CN108316202A - A kind of intelligent sweeping truck system based on 3D laser radars - Google Patents
A kind of intelligent sweeping truck system based on 3D laser radars Download PDFInfo
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- CN108316202A CN108316202A CN201810098390.9A CN201810098390A CN108316202A CN 108316202 A CN108316202 A CN 108316202A CN 201810098390 A CN201810098390 A CN 201810098390A CN 108316202 A CN108316202 A CN 108316202A
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of intelligent sweeping truck systems based on 3D laser radars, including：Cloud Server, mobile terminal and cleaning vehicle, mobile terminal is communicated to connect by wireless network and Cloud Server, and cleaning vehicle includes laser radar module, image capture module, image processing module, display unit, pressure sensor, communication module, cleaning unit, holder and central processing unit；Holder includes scan control module, and laser radar module is connect with scan control module respectively with image capture module, and scan control module is connect with the central processing unit；Cleaning unit includes pwm control circuit and electric motor units, and pwm control circuit is connect with electric motor units；Image processing module, display unit, pressure sensor, communication module and pwm control circuit are connect with central processing unit respectively, and central processing unit is connect by the communication module with the Cloud Server；The present invention effectively reduces the cost of radar system, realizes sweeper intelligence.
Description
Technical field
The present invention relates to environmental technology field, especially a kind of intelligent sweeping truck system based on 3D laser radars.
Background technology
It is detected in scientific domain in the modern times, radar imagery is an important research contents, it has widened conventional radar
Concept enables people to see more detailed target information by radar screen, has the work such as round-the-clock, remote work
Feature is widely used in military and civilian field, including battle reconnaissance, guidance, target identification, resource investigation, landform survey
It paints；3D laser radars are one and are related to multi-direction multi-field comprehensive imaging radar, using the directionality of laser, are concerned with
Property, monochromaticjty and the infrared characteristics such as round-the-clock, 3D laser infrared radar imagings system is in geology detecting, guided missile tracking, aerospace
Equal civilian or militaries field extensive use, build 3D laser infrared radar imaging systems, to Study of Laser range measurement principle, three-dimensional imaging
It building method and improves laser radar performance and plays an important roll, the laser range finder of mesh single-point on the market has compared often
See, but it can only measure the distance of specified point in target, compare laser range finder, the price of laser radar product is just on the market
It is much higher.Reduce laser radar cost, make its closer to it is civilian be to have major issue to be solved.
Cloud computing wins rapidly user's as technology emerging in recent years, advantage flexible with its, convenient, at low cost
Favor, every field is used widely in production and living, can be cloud meter in view of the application development present situation of cloud computing technology
The application calculated in green technology provides solid technical support.
Cleaning vehicle is current chief city's road cleaning tool, but current cleaning vehicle mostly uses manual control and cleans system
The start and stop of system, purging system majority use constant speed mode, and partly use gear shift mode is also traditional stepping setting, not
Can not can be intelligently stopped according to rubbish loading condition according to pavement garbage information intelligent speed governing, surface conditions, around
Environment is bad, can see it is low in the case of tend not to judge whether ground object can effectively be cleaned, and for municipal cleansing system
For system, clean at present vehicle arrange an order according to class and grade or by manually rule of thumb carrying out, can not accomplish science, efficiently utilize manpower,
Material resources reaches clean effect, often results in the waste of human and material resources, the energy, while shortening vehicle ages.
Invention content
To solve the above-mentioned problems, the present invention proposes a kind of intelligent sweeping truck system based on 3D laser radars.
Specifically, a kind of intelligent sweeping truck system based on 3D laser radars, including：Cloud Server, mobile terminal and clear
Clean vehicle, the mobile terminal are communicated to connect by wireless network and the Cloud Server, and the cleaning vehicle includes laser radar mould
Block, image capture module, image processing module, display unit, pressure sensor, communication module, cleaning unit, holder and center
Processing unit；
The holder includes scan control module, the laser radar module and described image acquisition module respectively with the scanning
Control module connects, and the scan control module is connect with the central processing unit；
The cleaning unit includes pwm control circuit and electric motor units, and the pwm control circuit is connect with the electric motor units；
Described image processing module, display unit, pressure sensor, communication module and pwm control circuit respectively with the center
Processing unit connects, and the central processing unit is connect by the communication module with the Cloud Server.
Preferably, the central processing unit is AVR single chip.
Preferably, the scan control module is MCU.
Preferably, the central processing unit is connect with the scan control module by cable.
Preferably, the laser radar module is a wordline laser device, and a wordline laser device is arranged in the holder
On.
Preferably, described image acquisition module is USB camera, and the USB camera is arranged on the holder.
Preferably, the pressure sensor is set to the vehicle-mounted dustbin bottom of the cleaning vehicle.
Preferably, the communication module is 3G/4G/WIFI modules.
Preferably, the central processing unit is also associated with GPS/ big dipper multi-mode locating modules.
The beneficial effects of the present invention are：2D laser radars, USB camera are combined with holder, control holder rotation obtains
Take each point phase information to obtain out the three-dimensional information of target, then scanned graphics is obtained through image procossing
As so that according to the output power of motor of scanned automatic regulating cleaner, effect is cleaned to reach best, in addition, when vehicle-mounted
Purging system is automatically closed when dustbin is filled, is effectively saved the energy, extends vehicle ages；Cloud Server combination vehicle road
The case where data informations intellectual analysis different sections of highway such as diameter, fully loaded time need to clean, and according to the work of analysis situation output optimization
Industry calendar, effectively raises working efficiency, avoids the waste of human and material resources resource.
Description of the drawings
Fig. 1 is a kind of intelligent sweeping truck system schematic diagram based on 3D laser radars of the present invention.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control illustrates this hair
Bright specific implementation mode.
As shown in Figure 1, a kind of intelligent sweeping truck system based on 3D laser radars, including：Cloud Server, mobile terminal and
Vehicle is cleaned, the mobile terminal is communicated to connect by wireless network and the Cloud Server, and the cleaning vehicle includes laser radar
Module, image capture module, image processing module, display unit, pressure sensor, communication module, cleaning unit, holder and in
Central Processing Unit；
The holder includes scan control module, the laser radar module and described image acquisition module respectively with the scanning
Control module connects, and the scan control module is connect with the central processing unit；
The cleaning unit includes pwm control circuit and electric motor units, and the pwm control circuit is connect with the electric motor units,
For the pwm control circuit for driving the standalone unit to work, the central processing unit receives rubbish categorical data letter
When breath, the cleaning difficulty of rubbish is judged by preset algorithm, and according to the PWM wave duty ratio of estimate of situation adjustment output, if waiting for
When cleaning in rubbish comprising difficult cleaning, bulky rubbish, the PWM wave duty ratio of the central processing unit increase output increases
Add the standalone unit rotating speed, conversely, reducing the PWM wave duty ratio of output；
Described image processing module, display unit, pressure sensor, communication module and pwm control circuit respectively with the center
Processing unit connects, and the central processing unit is connect by the communication module with the Cloud Server.
Preferably, the central processing unit is AVR single chip.
Preferably, the scan control module is MCU.
Preferably, display unit is liquid crystal touch screen, for showing current loading junk information, location information and other numbers
According to.
Preferably, the central processing unit is connect with the scan control module by cable, and AVR modules pass through cable
Data exchange is carried out with MCU, controls the rotation of holder to control the scan path of laser radar.
Preferably, the laser radar module is a wordline laser device, and a wordline laser device is arranged in the holder
On.
Preferably, described image acquisition module is USB camera, and the USB camera is arranged on the holder.
This system workflow is：MCU controls holder and drives a wordline laser radar and USB to take the photograph according to default scan path
As head rotation, a series of scanning light beams of a wordline laser radar emission, USB camera obtains the two dimension that scanned target returns and returns
Wave signal obtains the Two dimensional Distribution information of scanned target, AVR module combination laser radars and triangle in camera imaging part
The range information of location algorithm capture measured target passes through figure by the three-dimensional information in three-dimensional imaging algorithm reconstructed object space
As processing module handles to obtain 3-D view, AVR judges scanned classification, size according to 3-D view, adjusts PWM wave in due course
Duty ratio, control the velocity of rotation of sweeper, to realize intelligent cleaning, be effectively saved the energy, while utilizing 3D thunders
Reach picture, can in the case where weather, road environment are bad effective judgment object classification, preferably realize 3D imaging
Under the premise of, compared with similar laser radar, also by a relatively large margin reduce system cost.
Preferably, the pressure sensor is set to the vehicle-mounted dustbin bottom of the cleaning vehicle, for collecting vehicle-mounted rubbish
The pressure data of rubbish case simultaneously sends it to the central processing unit, and the central processing unit will by the communication module
The pressure data received is sent to the Cloud Server, and is judged according to the variation of the pressure data of the pressure sensor vehicle-mounted
Whether dustbin is filled, and closes the standalone unit by the pwm control circuit after judgement vehicle-mounted dustbin is filled, together
When to the Cloud Server send the fully loaded identification information that has been filled with of vehicle-mounted dustbin.
Preferably, the communication module is 3G/4G/WIFI modules.
Preferably, the central processing unit is also associated with GPS/ big dipper multi-mode locating modules.
The Cloud Server is used to receive, stores pressure data, fully loaded identification information, location information and temporal information, and
It is calculated according to pressure data, fully loaded identification information, location information and temporal information and combines cleaning vehicle driving trace, rubbish
The cleaning vehicle of case fully loaded time used manages table, and the more new management table after receiving new data, the Cloud Server are additionally operable to
Management table is further calculated by preset algorithm and is exported and respectively arranges how many cleaning vehicles comprising different sections of highway, different periods
And the job-shop table of each cleaning vehicle headway.
The central processing unit can fill the center when to the Cloud Server transmission data to by transmission data
The ID of processing unit.
The mobile terminal for access the Cloud Server and can searching and managing table, job-shop table, user is combinable
Management table, job-shop table make optimal job placement plan.
It should be noted that for each embodiment of the method above-mentioned, for simple description, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should understand that, the application is not limited by the described action sequence, because
For according to the application, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (9)
1. a kind of intelligent sweeping truck system based on 3D laser radars, which is characterized in that including：Cloud Server, mobile terminal and
Vehicle is cleaned, the mobile terminal is communicated to connect by wireless network and the Cloud Server, and the cleaning vehicle includes laser radar
Module, image capture module, image processing module, display unit, pressure sensor, communication module, cleaning unit, holder and in
Central Processing Unit；
The holder includes scan control module, the laser radar module and described image acquisition module respectively with the scanning
Control module connects, and the scan control module is connect with the central processing unit；
The cleaning unit includes pwm control circuit and electric motor units, and the pwm control circuit is connect with the electric motor units；
Described image processing module, display unit, pressure sensor, communication module and pwm control circuit respectively with the center
Processing unit connects, and the central processing unit is connect by the communication module with the Cloud Server.
2. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：In described
Central Processing Unit is AVR single chip.
3. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：It is described to sweep
It is MCU to retouch control module.
4. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：In described
Central Processing Unit is connect with the scan control module by cable.
5. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：It is described to swash
Optical radar module is a wordline laser device, and a wordline laser device is arranged on the holder.
6. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：The figure
Picture acquisition module is USB camera, and the USB camera is arranged on the holder.
7. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：The pressure
Force snesor is set to the vehicle-mounted dustbin bottom of the cleaning vehicle.
8. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：It is described logical
Letter module is 3G/4G/WIFI modules.
9. a kind of intelligent sweeping truck system based on 3D laser radars according to claim 1, it is characterised in that：In described
Central Processing Unit is also associated with GPS/ big dipper multi-mode locating modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098390.9A CN108316202A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligent sweeping truck system based on 3D laser radars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098390.9A CN108316202A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligent sweeping truck system based on 3D laser radars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108316202A true CN108316202A (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810098390.9A Pending CN108316202A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligent sweeping truck system based on 3D laser radars |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110068836A (en) * | 2019-03-20 | 2019-07-30 | 同济大学 | A kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car |
| CN110820644A (en) * | 2018-08-09 | 2020-02-21 | 阿尔弗雷德·卡赫欧洲两合公司 | Intelligent cleaning system and intelligent cleaning 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 |
-
2018
- 2018-01-31 CN CN201810098390.9A patent/CN108316202A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110820644A (en) * | 2018-08-09 | 2020-02-21 | 阿尔弗雷德·卡赫欧洲两合公司 | Intelligent cleaning system and intelligent cleaning method |
| CN110068836A (en) * | 2019-03-20 | 2019-07-30 | 同济大学 | A kind of laser radar curb sensory perceptual system of intelligent driving electric cleaning car |
| CN110068836B (en) * | 2019-03-20 | 2024-02-02 | 同济大学 | Laser radar road edge sensing system of intelligent driving electric sweeper |
| 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 |
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Application publication date: 20180724 |