CN108334072A - A kind of double driving mode control systems of the sweeper based on Beidou navigation - Google Patents
A kind of double driving mode control systems of the sweeper based on Beidou navigation Download PDFInfo
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- CN108334072A CN108334072A CN201711481595.7A CN201711481595A CN108334072A CN 108334072 A CN108334072 A CN 108334072A CN 201711481595 A CN201711481595 A CN 201711481595A CN 108334072 A CN108334072 A CN 108334072A
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- intelligent decision
- decision unit
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention relates to a kind of double driving mode control systems of sweeper based on Beidou navigation, including：Intelligent decision unit, driving and operation for coordinating and commanding sweeper, intelligent decision unit are equipped with the mode selector switch for selecting driving mode；Environment sensing unit, for acquiring the traffic information near vehicle body surrounding；Big Dipper positioning terminal, for providing positioning and route guidance for vehicle；V2I communication devices carry out information exchange with traffic lights, traffic lights temporal information are provided for intelligent decision unit；Brake-by-wire unit, the unmanned pattern braking instruction for receiving and executing intelligent decision unit；Steering-by-wire unit, the unmanned pattern steering order for receiving and executing intelligent decision unit；Remote monitoring unit, for receiving real time environment information and sending control instruction to intelligent decision unit；Battery pack, for powering for whole system.Compared with prior art, the present invention has many advantages, such as changeable double driving modes, unmanned accurate.
Description
Technical field
The present invention relates to unmanned fields, more particularly, to a kind of double driving mode controls of sweeper based on Beidou navigation
System processed.
Background technology
The navigation mode of unmanned intelligent vehicle can be divided mainly into laser radar navigation according to the difference of forms of sensor, regard
Feel navigation, Beidou navigation etc..Laser radar navigation can pass through the road of laser scanning vehicle forward direction and the distance of barrier
Information；Vision guided navigation mainly acquires road ahead image information by camera；Beidou satellite navigation system is by Chinese autonomous
Research and development, independently operated satellite navigation system, the system can pass through the satellite positioning information of Big Dipper positioning terminal collection vehicle.North
The satellite navigation system that struggles against is relative to other kinds of navigation mode, and use is safer, positioning accuracy higher.Big-dipper satellite is led at present
Boat system is applied to special purpose vehicle or carrier mostly.
Road sweeper is to integrate road cleaning, garbage reclamation and the cleaning equipment of transport, be one kind in special vapour
The vehicle with road-cleaning function reequiped on the basis of vehicle, sweeper also install additional in addition to engine in situ by assistant engine
And the brush by its drive, it is further provided with a variety of corollary equipments such as wind turbine, dustbin, water tank and collectively constitutes operating system.
To work such as the waterings on ground after this completely new vehicle can once complete floor cleaning, road curb cleans and cleaning, it is applicable in
In the cleaning work of various weathers and different dry pavements.Existing sweeper ensures sweeper by pilot steering mostly
Normal work, there has been no complete automatic Pilot technologies to be applied to this vehicle travelled at a slow speed of sweeper, and with society
Development, motor vehicle increases on road, and safe driving and high-efficiency homework have been combined into a great problem.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind being based on Beidou navigation
The double driving mode control systems of sweeper.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of double driving mode control systems of the sweeper based on Beidou navigation, the system include：
Intelligent decision unit is separately connected with the vehicle kinetic control system and operating system of sweeper, for coordinating simultaneously
The driving and operation of sweeper, the intelligent decision unit is commanded to be equipped with the mode selector switch for selecting driving mode；
Environment sensing unit, connect with intelligent decision unit, for acquiring the traffic information near vehicle body surrounding；
Big Dipper positioning terminal, connect with intelligent decision unit, for providing positioning and route guidance for vehicle；
V2I communication devices, connect with intelligent decision unit, are intelligent decision unit by the information exchange with traffic lights
The temporal information of traffic lights is provided；
Brake-by-wire unit, connect with intelligent decision unit, and the unmanned pattern for receiving intelligent decision unit refers to
It enables, completes the braking of unmanned pattern；
Steering-by-wire unit, connect with intelligent decision unit, and the unmanned pattern for receiving intelligent decision unit refers to
It enables, completes the steering of unmanned pattern；
Remote monitoring unit is separately connected with environment sensing unit and intelligent decision unit, for receiving real time environment letter
It ceases and sends control instruction to intelligent decision unit；
Battery pack is connect with above-mentioned each unit respectively, for powering for whole system.
Preferably, the environment sensing unit includes radar module, camera monitoring modular and vehicle monitor terminal, institute
Radar module, the camera monitoring modular stated are respectively arranged on bodywork surface, and the vehicle monitor terminal is set to sweeper railway carriage
Electrical cabinet in, vehicle monitor terminal is connect with remote monitoring unit.
Preferably, the radar module includes middle and long distance millimetre-wave radar and ultrasonic radar, the middle length away from
From the front-end and back-end that millimetre-wave radar is mounted on vehicle body, the ultrasonic radar is mounted on vehicle body surrounding.The camera shooting
Head monitoring modular includes monocular cam and remote monitoring camera, and the monocular cam is set in vehicle body windshield
Position, the remote monitoring camera is entreated to be mounted on vehicle body both sides, on vehicle body front bumper and vehicle body rear tail portion.
Preferably, the middle and long distance one millimetre-wave radar uses two, is separately mounted to front part of vehicle and tail portion,
Length covers 175 meters of the forward and backward side's maximum distance of vehicle body, angle away from that can realize 20 ° of detection, and middle-range can be realized to vehicle body
60 meters of forward and backward side's maximum distance, angle cover 90 ° of detection；The ultrasonic radar uses 20, respectively before vehicle body
Each installation four afterwards can be realized in vehicle body or so respectively installation six to the obstacle distance detection in 5 meters of vehicle body surrounding；Institute
The monocular cam stated use one, be mounted on front windshield of vehicle middle, can realize to 80 meters of distances of vehicle front,
Angle covers 38 ° of detection；The remote monitoring camera uses four, is separately mounted to vehicle body both sides, on front bumper
And vehicle body rear tail portion, it is transmitted to vehicle monitor terminal, vehicle for acquiring the video information around vehicle body, and by video data
It carries monitor terminal and sends it to remote monitoring unit.Remote monitoring unit is sent corresponding according to the real time environment information of reception
Control instruction to intelligent decision unit, to adjust driving mode.Environment sensing unit sends out the vehicle body environmental information of acquisition
It send to intelligent decision unit, vehicle driving is controlled for intelligent decision unit.
Preferably, the brake-by-wire unit includes service brake motor, service brake solenoid valve, for controlling driving
The brake monitor of braking electromagnetic valve, the brake pedal for preferentially switching manned mode and for acquire pedal force letter
Number pedal force sensor.
Preferably, the control system can realize the braking of double driving modes and the switching of double driving modes of sweeper, institute
The double driving modes switching stated includes that switching and unmanned pattern of the manned mode to unmanned pattern are driven to someone
Sail the switching of pattern.
The particular content of double driving modes braking is that when sweeper is in manned mode, service brake is adopted
Braking maneuver is completed with former vehicle hydraulic system, parking braking completes parking action using former vehicle parking braking system；At sweeper
When unmanned pattern, service brake completes service brake action using service brake motor, and parking braking uses parking system
Dynamic motor controls drag-line, completes parking action.
The particular content of described double driving modes switching is：
Vehicle after the power is turned on, driver opens mode selector switch, publication manned mode and unmanned pattern it
Between switching command；When mode selector switch is set as unmanned pattern, switching signal is sent to system by intelligent decision unit
Movement controller, brake monitor control service brake solenoid valve and carry out motor switching, complete manned mode to unmanned
The switching of pattern；
Brake pedal for driving mode switching priority be higher than mode selector switch, when driver in case of emergency
When stepping on the brake pedal in vehicle body, intelligent decision unit receives pedal force sensor signal, by unmanned pattern to someone
The order of driving mode switching is sent to former vehicle braking system, generates braking, by mode selector switch switchback manned mode,
Complete switching of the unmanned pattern to manned mode.
Compared with prior art, the present invention has the following advantages：
One, intelligent decision unit of the invention is equipped with mode selector switch, and double driving mode controls can be realized to sweeper,
Switching i.e. between manned mode or unmanned pattern and double driving modes；Mode selector switch is set as nobody
When driving mode, switching signal is sent to brake monitor by intelligent decision unit, makes brake monitor control service brake electricity
Magnet valve carries out motor switching, completes switching of the manned mode to unmanned pattern；When driver in case of emergency steps on
When brake pedal under body, intelligent decision unit receives pedal force sensor signal, and unmanned pattern is driven to someone
The order for sailing pattern switching is sent to former vehicle braking system, completes switching of the unmanned pattern to manned mode；It is double to drive
The efficiency of cleaning works can be improved in the pattern of sailing, and is further ensured that the safety of driver, and easy to operate；
Two, the advantages of present invention utilizes Beidou navigation modes, while the information that other cameras and radar acquire being melted
Combined analysis can extract the useful information that 360 ° of ranges are covered around sweeper, realize in front of sweeper, in the 80m of rear, side
Target analyte detection in square 5m apart from environment；Meanwhile used camera can pass through the output pair of built-in image processing algorithm
The classification information of motor vehicles, non power driven vehicle, pedestrian and fall-out, and possess in fine day and daytime to lane line about
95% discrimination has achieved the purpose that vehicle-periphery perceives, and by the cooperation of each section unit, has made sweeper
Can further cleaning work be carried out along road like clockwork；
Three, the present invention is equipped with the vehicle monitor terminal that can be communicated with remote monitoring terminal, can receive long-range
The control instruction of monitor terminal, and corresponding data can be uploaded, it ensure that it can receive scheduling system in intelligent transportation system
The scheduling of system ensures that sweeper is orderly in intelligent transportation system, safely runs；Meanwhile the V2I communication devices of carrying can be with
It is communicated with the traffic lights at crossing, ensures that vehicle can pass through crossroad.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is the side structure schematic view of sweeper；
Fig. 3 is sweeper body structure schematic diagram using the present invention；
Fig. 4 is the environment sensing unit arrangement schematic diagram of the present invention；
Fig. 5 is the structural schematic diagram of the brake-by-wire unit of the present invention；
In Fig. 2, Fig. 3, Fig. 4 shown in label：
1, Big Dipper positioning terminal antenna, 2, monocular cam, 3, middle and long distance one millimetre-wave radar, 4, ultrasonic wave thunder
It reaches, 5, V2I communication device antennas, 6, railway carriage, 7, ternary lithium battery, 8, brush, 9, electrical cabinet, 10, remote monitoring camera；
In Fig. 5 shown in label：
I, vehicle power controller, II, brake monitor, III, motor driver, VI, parking braking motor, V, deceleration
Mechanism, VI, fluid reservoir, VII, master cylinder, VIII, pedal force sensor, IX, brake pedal, X, relay, XI, driving system
Moving electromagnetic valve, XII, checking cylinder.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
The present invention relates to a kind of double driving mode control systems of sweeper based on Beidou navigation, which includes that intelligence is determined
Plan unit and the environment sensing unit being connect respectively with intelligent decision unit, brake-by-wire unit, steering-by-wire unit, the Big Dipper
Positioning terminal, V2I communication devices, remote monitoring unit and battery pack.
Intelligent decision unit is set in vehicle body, and corresponding function is completed for controlling or coordinating each unit.Intelligent decision list
Member can receive the information that other units are sent, and control instruction also can be transmitted to the unit for being responsible for executing.Intelligent decision unit with it is whole
Vehicle kinetic control system connects, you can order sweeper uses manned mode or unmanned pattern.Vehicle motion control
System is equipped with movable motor, former vehicle steering, former vehicle braking system and the battery management that braking is provided for manned mode
System.Intelligent decision unit is equipped with mode selector switch, when the model selection of mode selector switch is unmanned pattern, intelligence
Decision package will switch to unmanned mode command and be sent to brake-by-wire unit and steering-by-wire unit, realize unmanned
Braking (including driving, parking, steering etc.).Meanwhile intelligent decision unit also can control corresponding system to work, and such as make
Industry system.
Environment sensing unit is set on vehicle body, for acquiring the traffic information near vehicle body surrounding；Environment sensing unit packet
Include radar module, camera monitoring modular and vehicle monitor terminal.Radar module includes middle and long distance millimetre-wave radar 3 and ultrasound
Wave radar 4.Camera monitoring modular includes monocular cam 2 and remote monitoring camera 10.Vehicle monitor terminal is set to electrical
It in cabinet, and is connect respectively with radar module and camera head monitor module, the information that the two acquires is sent to by vehicle monitor terminal
Intelligent decision unit；Meanwhile vehicle monitor terminal can also be achieved the communication between remote monitoring terminal, and receive remote monitoring
The control instruction of terminal.Remote monitoring unit sends corresponding control instruction to intelligence and determines according to the real time environment information of reception
Plan unit, to adjust driving mode.
As shown in figure 4, the middle and long distance one millimetre-wave radar 3 totally two that the present embodiment uses, is separately mounted to vehicle
Front and tail portion, long away from that can realize the detection for covering 20 ° to 175 meters of the forward and backward side's maximum distance of vehicle body, angle, middle-range can
Realize the detection to 60 meters of the forward and backward side's maximum distance of vehicle body, 90 ° of angle covering.Ultrasonic radar 4 totally two ten, respectively in vehicle
Four are respectively installed before and after body, in vehicle body or so respectively installation six, can be realized to the obstacle distance inspection in 5 meters of vehicle body surrounding
It surveys.Monocular cam 2 totally one is mounted on front windshield of vehicle middle, can realize to vehicle front 80 meters of distances, angles
Degree covers 38 ° of detection.Remote monitoring camera 10 totally four is separately mounted to vehicle body both sides, on front bumper and vehicle body
Rear tail portion is transmitted to vehicle monitor terminal for acquiring the video information around vehicle body, and by video data, and vehicle-mounted monitoring is whole
End sends it to remote monitoring unit.The vehicle body environmental information of acquisition is sent to intelligent decision unit by environment sensing unit,
Vehicle driving is controlled for intelligent decision unit.
The information of present invention combination camera and radar acquisition can extract the useful letter that 360 ° of ranges are covered around sweeper
Breath is realized to the target analyte detection in vehicle front, rear 80m, in the 5m of side apart from environment, and used vehicle-mounted pick-up
Head intelligence sensor can be exported by built-in image processing algorithm to motor vehicles, non power driven vehicle, pedestrian and fall-out
Classification information, and possess the discrimination on fine day and daytime to lane line about 95%, reach vehicle-periphery perception
Purpose, and by each section unit cooperation, so that sweeper is carried out like clockwork along road unmanned
Cleaning work.
Brake-by-wire unit is set to body bottom with steering-by-wire unit, and is connect with intelligent decision unit, for executing
The braking or diversion order of the unmanned pattern of intelligent decision unit, and execute the switching of double driving modes.Brake-by-wire
Unit include vehicle power controller I, brake monitor II, motor driver III, parking braking motor VI, deceleration mechanism V,
Fluid reservoir VI, master cylinder VII, pedal force sensor VIII, brake pedal IX, relay X, service brake solenoid valve XI and system
Dynamic cylinder XII.Service brake solenoid valve XI is installed below vehicle chassis, for manned mode and unmanned pattern
Mode of braking switches over；Brake monitor II control service brake solenoid valves XI；When mode selector switch is pressed, intelligently determine
Switching signal is sent to brake monitor II, brake monitor II control service brake solenoid valves XI by plan unit.Brake pedal
Priority of the IX for driving mode switching is higher than mode selector switch.
When sweeper is in manned mode, driver brake pedal IX passes through former vehicle vacuum pump and vacuum
Booster establishes the master cylinder hydraulic pressure power of master cylinder VII, completes braking.Brake monitor II receives pedal force sensor at this time
The driver that VIII is transmitted steps on the actuating signal of brake pedal IX, but does not respond.When sweeper is in unmanned pattern,
Target brake fluid pressure is inputted to brake monitor II by intelligent decision unit, service brake solenoid valve XI is by brake monitor II
Control powers on, by actively building the braking of press mechanism hydrodynamic force.As driver brake pedal IX, braking intention passes through
Pedal force sensor VIII acquisitions reach brake monitor II, are powered off by brake monitor II control service brake solenoid valves XI,
Pattern switching is completed, then completes to brake by former vehicle brake piping.
Electrical cabinet 9 is equipped in the railway carriage 6 of vehicle body, V2I communication devices are set in electrical cabinet 9, and are connected with intelligent decision unit
It connects, V2I communication device antennas 5 is set to roof, and for carrying out information exchange with traffic lights, traffic is provided for intelligent decision unit
The temporal information of lamp.
Big Dipper positioning terminal is mounted on electrical cabinet 9, and Big Dipper positioning terminal antenna 1 is installed on roof, for being vehicle
Positioning and route guidance are provided.
Battery pack is set on chassis, and for powering for whole system, the battery pack of the present embodiment is using ternary lithium electricity
Pond 7.
Operating system is connect with intelligent decision unit, is controlled by intelligent decision unit and is carried out cleaning work.Operating system packet
Include brush 8, wind turbine and water sprinkler；It is equipped with dustbin and water tank in the railway carriage 6 of vehicle body, sweeper is completed for coordinating operation system
Make.
The sweeper of the present invention has the function of double mode driving, i.e. manned mode and unmanned pattern.The Big Dipper is fixed
Position terminal provides route guidance for sweeper, and environment sensing unit can be acquired by radar and camera near sweeper surrounding
Traffic information, and intelligent decision unit is sent information to, after intelligent decision unit analyzes information, to the system of sweeper
Dynamic or steering judges, and is controlled using corresponding driving mode.
On control for brake, when if manned mode, for service brake, using former vehicle braking system system
It is dynamic, i.e., former vehicle hydraulic system；For parking braking, braked using former vehicle parking braking system.If unmanned pattern
When, for service brake, service brake action is completed using service brake motor；For parking braking, using parking braking electricity
Machine controls automobile guy cable, completes parking braking action.On course changing control, when if manned mode, turned to using former vehicle,
I.e. electric power-aid steering electric machine is controlled；When if unmanned pattern, the motor using steering-by-wire unit and steering
Controller is controlled, and torque, corner instruction outside controller reception go to corresponding angle according to these instructions.
The sweeper of the present invention can also be achieved double mode and drive handoff functionality, including manned mode is switched to nobody and drives
It is manned mode to sail pattern and unmanned pattern switching.
The particular content that manned mode is switched to unmanned pattern is：
Vehicle after the power is turned on, driver, which passes through, opens mode selector switch, publication manned mode and unmanned mould
Switching command between formula；When mode selector switch is set as unmanned pattern, intelligent decision unit sends switching signal
To brake monitor, brake monitor controls service brake solenoid valve and carries out motor switching, complete manned mode to nobody
The switching of driving mode.
Unmanned pattern switching is that the particular content of manned mode is：
Priority because of brake pedal for driving mode switching is higher than mode selector switch, when driver is in emergency
When lower brake pedal IX, intelligent decision unit receives the signal of pedal force sensor VII, realizes unmanned pattern to having
The switching of people's driving mode order (although mode selector switch be in unmanned pattern at this time, what brake pedal IX switched
Priority is higher, therefore is subject to the switching command of brake pedal IX), at the same time, former vehicle braking system carries out building pressure, generates
Braking.After this, it needs first by mode selector switch switchback manned mode, then can realize nobody by mode selector switch
The switching of driving mode.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The staff for being familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (8)
1. a kind of double driving mode control systems of sweeper based on Beidou navigation, the sweeper are equipped with vehicle motion control
System and operating system are equipped with electrical cabinet in the sweeper vehicle body, which is characterized in that the control system includes：
Intelligent decision unit is separately connected with vehicle kinetic control system and operating system, for coordinating and commanding sweeper
It drives and operation, the intelligent decision unit is equipped with the mode selector switch for selecting driving mode；
Environment sensing unit, connect with intelligent decision unit, for acquiring the traffic information near vehicle body surrounding；
Big Dipper positioning terminal, connect with intelligent decision unit, for providing positioning and route guidance for vehicle；
V2I communication devices, connect with intelligent decision unit, by the information exchange with traffic lights, are provided for intelligent decision unit
The temporal information of traffic lights；
Brake-by-wire unit, connect with intelligent decision unit, the unmanned mode instruction for receiving intelligent decision unit, complete
At the braking of unmanned pattern；
Steering-by-wire unit, connect with intelligent decision unit, the unmanned mode instruction for receiving intelligent decision unit, complete
At the steering of unmanned pattern；
Remote monitoring unit is separately connected with environment sensing unit and intelligent decision unit, for receiving real time environment information simultaneously
Control instruction is sent to intelligent decision unit；
Battery pack is connect with above-mentioned each unit respectively, for powering for whole system.
2. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 1, feature exist
In the environment sensing unit includes radar module, camera monitoring modular and vehicle monitor terminal, the radar mould
Block, camera monitoring modular are respectively arranged on bodywork surface, and the vehicle monitor terminal is set in electrical cabinet, the vehicle-mounted prison
Control terminal is connect with remote monitoring unit.
3. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 2, feature exist
In the radar module includes middle and long distance millimetre-wave radar and ultrasonic radar, the middle and long distance millimetre-wave radar
Mounted on the front-end and back-end of vehicle body, the ultrasonic radar is mounted on vehicle body surrounding.
4. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 2, feature exist
In the camera monitoring modular includes monocular cam and remote monitoring camera, and the monocular cam is set to vehicle
The central part of body windshield, the remote monitoring camera is mounted on vehicle body both sides, on vehicle body front bumper and vehicle body
Rear tail portion.
5. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 1, feature exist
In the brake-by-wire unit includes service brake motor, service brake solenoid valve, for controlling service brake solenoid valve
Brake monitor, the brake pedal for preferentially switching manned mode and the pedal force for acquiring pedal force signal pass
Sensor.
6. according to a kind of double driving mode control systems of sweeper based on Beidou navigation of claim 1-5 any one of them,
It is characterized in that, the control system can realize the braking of double driving modes and the switching of double driving modes of sweeper, it is described
The switching of double driving modes includes manned mode to the switching of unmanned pattern and unmanned pattern to manned mould
The switching of formula.
7. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 6, feature exist
In the particular content of double driving modes braking is, when sweeper is in manned mode, service brake is using former vehicle
Hydraulic system completes braking maneuver, and parking braking completes parking action using former vehicle parking braking system；Sweeper is in nobody
When driving mode, service brake completes service brake action using service brake motor, and parking braking uses parking braking motor
Drag-line is controlled, parking action is completed.
8. a kind of double driving mode control systems of sweeper based on Beidou navigation according to claim 6, feature exist
In the particular content of double driving modes switching is：
Vehicle after the power is turned on, driver opens mode selector switch, issues between manned mode and unmanned pattern
Switching command；When mode selector switch is set as unmanned pattern, switching signal is sent to braking control by intelligent decision unit
Device processed, brake monitor control service brake solenoid valve and carry out motor switching, complete manned mode to unmanned pattern
Switching；
Priority of the brake pedal for driving mode switching is higher than mode selector switch, when driver in case of emergency steps on
When brake pedal in vehicle body, intelligent decision unit receives pedal force sensor signal, by unmanned pattern to manned
The order of pattern switching is sent to former vehicle braking system, generates braking, and mode selector switch switchback manned mode is completed
Switching of the unmanned pattern to manned mode.
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| CN110884488A (en) * | 2019-11-28 | 2020-03-17 | 东风商用车有限公司 | Auxiliary positioning system for automatic driving engineering vehicle and using method thereof |
| CN110924345A (en) * | 2019-12-05 | 2020-03-27 | 武汉理工大学 | Intelligent operation system of pure electric unmanned environmental sanitation cleaning and sweeping vehicle |
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| CN111583695A (en) * | 2020-04-29 | 2020-08-25 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Intelligent environmental sanitation system based on Beidou navigation |
| CN111984007A (en) * | 2020-07-28 | 2020-11-24 | 深兰科技（上海）有限公司 | Automatic driving intelligent road sweeping man-machine interaction control system and equipment |
| CN112982259A (en) * | 2021-03-25 | 2021-06-18 | 陕西黑松环保科技有限公司 | Operation system and method for unmanned small-sized sweeper |
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