CN108238101A - For the automatic control system and autocontrol method of sweeper - Google Patents
For the automatic control system and autocontrol method of sweeper Download PDFInfo
- Publication number
- CN108238101A CN108238101A CN201711433183.6A CN201711433183A CN108238101A CN 108238101 A CN108238101 A CN 108238101A CN 201711433183 A CN201711433183 A CN 201711433183A CN 108238101 A CN108238101 A CN 108238101A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- sweeper
- distance
- sensor
- head
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to technical field of vehicle control, and in particular to a kind of automatic control system and control method for sweeper.Automatic control system of the present invention for sweeper includes display setup module, front distance sensor, range sensor afterwards, controller and steering wheel rotary actuator, the controller can respectively with the display setup module, the front distance sensor and the rear range sensor communication connection, and the front distance sensor and the rear collected range information of range sensor can be compared with the safe distance, judge whether the head of the vehicle body shifts, and the angle that should be rotated according to the steering wheel of the deviation angle calculating sweeper on the head of the vehicle body.By using the automatic control system and autocontrol method of the present invention for sweeper, the distance of vehicle body and road edge in driving procedure can be automatically controlled, the traffic route corrected mistake in time reduces the working strength of driver.
Description
Technical field
The invention belongs to technical field of vehicle control, and in particular to a kind of automatic control system for sweeper and automatic
Control method.
Background technology
Sweeping machine works when carrying out cleaning road generally along roadside.When driver is necessary in cleaning process
It carves the variation for paying attention to road position and vehicle heading is constantly corrected according to road variation, easily produced after working long hours
Raw fatigue and scatterbrained phenomenon, cause to clean the deviation of circuit, more serious or even can cause safety accident.
Invention content
The purpose of the present invention is to solve above-mentioned at least one problem, which is by the following technical programs
It realizes.
The present invention proposes a kind of automatic control system for sweeper, including：
Setup module is shown, for inputting the safe distance of the vehicle body of the sweeper and road edge；
Front distance sensor, set on the head of the vehicle body, for measure the head of the vehicle body and road edge away from
From；
Range sensor afterwards, set on the tail portion of the vehicle body, for measure the tail portion of the vehicle body and road edge away from
From；
Controller, the controller can respectively with it is described display setup module, the front distance sensor and it is described after
Range sensor communication connection, and can by the front distance sensor and it is described after range sensor collect data information with
The safe distance is compared, and judges whether the head of the vehicle body shifts, and according to the inclined of the head of the vehicle body
Move the angle that the steering wheel of sweeper described in angle calculation should rotate；
Steering wheel rotary actuator, the steering wheel rotary actuator can be according to the controller calculate gained
The angle that the steering wheel of sweeper should rotate controls the steering wheel to be rotated.
Further, the front distance sensor and the rear Distance-sensing are set in the sweeper driving process jointly
The vehicle body is close to the side of road edge.
Further, the front distance sensor is set on the front bumper of the vehicle body, and the rear range sensor is set
In on the rear bumper of the vehicle body.
Further, the front distance sensor and the rear Distance-sensing are infrared ray sensor.
The invention also provides a kind of autocontrol method for sweeper, according to described above for sweeper
Automatic control system is implemented, and includes the following steps：
The sweeper is rested in into road edge, and input the vehicle body and road roadside by the display setup module
The safe distance of edge；
By the front distance sensor and it is described after range sensor detect in real time the vehicle body and road edge away from
From, and compared with the safe distance；
Whether the head for judging the vehicle body according to comparing result shifts；
If the head of the vehicle body shifts, the sweeper is calculated according to the deviation angle on the head of the vehicle body
The angle that should rotate of steering wheel, and send out rotational angle command signal；
The steering wheel is rotated by corresponding angle according to the rotational angle command signal.
Further, the safe distance of the vehicle body and road edge is inputted by way of input through keyboard.
Further, if the vehicle body and road that the front distance sensor detects respectively with the rear range sensor
The distance of Road Edge is equal, then judges that the head of the vehicle body does not shift.
It, can be automatically accurate by using the automatic control system and autocontrol method of the present invention for sweeper
The distance of vehicle body and road edge in driving procedure really is controlled, the traffic route corrected mistake in time reduces the work of driver
Make intensity, while improve the effect of road-cleaning.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the composition structure diagram of the embodiment of the present invention；
Fig. 2 is according to the method flow diagram that embodiment progress sweeper automatically controls in Fig. 1.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although this public affairs is shown in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to be best understood from the disclosure, and can be by this public affairs on the contrary, providing these embodiments
The range opened completely is communicated to those skilled in the art.
Fig. 1 is the composition structure diagram of the embodiment of the present invention.Fig. 2 is automatic according to embodiment progress sweeper in Fig. 1
The method flow diagram of control.As shown in Figure 1, the automatic control system for sweeper in the present embodiment, is set including display
Module, front distance sensor, rear range sensor controller and steering wheel rotary actuator.Wherein, display setup module is used for
Input the vehicle body of sweeper and the safe distance of road edge.Front distance sensor is set on the head of vehicle body, for measuring vehicle body
Head and road edge distance.Range sensor is set on the tail portion of vehicle body afterwards, for measuring the tail portion of vehicle body and road roadside
The distance of edge.Controller can connect, and energy with display setup module, front distance sensor and the communication of rear range sensor respectively
Front distance sensor and rear range sensor enough are collected range information to compare with safe distance, judge the head of vehicle body
Whether shift, and the angle that should be rotated according to the steering wheel of the deviation angle calculating sweeper on the head of vehicle body.Steering wheel
The angle control direction disk that the steering wheel of sweeper that rotary actuator can calculate gained according to controller should rotate is turned
It is dynamic.
Further, front distance sensor and rear Distance-sensing are jointly set on vehicle body in sweeper driving process close to road
The side at edge.And front distance sensor is set on the front bumper of vehicle body, rear range sensor is set on the rear bumper of vehicle body
On.
Further, front distance sensor and rear Distance-sensing are infrared ray sensor.
The automatic control system for sweeper in the present embodiment carries out the control of sweeper, as shown in Fig. 2, packet
Include following steps：
Sweeper is rested in into road edge, and pass through show setup module input vehicle body and road edge safety away from
From, and by safe distance storage in the controller.
Detect the distance of vehicle body and road edge in real time by front distance sensor and rear Distance-sensing, and by testing result
Controller is sent to, and is compared with safe distance.
Whether the head for judging vehicle body according to comparing result shifts.
When the head of vehicle body shifts, the steering wheel of sweeper is calculated according to the deviation angle on the head of vehicle body to be turned
Dynamic angle, and send out rotational angle command signal to steering wheel Rotation Controllers.
When the head of vehicle body does not shift, then continue through front distance sensor and rear Distance-sensing detects vehicle in real time
The distance of body and road edge, and testing result is sent to controller, and compared with safe distance.
Steering wheel is rotated by corresponding angle according to rotational angle command signal, corrects vehicle heading.
Further, the safe distance of vehicle body and road edge is inputted by way of input through keyboard.
Further, if vehicle body and the distance of road edge that front distance sensor detects respectively with rear range sensor
It is equal, then judge that the head of vehicle body does not shift.
It, can be automatically accurate by using the automatic control system and autocontrol method of the present invention for sweeper
The distance of vehicle body and road edge in driving procedure really is controlled, the traffic route corrected mistake in time reduces the work of driver
Make intensity, while improve the effect of road-cleaning.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (7)
1. a kind of automatic control system for sweeper, which is characterized in that including：
Setup module is shown, for inputting the safe distance of the vehicle body of the sweeper and road edge；
Front distance sensor, set on the head of the vehicle body, for measuring the distance on the head of the vehicle body and road edge；
Range sensor afterwards, set on the tail portion of the vehicle body, for measuring the distance of the tail portion of the vehicle body and road edge；
Controller, the controller can show setup module, the front distance sensor and the rear distance with described respectively
Sensor communication connect, and can by the front distance sensor and it is described after range sensor collect range information with it is described
Safe distance is compared, and judges whether the head of the vehicle body shifts, and the deviation angle on the head according to the vehicle body
Degree calculates the angle that the steering wheel of the sweeper should rotate；
Steering wheel rotary actuator, the steering wheel rotary actuator can calculate the cleaning of gained according to the controller
The angle that the steering wheel of vehicle should rotate controls the steering wheel to be rotated.
2. the automatic control system according to claim 1 for sweeper, which is characterized in that the front distance sensor
It is set on vehicle body described in the sweeper driving process jointly close to the side of road edge with the rear Distance-sensing.
3. the automatic control system according to claim 2 for sweeper, which is characterized in that the front distance sensor
On the front bumper of the vehicle body, the rear range sensor is set on the rear bumper of the vehicle body.
4. the automatic control system according to claim 3 for sweeper, which is characterized in that the front distance sensor
It is infrared ray sensor with the rear Distance-sensing.
5. a kind of autocontrol method for sweeper, which is characterized in that according to the use described in any one of claim 1-4
Implemented in the automatic control system of sweeper, included the following steps：
The sweeper is rested in into road edge, and the vehicle body and road edge are inputted by the display setup module
Safe distance；
Detect the distance of the vehicle body and road edge in real time by the front distance sensor and the rear range sensor, and
It is compared with the safe distance；
Whether the head for judging the vehicle body according to comparing result shifts；
If the head of the vehicle body shifts, the side of the sweeper is calculated according to the deviation angle on the head of the vehicle body
The angle that should be rotated to disk, and send out rotational angle command signal；
The steering wheel is rotated by corresponding angle according to the rotational angle command signal.
6. the autocontrol method according to claim 5 for sweeper, which is characterized in that pass through the side of input through keyboard
Formula inputs the safe distance of the vehicle body and road edge.
7. the autocontrol method according to claim 5 for sweeper, which is characterized in that if the front distance senses
Device and the rear range sensor vehicle body detected respectively are equal with the distance of road edge, then judge the vehicle body
Head does not shift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433183.6A CN108238101A (en) | 2017-12-26 | 2017-12-26 | For the automatic control system and autocontrol method of sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433183.6A CN108238101A (en) | 2017-12-26 | 2017-12-26 | For the automatic control system and autocontrol method of sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108238101A true CN108238101A (en) | 2018-07-03 |
Family
ID=62701284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711433183.6A Pending CN108238101A (en) | 2017-12-26 | 2017-12-26 | For the automatic control system and autocontrol method of sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108238101A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721931A (en) * | 2021-01-18 | 2021-04-30 | 智马达汽车有限公司 | Vehicle meeting method, device, equipment and storage medium |
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| CN102632835A (en) * | 2011-02-11 | 2012-08-15 | 斯堪尼亚商用车有限公司 | Lane departure warning system and a method for a lane departure warning system |
| CN104210488A (en) * | 2014-07-30 | 2014-12-17 | 浙江吉利控股集团有限公司 | Method and device for preventing vehicle from colliding with road edge |
| CN104590120A (en) * | 2014-12-02 | 2015-05-06 | 重庆交通大学 | Automobile self-adaptive image assistance passing method and system |
| CN105544442A (en) * | 2016-01-25 | 2016-05-04 | 河南隆源电动车有限公司 | Rubbish sweeping trolley |
| JP2017530053A (en) * | 2014-10-07 | 2017-10-12 | ジェイテクト ユーロップ | Ensuring safety of driving support functions in power steering |
| CN206594527U (en) * | 2017-03-24 | 2017-10-27 | 西南石油大学 | A kind of intelligent barrier avoiding cart system |
| CN107472359A (en) * | 2016-06-07 | 2017-12-15 | 德尔福技术有限公司 | Using the automotive vehicle steering control system of lane position deviation |
-
2017
- 2017-12-26 CN CN201711433183.6A patent/CN108238101A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632835A (en) * | 2011-02-11 | 2012-08-15 | 斯堪尼亚商用车有限公司 | Lane departure warning system and a method for a lane departure warning system |
| CN104210488A (en) * | 2014-07-30 | 2014-12-17 | 浙江吉利控股集团有限公司 | Method and device for preventing vehicle from colliding with road edge |
| JP2017530053A (en) * | 2014-10-07 | 2017-10-12 | ジェイテクト ユーロップ | Ensuring safety of driving support functions in power steering |
| CN104590120A (en) * | 2014-12-02 | 2015-05-06 | 重庆交通大学 | Automobile self-adaptive image assistance passing method and system |
| CN105544442A (en) * | 2016-01-25 | 2016-05-04 | 河南隆源电动车有限公司 | Rubbish sweeping trolley |
| CN107472359A (en) * | 2016-06-07 | 2017-12-15 | 德尔福技术有限公司 | Using the automotive vehicle steering control system of lane position deviation |
| CN206594527U (en) * | 2017-03-24 | 2017-10-27 | 西南石油大学 | A kind of intelligent barrier avoiding cart system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112721931A (en) * | 2021-01-18 | 2021-04-30 | 智马达汽车有限公司 | Vehicle meeting method, device, equipment and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180703 |
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| RJ01 | Rejection of invention patent application after publication |