a sweeping mechanism of the road sweeper. In this embodiment, the road to be worked is a road to be swept, the road model is a road surface model, and the road model database is a road surface model database. FIG. 2 is an establishing process of a road surface
model database of the embodiment. Firstly, some videos of some road surface models with different sweeping environments are acquired by the binocular camera, then video frames of
the video are extracted, the video frames are subjected to processing and data extraction by
the image processor, calculation is performed by the extracted data to acquire feature data
of the road model surfaces, the controller matches an appropriate control parameter for
11 18949750_1 (GH Matters) P116000.AU each road surface model by aiming at the feature data of each road surface model based on an existing experience data model and stores the parameter into the memory to form a road surface model database.
[0078] FIG. 3 is a flowchart of an automatic control process during sweeping of a road
sweeper according to the embodiment. In this embodiment, when the road sweeper performs sweeping, firstly, the first camera 3 shoots and acquires a video of a to-be-swept road surface, then the first image processor 4 performs data processing to obtain feature
data of the to-be-swept road surface and the feature data are stored in the memory 2. The
controller 1 transfers feature data of the road surface model one by one from the road model surface database to compare with the feature data of the to-be-swept road surface and find
a matched road surface model in a fuzzy matching way. The controller 1 transfers control
parameters or control instructions of the road surface model after finding the matched road model surface. Then according to the called control parameters or control instructions, at least one of a working parameter and a working step of the sweeping mechanism is set, and
the specific step and time sequence of operation of the sweeping mechanism are controlled
for sweeping. The working parameter of the sweeping mechanism includes a rotating speed of a secondary engine, a water spraying quantity, a rotating speed of a sweeping brush, etc.
[0079] After the to-be-swept road surface is swept, the second camera 5 acquires a road
surface video after sweeping, then the second image processor 6 is used to acquire feature L0 data of the road surface after sweeping, the controller 1 transfers the feature data of the
to-be-swept road surface before sweeping corresponding to the road surface after sweeping to compare with the feature data after sweeping, evaluates the sweeping quality according
to the comparison result, adjusts at least one of the working parameter and the working step
of the sweeping mechanism for the current work by aiming at a place with unideal sweeping effect in the comparison result, and optimizes and updates the control parameters or control
instructions of the road model surface matched with the road surface in the road model surface database.
[0080] In some embodiments, the controller and the image processor described above may
implemented as a general-purpose process, a programmable logic controller (PLC), a digital
signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable
12 18949750_1 (GHMatters) P116000.AU gate array (FPGA) or other programmable logic devices, a discrete gate or a transistor logic device, a discrete hardware assembly or any appropriate combination thereof for performing the function described by the present disclosure.
[0081] Finally, it should be noted that the above embodiments are merely intended to
illustrate the technical solutions of the present disclosure and are not to limit them. Although the present disclosure has been illustrated in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that modification may be
made on the specific embodiments of the present disclosure or equivalent replacement may
be made on part of the technical features; and the modification and the equivalent replacement should be covered within the protection scope of the technical solutions
claimed by the present disclosure without departing from the spirit of the technical solutions
of the present disclosure.
[0082] It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common
general knowledge in the art, in Australia or any other country.
[0083] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the
word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or
/0 addition of further features in various embodiments of the invention.
13 18949750_1 (GHMatters) P116000.AU
Claims (13)
1. An automatic operation control method of a road working vehicle, comprising:
acquiring feature data of a road to be worked;
comparing feature data of a plurality of road models in a road model database with the
feature data of the road to be worked to determine a matched road model, and obtaining a
group of control parameters or control instructions corresponding to the matched road
model in the road model database; and
according to the obtained group of the control parameters or control instructions,
automatically controlling a working mechanism of the road working vehicle to adjust at least
one of a working parameter and a working step of the working mechanism;
wherein the road working vehicle is a road sweeper, and the working mechanism is a
sweeping mechanism, the feature data of the road to be worked or the feature data of the
road model comprises at least one of a group consisting of a road type, a road flatness, a
road sign, a garbage type, garbage distribution, a pedestrian position and a garbage granular
size, and the working parameter comprises at least one of a group consisting of a driving
speed, a raise dust degree, an air quantity, a sweeping rotating speed and a water pressure.
2. The automatic operation control method according to claim 1, wherein comparing
the feature data of the plurality of road models in a road model database with the feature
data of the road to be worked in a fuzzy matching way to determine the matched road
model.
3. The automatic operation control method according to claim 1, wherein the step of
comparing feature data of a plurality of road models in a road model database with the
feature data of the road to be worked to determine a matched road model, comprises:
comparing each feature data of each road model with each corresponding feature data
14 18949750_1 (GHMatters) P116000.AU of the road to be worked, and if a difference or a ratio between a certain feature data of one road model and the corresponding feature data of the road to be worked is in a preset range, determining that the certain feature data of the road model is matched with the corresponding feature data of the road to be worked; and determining the road model having the largest number of feature data matched with that of the road to be worked in the plurality of road models as the matched road model.
4. The automatic operation control method according to claim 1, further comprising:
acquiring feature data of a road after work; and
comparing the feature data of the road after work with the feature data of the
corresponding road to be worked, and judging whether work is qualified according to a
comparison result.
5. The automatic operation control method according to claim 4, further comprising:
updating the control parameters or control instructions corresponding to the matched road
model according to the comparison result.
6. The automatic operation control method according to claim 4, further comprising:
adjusting at least one of the working parameter and the working step of the working
mechanism according to the comparison result.
7. The automatic operation control method according to claim 1, wherein the step of
establishing the road model database, comprises:
acquiring feature data of a plurality of road models; and
distributing control parameters or control instructions to each road model according to
the feature data of the road model.
15 18949750_1 (GHMatters) P116000.AU
8. The automatic operation control method according to claim 1, wherein
acquiring the feature data of the road to be worked by acquiring and processing an
image of the road to be worked; and/or
acquiring the feature data of the road to be worked by acquiring and processing an
image of the road model.
9. The automatic operation control method according to claim 8, wherein the image of
the road to be worked or the image of the road model is acquired by a binocular camera.
10. A road working vehicle, comprising:
a working mechanism, configured to perform work of the road working vehicle;
a first feature data acquisition device, configured to acquire feature data of the road to
be worked;
a memory, configured to store a road model database, the road model database
comprising feature data of a plurality of road models and multiple groups of control
parameters or multiple groups of control instructions corresponding to the plurality of road
models; and
a controller, connected with the working mechanism, the first feature data acquisition
device and the memory through signals, the controller being configured to compare the
feature data of a plurality of road models of the road model database and the feature data of
the road to be worked to determine a matched road model, obtain one group of control
parameters or control instructions corresponding to the matched road model, and
automatically control the working mechanism according to the obtained group of control
parameters or control instructions to adjust at least one of a working parameter and a
working step of the working mechanism;
wherein the road working vehicle is a road sweeper, and the working mechanism is a
16 18949750_1 (GHMatters) P116000.AU sweeping mechanism, the feature data of the road to be worked or the feature data of the road model comprises at least one of a group consisting of a road type, a road flatness, a road sign, a garbage type, garbage distribution, a pedestrian position and a garbage granular size, and the working parameter comprises at least one of a group consisting of a driving speed, a raise dust degree, an air quantity, a sweeping rotating speed and a water pressure.
11. The road working vehicle according to claim 10, wherein the first feature data
acquisition device comprises:
a first camera, configured to acquire an image of the road to be worked; and
a first image processor, connected to the first camera and the controller through signals
and configured to process the image of the road to be worked to acquire feature data of the
road to be worked.
12. The road working vehicle according to claim 10, further comprising: a second feature
data acquisition device,configured to acquire feature data of a road after work, wherein the
controller is further connected with the second feature data acquisition device through
signals and is configured to compare the feature data of the road after work with the feature
data of the corresponding road to be worked and judge whether work is qualified according
to the comparison result.
13. The road working vehicle according to claim 12, wherein the second feature data
acquisition device comprises:
a second camera, configured to acquire an image of the road after work; and
a second image processor, connected to the second camera and the controller through
signals and configured to process the image of the road after work to acquire feature data of
the road after work.
17 18949750_1 (GHMatters) P116000.AU
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811201192.7 | 2018-10-16 | ||
| CN201811201192.7A CN109407606A (en) | 2018-10-16 | 2018-10-16 | The operation autocontrol method and road work vehicle of road work vehicle |
| PCT/CN2018/114541 WO2020077707A1 (en) | 2018-10-16 | 2018-11-08 | Automatic control method for operations of road operating vehicle and road operating vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2018445563A1 AU2018445563A1 (en) | 2021-05-13 |
| AU2018445563B2 true AU2018445563B2 (en) | 2022-09-29 |
Family
ID=65467212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2018445563A Active AU2018445563B2 (en) | 2018-10-16 | 2018-11-08 | Automatic control method for operations of road operating vehicle and road operating vehicle |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN109407606A (en) |
| AU (1) | AU2018445563B2 (en) |
| PH (1) | PH12021550860A1 (en) |
| WO (1) | WO2020077707A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110424310A (en) * | 2019-07-19 | 2019-11-08 | 安徽名扬刷业有限公司 | One kind sweeping squeegee device and its sweeps path method |
| CN110670521A (en) * | 2019-09-18 | 2020-01-10 | 欧凌 | Sweeper, system for automatically adjusting rotating speed of visual sensing brush and sweeping method |
| CN111515047A (en) * | 2020-05-07 | 2020-08-11 | 福建龙马环卫装备股份有限公司 | Intelligent control method for operation mode of sprinkler |
| CN111733743B (en) * | 2020-06-17 | 2022-03-04 | 广州赛特智能科技有限公司 | Automatic cleaning method and cleaning system |
| CN112419122B (en) * | 2020-11-17 | 2024-03-05 | 南京汽车集团有限公司 | Data processing method of road operation vehicle |
| PL4039883T3 (en) * | 2021-02-05 | 2023-12-27 | Joseph Vögele AG | Plausibility check of an installation data set for a road construction machine |
| CN114941448B (en) * | 2021-02-07 | 2023-09-05 | 广东博智林机器人有限公司 | Mortar cleaning method, device, system and storage medium |
| CN113718691A (en) * | 2021-09-17 | 2021-11-30 | 酷哇环境技术有限公司 | Intelligent wind direction control system of sweeper |
| CN114369986A (en) * | 2021-11-05 | 2022-04-19 | 广西路桥工程集团有限公司 | Road surface flatness detection device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050246088A1 (en) * | 1995-06-08 | 2005-11-03 | Doherty John A | Surface condition sensing and treatment systems, and associated methods |
| JP2017115387A (en) * | 2015-12-24 | 2017-06-29 | 株式会社Ｎｉｐｐｏ | Construction machine automatic control system |
| CN107239774A (en) * | 2017-07-27 | 2017-10-10 | 深圳市盛路物联通讯技术有限公司 | A kind of road surface intelligent cleaning method and device |
| CN108376241A (en) * | 2018-01-26 | 2018-08-07 | 深圳市易成自动驾驶技术有限公司 | Rubbish pick-up method, rubbish pickup vehicle and computer readable storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| US10329723B2 (en) * | 2014-12-18 | 2019-06-25 | Federal Signal Corporation | Vehicle with internal and/or external monitoring |
| CN106702937A (en) * | 2017-03-07 | 2017-05-24 | 浙江工业大学 | Sanitation vehicle with automatic sweeping function and automatic driving method thereof |
| CN207959078U (en) * | 2017-11-06 | 2018-10-12 | 徐工集团工程机械有限公司 | Environmental sanitation operation-control system and sweeper |
| CN107881958A (en) * | 2017-11-06 | 2018-04-06 | 徐工集团工程机械有限公司 | Environmental sanitation job control method, system and sweeper |
-
2018
- 2018-10-16 CN CN201811201192.7A patent/CN109407606A/en active Pending
- 2018-11-08 WO PCT/CN2018/114541 patent/WO2020077707A1/en active Application Filing
- 2018-11-08 AU AU2018445563A patent/AU2018445563B2/en active Active
-
2021
- 2021-04-16 PH PH12021550860A patent/PH12021550860A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050246088A1 (en) * | 1995-06-08 | 2005-11-03 | Doherty John A | Surface condition sensing and treatment systems, and associated methods |
| JP2017115387A (en) * | 2015-12-24 | 2017-06-29 | 株式会社Ｎｉｐｐｏ | Construction machine automatic control system |
| CN107239774A (en) * | 2017-07-27 | 2017-10-10 | 深圳市盛路物联通讯技术有限公司 | A kind of road surface intelligent cleaning method and device |
| CN108376241A (en) * | 2018-01-26 | 2018-08-07 | 深圳市易成自动驾驶技术有限公司 | Rubbish pick-up method, rubbish pickup vehicle and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109407606A (en) | 2019-03-01 |
| AU2018445563A1 (en) | 2021-05-13 |
| WO2020077707A1 (en) | 2020-04-23 |
| PH12021550860A1 (en) | 2021-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2018445563B2 (en) | Automatic control method for operations of road operating vehicle and road operating vehicle | |
| US11748620B2 (en) | Generating ground truth for machine learning from time series elements | |
| JP6720415B2 (en) | Bandwidth constrained image processing for autonomous vehicles | |
| CN110471058A (en) | The system and method detected automatically for trailer attribute | |
| DE102018100182A1 (en) | Occupant-specific autonomous vehicle control system and method | |
| JP6567170B2 (en) | Automated vehicle location method | |
| US20200309538A1 (en) | System for producing and/or updating a digital model of a digital map | |
| US11520339B2 (en) | Systems and methods for changing a destination of an autonomous vehicle in real-time | |
| DE102020128153A1 (en) | SAMPLING OF DRIVING SCENARIOS FOR TRAINING/COORDINATION OF MACHINE LEARNING MODELS FOR VEHICLES | |
| WO2014032660A1 (en) | Method for electronic recognition of traffic signs | |
| CA3136909A1 (en) | Systems and methods for simultaneous localization and mapping using asynchronous multi-view cameras | |
| DE102021125979A1 (en) | Systems and methods for mobile night delivery robots with hybrid infrared and strobe illumination | |
| WO2019206478A1 (en) | Method and vehicle system for passenger recognition by autonomous vehicles | |
| CN109739267A (en) | Follow the determination method in path | |
| DE102020134834A1 (en) | OBJECT TRACKING TO SUPPORT AUTONOMOUS VEHICLE NAVIGATION | |
| DE102020134835A1 (en) | LONG-TERM OBJECT TRACKING TO SUPPORT AUTONOMOUS VEHICLE NAVIGATION | |
| DE102010030068A1 (en) | Method for processing e.g. image sequence in vehicle, involves transcoding image data received by vehicle, where transcoded image data is transmitted over wireless interface of vehicle | |
| DE102020123587A1 (en) | OPERATING AN AUTONOMOUS VEHICLE BASED ON THE AVAILABILITY OF NAVIGATION INFORMATION | |
| EP3112214B1 (en) | Method for controlling a headlight of a vehicle, method for generating position data for controlling a headlight of a vehicle and method for operating a lighting system of a vehicle | |
| CN109532378A (en) | A kind of chassis automatic regulating system based on camera | |
| CN104883381B (en) | The data access method and system of distributed storage | |
| JP2022522638A (en) | Systems and methods for image normalization | |
| DE112020001581T5 (en) | INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD AND PROGRAM | |
| CN110378168A (en) | The method, apparatus and terminal of polymorphic type barrier fusion | |
| US20220180677A1 (en) | Alighting point guide system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGA | Letters patent sealed or granted (standard patent) |