CN108625317A - A kind of road identification system for Environmental sanitation cleaning vehicle - Google Patents
A kind of road identification system for Environmental sanitation cleaning vehicle Download PDFInfo
- Publication number
- CN108625317A CN108625317A CN201810331586.8A CN201810331586A CN108625317A CN 108625317 A CN108625317 A CN 108625317A CN 201810331586 A CN201810331586 A CN 201810331586A CN 108625317 A CN108625317 A CN 108625317A
- Authority
- CN
- China
- Prior art keywords
- road surface
- sanitation
- light
- sanitation cart
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007613 environmental effect Effects 0.000 title claims abstract description 26
- 238000004140 cleaning Methods 0.000 title abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 239000000428 dust Substances 0.000 claims abstract description 24
- 230000001447 compensatory effect Effects 0.000 claims abstract description 11
- 238000011065 in-situ storage Methods 0.000 claims abstract description 9
- 239000010813 municipal solid waste Substances 0.000 claims description 14
- 239000004575 stone Substances 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 239000000295 fuel oil Substances 0.000 abstract 1
- 239000002699 waste material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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
Abstract
The present invention provides a kind of sanitation cart road surface operation automatic identification control systems, including：Binocular camera, temperature sensor, light-source brightness compensating controller, computer, is washed and sweeps turntable, water pump water outlet mouth, engine in situ ECU and be connected with environmental sanitation vehicle controller through bus dust sensor；Photosensitive sensor and compensatory light are connected with light-source brightness compensating controller through bus respectively.Beneficial effects of the present invention：The shortcomings of current Environmental sanitation cleaning vehicle the degree of automation is low, work pattern is single, device and fuel oil loss are big is effectively improved, realizes that intelligence cleans, raising cleans effect and saves labor cost；The labour burden of sanitation cart worker can be mitigated, improve sweeping efficiency and quality, and can achieve the effect that economize on resources, sanitation cart is expeditiously applied, promote the competitiveness of product.
Description
Technical field
The invention patent relates to a kind of road identification systems about Environmental sanitation cleaning vehicle, and in particular to Environmental sanitation cleaning vehicle and
Special vehicle-mounted road identification system.
Background technology
Currently, sanitation cart in the market when road pavement carries out cleaning operation, is washed and sweeps rotary speed and water pumps out
Water nozzle pressure is fixed,
I.e. when the rubbish numbers such as road surface stone leaf change, sanitation cart cleans rotary speed and keeps constant；When road dust number with
And when pavement temperature variation, the faucet pressure of sanitation cart is also to keep constant.
On the one hand shortcoming existing for above-mentioned technology is when the rubbish numbers such as stone leaf on road surface increase, constant
Turntable cleans speed and is easy
Cause cleaning unclean, otherwise when the rubbish number such as stone leaf is few, it be easy to cause the waste of energy source of car power；It is another
When the temperature on road surface is higher and dust in air is more, constant water pump water outlet mouth pressure can cause to clean on road surface aspect
When dust it is too many, otherwise when pavement temperature is relatively low and dust in air is less, constant water pump water outlet mouth pressure be easy
Cause the waste of vehicle water resource.
Invention content
Relative to above-mentioned technical problem, patent of the present invention provides a kind of sanitation cart road surface operation automatic identification control system
System, turntable when can improve the operation of sanitation cart road surface clean and watering efficiency of dust collection but the energy saved on sanitation cart it is dynamic
Power and water resource.
A kind of sanitation cart road surface operation automatic identification control system, including：Binocular camera, light-source brightness compensating controller,
Computer is washed and sweeps turntable, water pump water outlet mouth, engine in situ ECU and be connected with environmental sanitation vehicle controller through bus；
Photosensitive sensor and compensatory light are connected with light-source brightness compensating controller through bus respectively；
Binocular camera is connected with computer through bus；
Wherein：Photosensitive sensor, binocular camera, compensatory light are placed in the front end of sanitation cart, and photosensitive sensor is for detecting environmental sanitation
The brightness of Chinese herbaceous peony end road environment light；Binocular camera is then used to clap 5 meters to 10 meters before environmental sanitation vehicle running path of road surface
According to identification；The brightness of light-source brightness compensating controller then real-time control compensatory light；Computer is used to carry out gray scale to camera figure
It is worth analyzing processing；Gray value analyzing processing is the figure on sanitation cart front end 5 meters to 10 meters of the road surface of work captured by binocular camera, is made
Carry out binocular solid matching treatment with Semi-Global Matching algorithms, obtain the distances of rubbish such as road surface stone leaf and
Its edge treated result and according to the big approximate number and size of this result unit of account area rubbish, sends these data to ring
Vehicle controller is defended, and is controlled according to the current vehicle speed of the pavement garbage figure result of computer disposal and engine in situ ECU feedbacks
System washes the rotating speed for sweeping turntable.
Further, above-mentioned environmental sanitation vehicle controller is additionally provided with the dust sensor being connected with environmental sanitation vehicle controller through bus
And temperature sensor；
Temperature sensor is placed in the front end of sanitation cart；Dust sensor is installed on the lower part of sanitation cart rear end, and dust sensor is used
In detection road dust；Temperature sensor is used to detect the temperature on sanitation cart front end road surface；Environmental sanitation vehicle controller is used for according to inspection
Temperature, the dust on road surface are measured to control the pressure of water pump water outlet mouth.
Advantageous effect：
1, the sweeping efficiency that can improve sanitation cart road pavement, avoids causing turntable to be short of power because of the variation of pavement garbage washing
It sweeps unclean or turns
Disk excess drive force waste of energy；
2, the watering efficiency that can improve sanitation cart road pavement avoids that watering is caused to remove in the case where pavement temperature dust changes
Dirt it is not up to standard or
It sprinkles water excessively and waste water resource；
3, sanitation cart carries out rubbish number and size, the temperature on road surface and dust of being capable of automatic identification road surface when operation on road surface
Degree, light ring
The work load for defending driver does not need the excessive energy of labor costs and goes to judge road surface working environment.
Description of the drawings
Fig. 1 is for a kind of sanitation cart road surface operation automatic identification control system flow diagram of the present invention；
1- photosensitive sensors, 2- binocular cameras, 3- dust sensors, 4- temperature sensors, 5- light-source brightness compensating controller, 6-
Computer, 7- environmental sanitation vehicle controller, 8- compensatory lights, 9-, which are washed, sweeps turntable, 10- water pump water outlets mouth, 11- engines in situ ECU.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail below in conjunction with attached drawing：
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of sanitation cart road surface operation automatic identification control system provided by the invention include photosensitive sensor 1,
Binocular camera 2, dust sensor 3, temperature sensor 4, light-source brightness compensating controller 5, computer 6, environmental sanitation vehicle controller 7,
Compensatory light 8 is washed and sweeps turntable 9, water pump water outlet mouth 10, engine in situ ECU11.
Dust sensor 3, temperature sensor 4, light-source brightness compensating controller 5, computer 6, wash sweep turntable 9, water pumps out
Water nozzle 10 is connected through bus with environmental sanitation vehicle controller 7 with engine in situ ECU11；
Photosensitive sensor 1 and compensatory light 8 are connected with light-source brightness compensating controller 5 through bus respectively；Binocular camera 2 and meter
Calculation machine 6 is connected through bus；
Wherein：Photosensitive sensor 1, binocular camera 2, temperature sensor 4, compensatory light 8 are placed in the front end of sanitation cart, dust sensing
Device 3 is installed on sanitation cart rear end；
When sanitation cart carries out environmental sanitation operation on road surface, environmental sanitation vehicle controller 7 sends instructions to light-source brightness compensation control
Device 5 processed, light-source brightness compensating controller start to work and feed back to environmental sanitation vehicle controller（7）Luminance compensation normal work instruction；
Environmental sanitation vehicle controller later（7）Send instructions to computer（6）,
Gray value analyzing processing is the figure on sanitation cart front end 5 meters to 10 meters of the road surface of work captured by binocular camera 2, is used
Semi-Global Matching algorithms carry out binocular solid matching treatment, obtain the distances of rubbish such as road surface stone leaf and its
Edge treated result and according to the big approximate number and size of this result unit of account area rubbish, sends these data to environmental sanitation
Vehicle controller 7.
Environmental sanitation vehicle controller（7）On the one hand computer is combined（6）Analyze the work road surface unit area rubbish being collected into
Number and the distance apart from vehicle, engine in situ ECU（11）Speed wash carrying out delays time to control and sweep turntable（9）Rotating speed,
On the other hand dust sensor is combined（3）The dust being collected into contains, temperature sensor（4）The pavement temperature that detects controls water
Pump out water nozzle（10）Pressure so that sanitation cart is washed efficiency of sweeping and sprinkle water and maximized.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (2)
1. a kind of sanitation cart road surface operation automatic identification control system, the control system include：Binocular camera（2）, light source it is bright
Spend compensating controller（5）, computer（6）, wash and sweep turntable（9）, water pump water outlet mouth（10）, engine in situ ECU（11）Through bus
With environmental sanitation vehicle controller（7）It is connected；
Photosensitive sensor（1）And compensatory light（8）Respectively with light-source brightness compensating controller（5）It is connected through bus；
The binocular camera（2）And computer（6）It is connected through bus；
Wherein：The photosensitive sensor（1）, binocular camera（2）, compensatory light（8）It is placed in the front end of sanitation cart, the photosensitive biography
Sensor（1）Brightness for detecting sanitation cart front end road environment light；The binocular camera（2）Then it is used for environmental sanitation vehicle running road
5 meters to 10 meters of road surface carries out identification of taking pictures before diameter；
The light-source brightness compensating controller（5）Then real-time control compensatory light（8）Brightness；
The computer（6）For carrying out gray value analyzing processing to camera figure；The gray value analyzing processing is binocular camera
（2）The figure on captured sanitation cart front end 5 meters to 10 meters of road surface of work, is carried out double using Semi-Global Matching algorithms
The processing of mesh Stereo matching obtains the distance of the rubbish such as road surface stone leaf and its edge treated result and is calculated according to this result single
Plane accumulates the big approximate number and size of rubbish, sends these data to environmental sanitation vehicle controller（7）；
And according to computer（6）The pavement garbage figure result and engine in situ ECU of processing（11）The current vehicle speed of feedback is controlled
System, which is washed, sweeps turntable（9）Rotating speed.
2. operation automatic identification control system in sanitation cart road surface as described in claim 1, which is characterized in that the sanitation cart control
Device processed（7）It is additionally provided with the dust sensor being connected with environmental sanitation vehicle controller through bus（3）And temperature sensor（4）；
The temperature sensor（4）It is placed in the front end of sanitation cart；
The dust sensor（3）It is installed on the lower part of sanitation cart rear end,
The dust sensor（3）For detecting road dust；
The temperature sensor（4）Temperature for detecting sanitation cart front end road surface；
The environmental sanitation vehicle controller（7）For controlling the pressure of water pump water outlet mouth according to temperature, the dust for detecting road surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331586.8A CN108625317B (en) | 2018-04-13 | 2018-04-13 | Road surface recognition system for sanitation sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331586.8A CN108625317B (en) | 2018-04-13 | 2018-04-13 | Road surface recognition system for sanitation sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108625317A true CN108625317A (en) | 2018-10-09 |
| CN108625317B CN108625317B (en) | 2023-11-14 |
Family
ID=63705431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810331586.8A Active CN108625317B (en) | 2018-04-13 | 2018-04-13 | Road surface recognition system for sanitation sweeper |
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| Country | Link |
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| CN (1) | CN108625317B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112030854A (en) * | 2020-08-27 | 2020-12-04 | 江苏徐工信息技术股份有限公司 | Device and method for preventing sprinkler from repeated operation based on temperature analysis technology |
| CN113502776A (en) * | 2021-09-03 | 2021-10-15 | 江苏洁路宝环保科技有限公司 | Intelligent floor sweeping system for urban industrial pollutants |
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| CN208517863U (en) * | 2018-04-13 | 2019-02-19 | 合加新能源汽车有限公司 | A kind of road identification system for Environmental sanitation cleaning vehicle |
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2018
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|---|---|---|---|---|
| JP2000353014A (en) * | 1999-06-09 | 2000-12-19 | Toyota Autom Loom Works Ltd | Cleaning robot |
| CN203102031U (en) * | 2012-09-16 | 2013-07-31 | 于万海 | Speed-adapting cleaning control system for electric street cleaner |
| CN103161133A (en) * | 2013-02-22 | 2013-06-19 | 上海市金山区青少年活动中心 | Intelligent road-cleaning vehicle based on machine vision and controlling method thereof |
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| CN112030854A (en) * | 2020-08-27 | 2020-12-04 | 江苏徐工信息技术股份有限公司 | Device and method for preventing sprinkler from repeated operation based on temperature analysis technology |
| CN113502776A (en) * | 2021-09-03 | 2021-10-15 | 江苏洁路宝环保科技有限公司 | Intelligent floor sweeping system for urban industrial pollutants |
| CN113502776B (en) * | 2021-09-03 | 2021-11-23 | 江苏洁路宝环保科技有限公司 | Intelligent floor sweeping system for urban industrial pollutants |
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| Publication number | Publication date |
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| CN108625317B (en) | 2023-11-14 |
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| CB02 | Change of applicant information |
Address after: 437100 Yangtze River Industrial Park, Xianning Economic Development Zone, Xianning City, Hubei Province Applicant after: Qidi Hejia New Energy Vehicle Co.,Ltd. Address before: 437100 238 Jin Gui Road, Xianning Economic Development Zone, Xianning, Hubei Applicant before: EGUARD NEW ENERGY AUTOMOBILE Co.,Ltd. |
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