CN106740406A - A kind of unmanned sprinkling truck and watering method - Google Patents
A kind of unmanned sprinkling truck and watering method Download PDFInfo
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- CN106740406A CN106740406A CN201710088366.2A CN201710088366A CN106740406A CN 106740406 A CN106740406 A CN 106740406A CN 201710088366 A CN201710088366 A CN 201710088366A CN 106740406 A CN106740406 A CN 106740406A
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- sprinkling truck
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- 238000000034 method Methods 0.000 title claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000004153 renaturation Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003973 irrigation Methods 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- -1 use cost is higher Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/30—Spraying vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- 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
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Public Health (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to special vehicle technical field, specifically a kind of unmanned sprinkling truck and watering method, the sprinkling truck includes sprinkling truck body and is installed on the Unmanned Systems of sprinkling truck body interior；Sprinkling truck body includes sprinkling truck driving system and automatic water system；Unmanned Systems include multiple perceptual positioning systems and control system；The input of described control system is connected with perceptual positioning system, and output end is connected with sprinkling truck driving system and automatic water system；Described perceptual positioning system is arranged on unmanned sprinkling truck body.Unmanned Systems are set up on the existing sprinkling truck body of the present invention, unmanned sprinkling truck is travelled along predetermined paths and sprinkled water according to preset program, human pilot is freed from the uninteresting heavy driving of renaturation, and form the watering demand distribution map in whole block or whole city using abundant perceptual positioning system, and then watering route and watering amount to multiple unmanned sprinkling trucks carries out Dynamic Programming.
Description
Technical field
The invention belongs to special vehicle technical field, specifically a kind of unmanned sprinkling truck and watering method.
Background technology
At present, sprinkling truck is mainly used in the sprinkler irrigation of afforestation, high-speed isolated band plant irrigation, Street surface cleaning, road
Side landscape etc. is sprayed.At least need human pilot to drive sprinkling truck in real work to spray, use cost is higher, wastes people
Power.The travel route on sprinkling truck is relatively fixed, it is necessary to human pilot drives sprinkling truck is sprayed along route and sprinkle water, to driving
The driving behavior of this repeatability is very uninteresting for personnel.
The content of the invention
The invention provides a kind of simple structure, human pilot can be freed from the uninteresting heavy driving of renaturation, together
When reduce human cost unmanned sprinkling truck.
Technical solution of the present invention is described with reference to the drawings as follows：
A kind of unmanned sprinkling truck, the sprinkling truck includes sprinkling truck body 20 and is installed on inside sprinkling truck body 20
Unmanned Systems 10；Described sprinkling truck body 20 includes sprinkling truck driving system 30 and automatic water system 40；Described
Unmanned Systems 10 include multiple perceptual positioning systems 110 and control system 120；The input of described control system 120
It is connected with perceptual positioning system 110, output end is connected with sprinkling truck driving system 30 and automatic water system 40；Described perception
Alignment system 110 is arranged on unmanned sprinkling truck body 20.
Described sprinkling truck driving system 30 includes four-wheel steering system 310；Described four-wheel steering system 310 includes connecing
Receive the steering controller 312 of the steering controling signal of bus 320；Described steering controller 312 is by signal transmission to front-wheel steer
Controller 313 and rear-axle steering controller 317.
Described four-wheel steering system 310 includes being installed on the standby steering wheel 311 in driver's cabin or in Remote room.
Described automatic water system 40 is including automatic water system controller 410, moisture storage capacity monitoring sensor and automatically
Priming apparatus；Described automatic water system controller 410 receive the spray control signal of the transmission of bus 320, GES with
And steering angle signal；Described moisture storage capacity monitoring sensor is arranged on inside water tank, sends the signal to control system 120
In；Described control system 120 is connected with automatic watering apparatus；Described automatic watering apparatus and the water filling device of filling up area are certainly
Dynamic connection.
Described perceptual positioning system 110 also includes the road moisture sensor and the road that are installed on road infrastructure
Both sides vegetation state monitoring apparatus；Described road moisture sensor is connected with control system 120；Described control system 120
Receive the vegetation status signal that the transmission of vegetation state monitoring apparatus comes.
Alternatively, above-mentioned control system or controller can use automobile-used ECU of the prior art, it would however also be possible to employ
Other computing units such as GPU or FPGA.
Described unmanned sprinkling truck is front and rear symmetrical structure.
A kind of watering method based on above-mentioned unmanned sprinkling truck, comprises the following steps：
401st, start, Initialize installation is carried out to unmanned sprinkling truck, set and treat watering point position；
402nd, by this truck position of perceptual positioning system detectio, road or watering amount needed for vegetation, a position is put according to waiting to sprinkle water
Put the Dynamic Programming distribution map to form watering route；
403rd, control system 120 carries out path planning according to above-mentioned distribution map to unmanned sprinkling truck driving system；
404th, unmanned sprinkling truck driving system is travelled to position to be sprinkled water according to programme path；
405th, automatic water system is sprinkled water according to the control signal of control system；
406th, perceptual positioning system detectio judges whether the watering of this place completesIf completing, into step 407, if not completing,
Return to step 405；
407th, unmanned sprinkling truck is according to whether there is next place's watering task, it is determined whether terminate watering operation, if not
Complete, then return to step 402, if completing, into step 408；
408th, watering operation, unmanned sprinkling truck auto-returned storehouse or other stops are terminated.
Additionally, during watering, unmanned sprinkling truck carries out automatic watering according to itself moisture storage capacity.
Beneficial effects of the present invention are：
1st, the present invention sets up Unmanned Systems on existing sprinkling truck body, it is possessed unmanned function, nobody
Sprinkling truck is driven to be travelled along predetermined paths and sprinkled water according to preset program, can be uninteresting heavy from renaturation by human pilot
Freed in driving, while reducing human cost.
2nd, the steering present invention employs the symmetrical car body of four-wheel steering system is more flexible, and operation is more flexible, is conducive to
The watering operation of narrow regions.
3rd, the present invention forms the watering demand distribution in whole block or whole city using abundant perceptual positioning system
Figure, and then watering route and watering amount to multiple unmanned sprinkling trucks carries out Dynamic Programming.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment in unmanned sprinkling truck of the invention；
Fig. 2 is that the system of Unmanned Systems in the present invention constitutes block schematic illustration；
Fig. 3 is a kind of embodiment schematic diagram of sprinkling truck driving system in the present invention；
Fig. 4 is unmanned sprinkler method flow diagram of the invention.
In figure：10th, Unmanned Systems；20th, sprinkling truck body；30th, sprinkling truck driving system；40th, automatic water system；
110th, perceptual positioning system；120th, control system；310th, four-wheel steering system；311st, standby steering wheel；312nd, steering controller；
313rd, front-wheel steer controller；314th, front-wheel steer motor；315th, front-wheel director；316th, front-wheel；317th, rear-axle steering control
Device；320th, bus；41st, automatic water system controller.
Specific embodiment
Embodiment one
Refering to Fig. 1, Fig. 2, a kind of unmanned sprinkling truck, the sprinkling truck includes sprinkling truck body 20 and is installed on sprinkling truck
Unmanned Systems 10 inside body 20；Described sprinkling truck body 20 includes that sprinkling truck driving system 30 and Self-watering are filled
Put 40；Described Unmanned Systems 10 include multiple perceptual positioning systems 110 and control system 120；Described control system
120 input is connected with perceptual positioning system 110, output end and sprinkling truck driving system 30 and the phase of automatic water system 40
Even；Described perceptual positioning system 110 is arranged on unmanned sprinkling truck body 20, for gathering unmanned sprinkling truck
The information such as position, surrounding road condition environment, and the information input that will be collected is to control system 120, control system 120 enters row information
Process and vehicle driving system 30 and automatic water system 40 in output control information to sprinkling truck, unmanned sprinkling truck is held
The corresponding automatic running of row and Self-watering task.
Described perceptual positioning system 110 also includes the road moisture sensor and the road that are installed on road infrastructure
Both sides vegetation state monitoring apparatus；Monitor in real time is carried out to the road moisture in certain area, vegetation institute water requirement etc., and is formed
The watering demand distribution map in the region；Multiple such perceptual positioning systems 110 can form whole block or whole city
Watering demand distribution map, and then watering route and watering amount to multiple unmanned sprinkling trucks carries out Dynamic Programming.It is described
Road moisture sensor be connected with control system 120；Described control system 120 receives the transmission of vegetation state monitoring apparatus and comes
Vegetation status signal, and according to vegetation status signal calculate needed for watering amount.
Refering to Fig. 3, described sprinkling truck driving system 30 includes four-wheel steering system 310；Described four-wheel steering system
310 include steering controller 312, and steering controller 312 receives the steering controling signal of bus 320, and by the signal transmission to preceding
Wheel steering controller 313 and rear-axle steering controller 317, front-wheel steer controller 313 and rear-axle steering controller 317 are controlled respectively
Front-wheel steer motor 314 processed and rear-axle steering motor, front-wheel steer motor 314 and rear-axle steering motor respectively with front-wheel director
315 are connected with rear-axle steering device so as to drive front-wheel 316 and trailing wheel while being turned to, and reduce radius of turn.The present invention is used
The steering of the symmetrical car body of four-wheel steering system is more flexible, operates more flexible, is conducive to the watering operation of narrow regions.
Refering to Fig. 3, described four-wheel steering system 310 includes being installed on the standby side in driver's cabin or in Remote room
To disk 311, under special operation condition, it is necessary to driver intervention steering operation when, by standby steering wheel 311 control front-wheel 316 or
Trailing wheel is turned to.
Refering to Fig. 1, Fig. 3, described automatic water system 40 is monitored including automatic water system controller 410, moisture storage capacity
Sensor and automatic watering apparatus；Described automatic water system controller 410 receives the spray control letter of the transmission of bus 320
Number, GES and steering angle signal, and then control watering device to discharge different watering amounts；Described moisture storage capacity monitoring
Sensor is arranged on inside water tank, the surplus water in real-time monitoring water tank, and transmits the signal to control system 120, control
System processed 120 judges whether that returning to filling up area is added water by calculating surplus water and watering amount needed for region to be sprinkled water；Work as control
When system processed 120 needs to be added water by calculating unmanned sprinkling truck, the control sprinkling truck running gear of control system 120
System 30 sails filling up area into, and described automatic watering apparatus are connected, are added water automatically with the water filling device of filling up area.
Described unmanned sprinkling truck is front and rear symmetrical structure, is not provided with driver's cabin, maximally utilizes sprinkling truck body
20 volume, carries more big yield, reduces number of water, improves operational efficiency.
Alternatively, above-mentioned control system or controller can use automobile-used ECU of the prior art, it would however also be possible to employ
Other computing units such as GPU or FPGA.
Refering to Fig. 4, a kind of watering method based on above-mentioned unmanned sprinkling truck is comprised the following steps：
401st, start, Initialize installation is carried out to unmanned sprinkling truck, set and treat watering point position；
402nd, by this truck position of perceptual positioning system detectio, road or watering amount needed for vegetation, a position is put according to waiting to sprinkle water
Put the Dynamic Programming distribution map to form watering route；
403rd, control system 120 carries out path planning according to above-mentioned distribution map to unmanned sprinkling truck driving system；
404th, unmanned sprinkling truck driving system is travelled to position to be sprinkled water according to programme path；
405th, automatic water system is sprinkled water according to the control signal of control system；
406th, perceptual positioning system detectio judges whether the watering of this place completesIf completing, into step 407, if not completing,
Return to step 405；
407th, unmanned sprinkling truck is according to whether there is next place's watering task, it is determined whether terminate watering operation, if not
Complete, then return to step 402, if completing, into step 408；
408th, watering operation, unmanned sprinkling truck auto-returned storehouse or other stops are terminated.
Additionally, during watering, unmanned sprinkling truck carries out automatic watering according to itself moisture storage capacity.
The present invention sets up Unmanned Systems on existing sprinkling truck body, it is possessed unmanned function, and nobody drives
Sail sprinkling truck to be travelled along predetermined paths and sprinkled water according to preset program, by human pilot from the uninteresting heavy driving of renaturation
Free, while reducing human cost.And form whole block or whole city using abundant perceptual positioning system
Watering demand distribution map, and then watering route and watering amount to multiple unmanned sprinkling trucks carries out Dynamic Programming.
Claims (7)
1. a kind of unmanned sprinkling truck, it is characterised in that the sprinkling truck includes sprinkling truck body (20) and is installed on sprinkling truck
The internal Unmanned Systems (10) of body (20)；Described sprinkling truck body (20) is including sprinkling truck driving system (30) and certainly
Dynamic watering device (40)；Described Unmanned Systems (10) include multiple perceptual positioning systems (110) and control system
(120)；The input of described control system (120) is connected with perceptual positioning system (110), output end and sprinkling truck running gear
System (30) is connected with automatic water system (40)；Described perceptual positioning system (110) is arranged on unmanned sprinkling truck body
(20) on.
2. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described sprinkling truck driving system
(30) including four-wheel steering system (310)；Described four-wheel steering system (310) is including receiving bus (320) course changing control letter
Number steering controller (312)；Described steering controller (312) by signal transmission to front-wheel steer controller (313) and after
Wheel steering controller (317).
3. a kind of unmanned sprinkling truck according to claim 2, it is characterised in that described four-wheel steering system
(310) the standby steering wheel (311) including being installed in driver's cabin or in Remote room.
4. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described automatic water system (40)
Including automatic water system controller (410), moisture storage capacity monitoring sensor and automatic watering apparatus；Described automatic water system
Controller (410) receives spray control signal, GES and the steering angle signal of bus (320) transmission；Described storage
Water quantity monitoring sensor is arranged on inside water tank, in sending the signal to control system (120)；Described control system (120)
It is connected with automatic watering apparatus；Described automatic watering apparatus are connected automatically with the water filling device of filling up area.
5. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described perceptual positioning system
(110) the road moisture sensor and both sides of the road vegetation state monitoring apparatus that are installed on road infrastructure are also included；Institute
The road moisture sensor stated is connected with control system (120)；Described control system (120) receives vegetation state monitoring apparatus
The vegetation status signal that transmission comes.
6. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described unmanned sprinkling truck is
Front and rear symmetrical structure.
7. a kind of watering method on the unmanned sprinkling truck described in any one of utilization claim 1 to 6, comprises the following steps：
401st, start, Initialize installation is carried out to unmanned sprinkling truck, set and treat watering point position；
402nd, by this truck position of perceptual positioning system detectio, road or watering amount needed for vegetation, a position shape is put according to waiting to sprinkle water
Into the Dynamic Programming distribution map of watering route；
403rd, control system 120 carries out path planning according to above-mentioned distribution map to unmanned sprinkling truck driving system；
404th, unmanned sprinkling truck driving system is travelled to position to be sprinkled water according to programme path；
405th, automatic water system is sprinkled water according to the control signal of control system；
406th, perceptual positioning system detectio judges whether the watering of this place completes, if completing, into step 407, if not completing, returns
Step 405；
407th, unmanned sprinkling truck is according to whether there is next place's watering task, it is determined whether terminate watering operation, if not completing,
Then return to step 402, if completing, into step 408；
408th, watering operation, unmanned sprinkling truck auto-returned stop are terminated.
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| CN201710088366.2A CN106740406A (en) | 2017-02-20 | 2017-02-20 | A kind of unmanned sprinkling truck and watering method |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107230345A (en) * | 2017-07-27 | 2017-10-03 | 深圳市盛路物联通讯技术有限公司 | A kind of urban environment monitoring and managing method and system |
| CN107386185A (en) * | 2017-07-26 | 2017-11-24 | 合肥新坞岩机械科技有限公司 | A kind of automobile-used water distribution system of water sprinkling path |
| CN107390585A (en) * | 2017-08-03 | 2017-11-24 | 安徽信息工程学院 | City watering managing and control system and its management-control method based on GPS location |
| CN107403548A (en) * | 2017-07-28 | 2017-11-28 | 武汉依迅北斗空间技术有限公司 | The scheduling system and dispatching method on a kind of sprinkling truck |
| CN107574782A (en) * | 2017-09-22 | 2018-01-12 | 陕西路盾公路工程有限公司 | Remote control sprinkling truck for airport ground |
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| CN108157134A (en) * | 2017-12-13 | 2018-06-15 | 深圳市易成自动驾驶技术有限公司 | Unmanned watering method, sprinkling truck and computer readable storage medium |
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| CN109235352A (en) * | 2018-09-14 | 2019-01-18 | 中建八局第建设有限公司 | A kind of construction site dynamic cruising and fugitive dust observing and controlling robot |
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| CN110144844A (en) * | 2019-04-16 | 2019-08-20 | 安徽酷哇机器人有限公司 | Unmanned watering method and sprinkling truck |
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| CN110232496A (en) * | 2019-04-24 | 2019-09-13 | 安徽酷哇机器人有限公司 | The dispatching method on unmanned sprinkling truck |
| CN111119114A (en) * | 2019-12-31 | 2020-05-08 | 合肥移顺信息技术有限公司 | Sprinkling control method and electronic equipment |
| CN111184483A (en) * | 2020-01-19 | 2020-05-22 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
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