CN105544440A - Automatic road sweeping trolley with distance measurement function - Google Patents
Automatic road sweeping trolley with distance measurement function Download PDFInfo
- Publication number
- CN105544440A CN105544440A CN201610049833.6A CN201610049833A CN105544440A CN 105544440 A CN105544440 A CN 105544440A CN 201610049833 A CN201610049833 A CN 201610049833A CN 105544440 A CN105544440 A CN 105544440A
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- China
- Prior art keywords
- camera
- distance measurement
- measurement function
- automatic road
- generating laser
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- 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
-
- 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
-
- 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
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- 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
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
Abstract
The invention provides an automatic road sweeping trolley with the distance measurement function. The automatic road sweeping trolley with the distance measurement function comprises a first camera, a second camera, a third camera, a computer, a dust collection port, a first laser emitter, a second laser emitter, a sweeping wheel, a trolley body, wheels and an upper computer. The first camera is located in the front of the top end of the trolley body. The second camera, the dust collection port, the first laser emitter and the second laser emitter are all located in the middle of the lower portion of the trolley body. The third camera is located behind the lower portion of the trolley body. The second camera is located between the first laser emitter and the second laser emitter. The sweeping wheel is located in the front of the lower portion of the trolley body. The automatic road sweeping trolley with the distance measurement function judges and measures the distance between the trolley and the edge of a curbstone through a laser triangulation method, and the computer is provided with an image interface operating module, an image processing module and an image display module. By means of the automatic road sweeping trolley with the distance measurement function, energy is saved, and human cost is reduced.
Description
Technical field
The present invention relates to a kind of vehicle, particularly, relate to a kind of automatic road sweeper with distance measurement function.
Background technology
Road sweeper is the new and effective cleaning equipment integrating road cleaning, garbage reclamation and transport, and as one of sanitation equipment, they are widely used in the cleaning of the important places such as highway, airport, town squares, uptown.Sweeping machine, while cleaning rubbish, can also carry out udst separation to the air dielectric on road.The automatic road sweeper with distance measurement function used in the market mostly is manually motor-driven or manual operation and realizes street cleaning, and operating personnel's workload is large, and environment is poor.
In road sweeper, the effect of driver controls car body and edge, sidewalk keeps certain distance and regulates travel speed exactly, the form of work is more single, difficulty is little, machine can be handed over to completely automatically complete, like this can not only the manual labor of liberate people, more people can also be made can to throw oneself in more valuable intellectual work and to go.
And the nowadays continuous lifting of human cost, if the manpower expenditure can cancelling this part, can save a large number of expenditure for enterprise.
In addition, use machine to replace manpower control road sweeper can also add efficiency and the standardization of big fill, reduce the consumption for the energy, energy conservation, reduce unnecessary waste.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of automatic road sweeper with distance measurement function, its energy conservation also reduces human cost.
According to an aspect of the present invention, a kind of automatic road sweeper with distance measurement function is provided, it is characterized in that, described in there is distance measurement function automatic road sweeper comprise the first camera, second camera, 3rd camera, computer, suction port, first generating laser, second generating laser, cleaning wheel, car body, wheel, host computer, on before the top that the first camera is positioned at car body, second camera, suction port, first generating laser, second generating laser is all positioned in the middle of the below of car body, and the 3rd camera is positioned at after the below of car body, and second camera is between the first generating laser and the second generating laser, and cleaning wheel is positioned at before the below of car body, computer, host computer is all positioned on the centre, top of car body, computer is electrically connected with host computer, wheel is connected with the scrolls beneath of car body, described in there is distance measurement function automatic road sweeper use laser triangulation determination method to judge to measure the distance with tooth edge, road, computer has graphic interface operational module, image processing module, image display.
Preferably, the front end of described car body is provided with car light.
Preferably, described suction port is connected with a dust sucting pipeline.
Preferably, described first camera, second camera, the 3rd camera, the first generating laser, the second generating laser are in order to realize the Real-Time Monitoring for vehicle and road edge distance by laser triangulation.
Preferably, described first generating laser, the second generating laser all adopt semiconductor laser.
Preferably, described first generating laser, the second generating laser can adopt red laser to locate.
Preferably, the automatic road sweeper described in distance measurement function uses background subtraction to calculate front rubbish quantity to adjust pace.
Preferably, described in there is distance measurement function automatic road sweeper select median filter method to realize the noise reduction of picture, median filter method is can the nonlinear signal processing technology of effective restraint speckle based on a kind of of sequencing statistical theory.
Compared with prior art, the present invention has following beneficial effect: the automatic road sweeper that the present invention uses machine to replace manpower to control to have distance measurement function can also add efficiency and the standardization of big fill, reduce the consumption for the energy, energy conservation, reduce unnecessary waste, reduce human cost.The method of the present invention's background difference judge front rubbish quantity number to adjust the speed of a motor vehicle to realize more efficiently and more energy-conservation cleaning effect.The present invention substitutes pilot control road-sweeper, and in real life, the mankind are obtained by eyes and brain, process and understand visual information.Along with the appearance of signal processing theory and computer, people can obtain ambient image with camera and convert thereof into data signal, and the present invention's computer realizes the overall process to Vision information processing.The present invention's machine vision substitutes the distance between human eye calculating vehicle and sidewalk tooth edge, by laser, keeps the relative distance on vehicle and sidewalk tooth edge.Thus alleviate the load of road-sweeper and improve sweeping efficiency, indirectly improve the quality of life of people.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation that the present invention has the automatic road sweeper of distance measurement function.
Fig. 2 is the fundamental diagram of the first generating laser or the second generating laser in the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the automatic road sweeper that the present invention has a distance measurement function comprises the first camera 1, second camera 2, 3rd camera 3, computer 4, suction port 5, first generating laser 6, second generating laser 7, cleaning wheel 8, car body 9, wheel 10, host computer 12, on before the top that the first camera 1 is positioned at car body 9, second camera 2, suction port 5, first generating laser 6, second generating laser 7 is all positioned in the middle of the below of car body 9, and the 3rd camera 3 is positioned at after the below of car body 9, and second camera 2 is between the first generating laser 6 and the second generating laser 7, and cleaning wheel 8 is positioned at before the below of car body 9, computer 4, host computer 12 is all positioned on the centre, top of car body 9, computer 4 is electrically connected with host computer 12, wheel 10 is connected with the scrolls beneath of car body 9, the described automatic road sweeper with distance measurement function uses laser triangulation determination method to judge to measure the distance with tooth edge, road, and computer has graphic interface operational module, image processing module, image display.The front end of car body 9 is provided with car light 11, so conveniently checks sidewalk tooth edge.Graphic interface operational module facilitates user to operate.Image processing module sets a threshold value, and when the brightness of each pixel is higher than display white during threshold value, brightness shows black lower than during threshold value.Image after the process of image display display image processing module terminates,
Suction port is connected with a dust sucting pipeline, can be used to dust suction to realize having the cleaning function of the automatic road sweeper of distance measurement function.
First camera, second camera, the 3rd camera, the first generating laser, the second generating laser are in order to realize the Real-Time Monitoring for vehicle and road edge distance by laser triangulation.First generating laser, the second generating laser all adopt semiconductor laser, and the volume of semiconductor laser is little, are easy to install.Laser output power is high, good directionality, color are pure, is not vulnerable to the interference of other light, is easy in binary image, be revealed as an independently hickie, and the convenient barycenter that calculates, for judging path, can realize Real-Time Monitoring, need not contact measurement.First generating laser, the second generating laser can adopt red laser to locate.First camera, second camera, the 3rd camera, the first generating laser, the second generating laser calculating have the automatic road sweeper of distance measurement function and the distance on sidewalk tooth edge, judge the state of vehicle thus.
Computer processes the data of the first camera, the data of second camera, the data of the 3rd camera.Computer adopts VisualBasic6.0 as the platform of image procossing.
As shown in Figure 2, the light beam that first generating laser or the second generating laser send and normal angle are γ, reflection ray AA ' and normal angle are α, sensor and AA ' angle are β, object distance is L1, at a distance of being L2, along with plane of reference Z1 moves y, hot spot on a sensor displacement is x, and the focal length of lens is f.Cross B, B ' make slavering over of straight line AA ' respectively, intersection point is C, D, draws formula (1):
Formula (2) can be calculated according to this formula and condition:
Get "-" when actual face Z2 is below the plane of reference, get "+" when actual face is on the plane of reference.Wherein L1, L2, α, β, γ are after system light path is determined, be all the skew x that facula mass center on sensor is obtained in known only requiring, the distance y of object movement just can determine.In order to make the displacement of hot spot more obvious, increase the sensitivity of vehicle for its condition discrimination, the angle of γ (be same angle with the γ in laser triangulation schematic diagram) can be increased, even run into arc so also can judge that road tooth adjusts vehicle body in time along situation better.When mounted, setting γ=60 °, the distance of camera and laser is 17cm.
The present invention uses background subtraction to calculate front rubbish quantity to adjust pace, background subtraction is also known as background subtraction, the principle of background subtraction is that present frame and background image are carried out difference to obtain motion target area, this method comparatively frame difference method can better identify and extract moving target, is a kind of method the most frequently used in current motion segmentation.But need structure one width background image, this width background image must not contain moving target, and constantly more should be able to newly arrive and adapt to the change of current background, the present invention adopts averaging method background modeling method to build background image, this algorithm speed is very fast, but changes more responsive to ambient lighting change and some dynamic backgrounds.The present invention uses laser as light source, irradiates the side on tooth edge, road, uses the image of camera shooting laser spots.Because the brightness ratio natural light of laser is all bright, when the present invention carries out binary conversion treatment to image, only threshold value need be heightened, just next independent hot spot can be stayed on image, other interference seldom, the present invention just directly can calculate the barycenter of hot spot to obtain the position of laser spots, then obtains the distance between the automatic road sweeper with distance measurement function and sidewalk tooth edge.
When carrying out gray processing process to image, the value only choosing red component is the result of gray processing, so just can filter out the impact of green glow and blue light, outstanding ruddiness; Secondly, for the white noise that some are little, the present invention selects median filter method to realize the noise reduction of picture, median filter method is can the nonlinear signal processing technology of effective restraint speckle based on a kind of of sequencing statistical theory, the general principle of median filter method is that the Mesophyticum of each point value in a neighborhood of this point of value of any in digital picture or Serial No. is replaced, allow the actual value that the pixel value of surrounding is close, thus eliminate isolated noise spot.
The present invention uses machine vision to replace human eye, laser triangulation determination method is used to judge to measure the distance with tooth edge, road, by instruction being sent to host computer by the mode of serial communication after Computer Aided Graphic Design, host computer realizes vehicle according to instruction adjustment vehicle body with this and travels along autonomous along sidewalk tooth.Laser triangulation determination method makes that laser output power is high, good directionality, color are pure, is not vulnerable to the interference of other light, is easy in binary image, be revealed as an independently hickie, and the convenient barycenter that calculates is for judging path.Laser triangulation determination method is using semiconductor laser as light source, and volume is little, is easy to install, and can realize Real-Time Monitoring, need not contact measurement.
The present invention can obtain ambient image with camera and convert thereof into data signal, realizes the overall process to Vision information processing with computer.The automatic road sweeper that the present invention uses machine to replace manpower to control to have distance measurement function can also add efficiency and the standardization of big fill, reduces the consumption for the energy, energy conservation, reduces unnecessary waste, reduces human cost.The present invention's machine vision substitutes the distance between human eye calculating vehicle and sidewalk tooth edge, by laser, kept the relative distance on vehicle and sidewalk tooth edge by software and hardware, thus alleviate the load of road-sweeper and improve sweeping efficiency, indirectly improve the quality of life of people.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. there is an automatic road sweeper for distance measurement function, it is characterized in that, described in there is distance measurement function automatic road sweeper comprise the first camera, second camera, 3rd camera, computer, suction port, first generating laser, second generating laser, cleaning wheel, car body, wheel, host computer, on before the top that the first camera is positioned at car body, second camera, suction port, first generating laser, second generating laser is all positioned in the middle of the below of car body, and the 3rd camera is positioned at after the below of car body, and second camera is between the first generating laser and the second generating laser, and cleaning wheel is positioned at before the below of car body, computer, host computer is all positioned on the centre, top of car body, computer is electrically connected with host computer, wheel is connected with the scrolls beneath of car body, described in there is distance measurement function automatic road sweeper use laser triangulation determination method to judge to measure the distance with tooth edge, road, computer has graphic interface operational module, image processing module, image display.
2. the automatic road sweeper with distance measurement function according to claim 1, it is characterized in that, the front end of described car body is provided with car light.
3. the automatic road sweeper with distance measurement function according to claim 1, is characterized in that, described suction port is connected with a dust sucting pipeline.
4. the automatic road sweeper with distance measurement function according to claim 1, it is characterized in that, described first camera, second camera, the 3rd camera, the first generating laser, the second generating laser are in order to realize the Real-Time Monitoring for vehicle and road edge distance by laser triangulation.
5. the automatic road sweeper with distance measurement function according to claim 1, is characterized in that, described first generating laser, the second generating laser all adopt semiconductor laser.
6. the automatic road sweeper with distance measurement function according to claim 1, is characterized in that, described first generating laser, the second generating laser all adopt red laser to locate.
7. the automatic road sweeper with distance measurement function according to claim 1, is characterized in that, described in there is distance measurement function automatic road sweeper use background subtraction to calculate front rubbish quantity to adjust pace.
8. the automatic road sweeper with distance measurement function according to claim 1, it is characterized in that, the described automatic road sweeper with distance measurement function selects median filter method to realize the noise reduction of picture, and median filter method is can the nonlinear signal processing technology of effective restraint speckle based on a kind of of sequencing statistical theory.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806054A (en) * | 2017-11-03 | 2018-03-16 | 福建龙马环卫装备股份有限公司 | Function vehicle operating region control method, device and storage medium |
| CN107858981A (en) * | 2017-11-03 | 2018-03-30 | 福建龙马环卫装备股份有限公司 | Function vehicle operation apparatus control method and system |
| 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 |
| CN108760584A (en) * | 2018-06-01 | 2018-11-06 | 济南盛泰电子科技有限公司 | A kind of integrated mobile monitoring car |
| CN110374045A (en) * | 2019-07-29 | 2019-10-25 | 哈尔滨工业大学 | A kind of intelligence de-icing method |
| CN110646807A (en) * | 2019-09-19 | 2020-01-03 | 上海兰宝传感科技股份有限公司 | Processing method for resisting ambient light interference based on laser triangulation system |
| CN110747791A (en) * | 2019-10-29 | 2020-02-04 | 徐州易尔环保科技有限公司 | Garbage sweeper |
| CN110921158A (en) * | 2019-11-30 | 2020-03-27 | 江苏悦达专用车有限公司 | Side-mounted garbage truck |
| CN113544332A (en) * | 2019-01-08 | 2021-10-22 | 罗伯特·博世有限公司 | Method for operating a cleaning vehicle |
| WO2022017537A1 (en) * | 2020-08-23 | 2022-01-27 | 中国长江三峡集团有限公司 | System and method for identifying fixed target object of lock wall utilizing lidar group |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022017537A1 (en) * | 2020-08-23 | 2022-01-27 | 中国长江三峡集团有限公司 | System and method for identifying fixed target object of lock wall utilizing lidar group |
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