CN108625317B - Road surface recognition system for sanitation sweeper - Google Patents
Road surface recognition system for sanitation sweeper Download PDFInfo
- Publication number
- CN108625317B CN108625317B CN201810331586.8A CN201810331586A CN108625317B CN 108625317 B CN108625317 B CN 108625317B CN 201810331586 A CN201810331586 A CN 201810331586A CN 108625317 B CN108625317 B CN 108625317B
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- China
- Prior art keywords
- sanitation
- sanitation truck
- controller
- light source
- road surface
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Links
- 241001417527 Pempheridae Species 0.000 title abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 29
- 239000000428 dust Substances 0.000 claims abstract description 24
- 238000010408 sweeping Methods 0.000 claims abstract description 13
- 238000005406 washing Methods 0.000 claims abstract description 11
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 239000004575 stone Substances 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 2
- 230000007547 defect Effects 0.000 abstract 1
- 239000000446 fuel Substances 0.000 abstract 1
- 239000002699 waste material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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 invention provides an automatic identification control system for road surface operation of an environmental sanitation vehicle, which comprises the following components: the binocular camera, the dust sensor, the temperature sensor, the light source brightness compensation controller, the computer, the washing and sweeping turntable, the water pump water outlet nozzle and the chassis engine ECU are connected with the sanitation vehicle controller through a bus; the photosensitive sensor and the compensating light source are respectively connected with the light source brightness compensating controller through buses. The invention has the beneficial effects that: the defects of low automation degree, single operation mode, large device and fuel consumption and the like of the conventional sanitation sweeper are effectively overcome, intelligent sweeping is realized, the sweeping effect is improved, and the labor cost is saved; the environmental sanitation truck can reduce the labor burden of sanitation truck workers, improve the cleaning efficiency and quality, achieve the effect of saving resources, efficiently apply the environmental sanitation truck and improve the competitiveness of the product.
Description
Technical Field
The invention relates to a road surface recognition system for an environmental sanitation sweeper, in particular to an environmental sanitation sweeper and a special vehicle-mounted road surface recognition system.
Background
At present, when the sanitation vehicle on the market cleans the road surface, the rotating speed of the washing and sweeping turntable and the pressure of the water outlet nozzle of the water pump are both fixed,
namely, when the number of garbage such as road stone blocks and leaves is changed, the speed of the sanitation truck cleaning turntable is kept constant; when the number of dust on the road surface and the temperature of the road surface change, the pressure of the water outlet nozzle of the sanitation truck is kept constant.
The disadvantage of the above technology is that when the garbage number of stone leaves and the like on the road surface is increased, the constant cleaning speed of the turntable is easy
The cleaning is not clean, otherwise, when the number of the garbage such as stone leaves is small, the waste of the automobile energy power is easily caused; on the other hand, when the temperature of the road surface is higher and dust in the air is more, the constant water pump water outlet nozzle pressure can cause too much dust when cleaning on the road surface, otherwise, when the temperature of the road surface is lower and the dust in the air is less, the constant water pump water outlet nozzle pressure easily causes the waste of vehicle water resources.
Disclosure of Invention
Compared with the technical problem, the invention provides the automatic identification control system for the road surface operation of the sanitation truck, which can improve the cleaning and sprinkling dust removal efficiency of the turntable during the road surface operation of the sanitation truck and save the energy power and water resources on the sanitation truck.
An automatic identification control system for road surface operation of sanitation vehicles, comprising: the binocular camera, the light source brightness compensation controller, the computer, the washing and sweeping turntable, the water pump water outlet nozzle and the chassis engine ECU are connected with the sanitation vehicle controller through a bus;
the photosensitive sensor and the compensation light source are respectively connected with the light source brightness compensation controller through a bus;
the binocular camera is connected with the computer through a bus;
wherein: the photosensitive sensor, the binocular camera and the compensation light source are arranged at the front end of the sanitation truck, and the photosensitive sensor is used for detecting the brightness of the environmental light on the road surface at the front end of the sanitation truck; the binocular camera is used for photographing and identifying the pavement 5 meters to 10 meters in front of the traveling path of the sanitation truck; the light source brightness compensation controller controls the brightness of the compensation light source in real time; the computer is used for carrying out gray value analysis processing on the camera graph; the gray value analysis processing is carried out on a graph of 5 meters to 10 meters of working pavement at the front end of the sanitation truck, which is shot by a binocular camera, binocular stereo Matching processing is carried out by using a Semi-Global Matching algorithm, the distance and the edge processing result of garbage such as stone leaves on the pavement are obtained, the approximate number and the size of garbage in unit area are calculated according to the result, the data are sent to a sanitation truck controller, and the rotating speed of the washing and sweeping turntable is controlled according to the result of the pavement garbage graph processed by a computer and the current speed fed back by an ECU of a chassis engine.
Further, the sanitation truck controller is also provided with a dust sensor and a temperature sensor which are connected with the sanitation truck controller through buses;
the temperature sensor is arranged at the front end of the sanitation truck; the dust sensor is arranged at the lower part of the rear end of the sanitation truck and is used for detecting pavement dust; the temperature sensor is used for detecting the temperature of the front pavement of the sanitation truck; the sanitation truck controller is used for controlling the pressure of the water outlet nozzle of the water pump according to the detected temperature and dust of the road surface.
The beneficial effects are that:
1. can improve the cleaning efficiency of the sanitation truck on the road surface, and avoid the phenomenon that the turntable is not cleaned cleanly or rotates due to the insufficient power caused by the change of the road surface garbage
The disc power is excessive and energy is wasted;
2. can improve the sprinkling efficiency of the sanitation truck on the road surface, and avoid the condition that sprinkling and dust removing are not up to standard or are caused under the condition of the change of the temperature dust of the road surface
Too much water is sprayed to waste water resources;
3. sanitation vehicle can automatically identify the number and size of garbage on the road surface, the temperature and dust degree of the road surface and the light ring when the sanitation vehicle works on the road surface
The work load of the guard driver does not need to spend excessive labor to judge the road surface working environment.
Drawings
FIG. 1 is a schematic flow diagram of an automatic identification control system for road surface operation of an environmental sanitation vehicle;
1-photosensitive sensor, 2-binocular camera, 3-dust sensor, 4-temperature sensor, 5-light source brightness compensation controller, 6-computer, 7-sanitation car controller, 8-compensation light source, 9-washing and sweeping turntable, 10-water pump water outlet nozzle, 11-chassis engine ECU.
Detailed Description
The following detailed description of specific embodiments of the invention is further detailed in conjunction with the accompanying drawings:
the invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the automatic recognition control system for the road surface operation of the sanitation truck provided by the invention comprises a photosensitive sensor 1, a binocular camera 2, a dust sensor 3, a temperature sensor 4, a light source brightness compensation controller 5, a computer 6, a sanitation truck controller 7, a compensation light source 8, a washing and sweeping turntable 9, a water pump water outlet nozzle 10 and a chassis engine ECU11.
The dust sensor 3, the temperature sensor 4, the light source brightness compensation controller 5, the computer 6, the washing and sweeping turntable 9, the water pump water outlet nozzle 10 and the chassis engine ECU11 are connected with the sanitation vehicle controller 7 through buses;
the photosensitive sensor 1 and the compensation light source 8 are respectively connected with the light source brightness compensation controller 5 through buses; the binocular camera 2 and the computer 6 are connected through a bus;
wherein: the photosensitive sensor 1, the binocular camera 2, the temperature sensor 4 and the compensation light source 8 are arranged at the front end of the sanitation truck, and the dust sensor 3 is arranged at the rear end of the sanitation truck;
when the sanitation truck performs sanitation operation on the road surface, the sanitation truck controller 7 sends an instruction to the light source brightness compensation controller 5, and the light source brightness compensation controller starts working and feeds back a normal working instruction of brightness compensation to the sanitation truck controller (7); then the sanitation truck controller (7) sends an instruction to the computer (6),
the gray value analysis and processing is to take a graph of 5 meters to 10 meters of the working pavement at the front end of the sanitation truck, which is shot by the binocular camera 2, the binocular stereo Matching processing is carried out by using a Semi-Global Matching algorithm, the distance of the garbage such as stone leaves on the pavement and the edge processing result thereof are obtained, the approximate number and the size of the garbage in unit area are calculated according to the result, and the data are sent to the sanitation truck controller 7.
The sanitation truck controller (7) is used for carrying out time delay control on the rotating speed of the washing and sweeping turntable (9) by combining the number of garbage in unit area of the collected working pavement, the distance from the garbage to the vehicle and the vehicle speed of the chassis engine ECU (11) through analysis by the computer (6), and controlling the pressure of the water pump water outlet nozzle (10) by combining the dust content collected by the dust sensor (3) and the pavement temperature detected by the temperature sensor (4), so that the washing and sweeping and water sprinkling efficiency of the sanitation truck can be maximized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. An automatic identification control system for sanitation vehicle road surface operation, the control system comprising: the binocular camera (2), the light source brightness compensation controller (5), the computer (6), the washing and sweeping turntable (9), the water pump water outlet nozzle (10) and the chassis engine ECU (11) are connected with the sanitation vehicle controller (7) through buses;
the photosensitive sensor (1) and the compensation light source (8) are respectively connected with the light source brightness compensation controller (5) through buses;
the binocular camera (2) and the computer (6) are connected through a bus;
wherein: the light sensor (1), the binocular camera (2) and the compensation light source (8) are arranged at the front end of the sanitation truck, and the light sensor (1) is used for detecting the brightness of the environmental light on the road surface at the front end of the sanitation truck; the binocular camera (2) is used for photographing and identifying the pavement 5 meters to 10 meters in front of the travelling path of the sanitation truck;
the light source brightness compensation controller (5) controls the brightness of the compensation light source (8) in real time;
the computer (6) is used for carrying out gray value analysis processing on the camera map; the gray value analysis processing is carried out on a graph of 5 meters to 10 meters of the working pavement at the front end of the sanitation truck, which is shot by the binocular camera (2), binocular stereo Matching processing is carried out by using a Semi-Global Matching algorithm, the distance of garbage such as stone leaves on the pavement and the like and the edge processing result thereof are obtained, the approximate number and the size of the garbage in unit area are calculated according to the result, and the data are sent to the sanitation truck controller (7);
and the rotating speed of the washing and sweeping turntable (9) is controlled in a time delay mode according to the road surface garbage map result processed by the computer (6) and the current vehicle speed fed back by the chassis engine ECU (11).
2. The automatic recognition control system for the road surface operation of the sanitation truck according to claim 1, wherein the sanitation truck controller (7) is further provided with a dust sensor (3) and a temperature sensor (4) which are connected with the sanitation truck controller through buses;
the temperature sensor (4) is arranged at the front end of the sanitation truck;
the dust sensor (3) is arranged at the lower part of the rear end of the sanitation truck,
the dust sensor (3) is used for detecting pavement dust;
the temperature sensor (4) is used for detecting the temperature of the front pavement of the sanitation truck;
the sanitation truck controller (7) is used for controlling the pressure of the water outlet nozzle of the water pump according to the detected temperature and dust of the 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 CN108625317A (en) | 2018-10-09 |
| CN108625317B true CN108625317B (en) | 2023-11-14 |
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| 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112030854B (en) * | 2020-08-27 | 2022-06-07 | 徐工汉云技术股份有限公司 | Device and method for preventing sprinkler from repeated operation based on temperature analysis technology |
| 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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| JP2000353014A (en) * | 1999-06-09 | 2000-12-19 | Toyota Autom Loom Works Ltd | Cleaning robot |
| 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 |
| CN203102031U (en) * | 2012-09-16 | 2013-07-31 | 于万海 | Speed-adapting cleaning control system for electric street cleaner |
| CN205568875U (en) * | 2016-03-30 | 2016-09-14 | 中国计量学院 | Robot of sweeping floor |
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| CN107472279A (en) * | 2017-08-08 | 2017-12-15 | 无锡北斗星通信息科技有限公司 | A kind of intelligent excreta cleaning method |
| CN207003345U (en) * | 2017-07-13 | 2018-02-13 | 邢台职业技术学院 | A kind of pure electric intelligent road sweeper |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3338151A4 (en) * | 2015-08-18 | 2019-04-17 | Nilfisk A/S | Mobile robotic cleaner |
-
2018
- 2018-04-13 CN CN201810331586.8A patent/CN108625317B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN205568875U (en) * | 2016-03-30 | 2016-09-14 | 中国计量学院 | Robot of sweeping floor |
| CN205975458U (en) * | 2016-08-18 | 2017-02-22 | 周易 | Urban road automatic watering device |
| CN207003345U (en) * | 2017-07-13 | 2018-02-13 | 邢台职业技术学院 | A kind of pure electric intelligent road sweeper |
| CN107472279A (en) * | 2017-08-08 | 2017-12-15 | 无锡北斗星通信息科技有限公司 | A kind of intelligent excreta cleaning method |
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| Publication number | Publication date |
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| CN108625317A (en) | 2018-10-09 |
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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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