CN109137801A - A kind of urban road cleaning device - Google Patents
A kind of urban road cleaning device Download PDFInfo
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- CN109137801A CN109137801A CN201810961366.3A CN201810961366A CN109137801A CN 109137801 A CN109137801 A CN 109137801A CN 201810961366 A CN201810961366 A CN 201810961366A CN 109137801 A CN109137801 A CN 109137801A
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- cleaning device
- cleaning
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- forecasting
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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
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
-
- 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
Abstract
The present invention provides a kind of urban road cleaning devices, including navigation system, drive system, purging system, control system；The navigation system is used to determine real time position, Forecasting of Travel Time result and the optimal path of cleaning device；The drive system connects the navigation system, for controlling cleaning device movement according to the real time position of cleaning device, Forecasting of Travel Time result and optimal path；The region that the purging system is used to pass through cleaning device carries out automatic cleaning；The control system connects the navigation system, for controlling cleaning device in cleaning device automatic cleaning and being run with stabilized speed by setting movement speed；The purging system includes: cleaning brush, is cleaned for road pavement；Hydraulic motor, for driving the cleaning brush to carry out cleaning work.The invention has the benefit that providing a kind of urban road cleaning device, cleaning of the cleaning device to urban road is realized.
Description
Technical field
The present invention relates to cleaning technology fields, and in particular to a kind of urban road cleaning device.
Background technique
In vast city rural area, road cleaner is widely used in road-cleaning operation.Existing road cleaner is logical
Often include clearing apparatus entrained by vehicle body and vehicle body, but do not have stroke planning function, is easy to bring congestion to traffic.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of urban road cleaning device.
The purpose of the present invention is realized using following technical scheme:
Provide a kind of urban road cleaning device, including navigation system, drive system, purging system, control system；
The navigation system is used to determine real time position, Forecasting of Travel Time result and the optimal path of cleaning device；
The drive system connects the navigation system, for real time position, the Forecasting of Travel Time according to cleaning device
As a result it is moved with optimal path control cleaning device；
The region that the purging system is used to pass through cleaning device carries out automatic cleaning；
The control system connects the navigation system, for passing through setting movement speed, in cleaning device automatic cleaning
In the case of control cleaning device run with stabilized speed；
The purging system includes: cleaning brush, is cleaned for road pavement；Hydraulic motor, for driving the cleaning
Brush carries out cleaning work.
The invention has the benefit that providing a kind of urban road cleaning device, cleaning device is realized to city road
The cleaning on road.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Appended drawing reference:
Navigation system 1, drive system 2, purging system 3, control system 4.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of urban road cleaning device of the present embodiment, including navigation system 1, drive system 2, cleaning system
System 3, control system 4；
The navigation system 1 is used to determine real time position, Forecasting of Travel Time result and the optimal path of cleaning device；
The drive system 2 connects the navigation system 1, for pre- according to the real time position of cleaning device, journey time
Survey result and optimal path control cleaning device movement；
The region that the purging system 3 is used to pass through cleaning device carries out automatic cleaning；
The control system 4 connects the navigation system 1, automatically clear in cleaning device for passing through setting movement speed
Cleaning device is controlled in the case of sweeping to run with stabilized speed；
The purging system 3 includes: cleaning brush, is cleaned for road pavement；Hydraulic motor, for driving the cleaning
Brush carries out cleaning work.
A kind of urban road cleaning device is present embodiments provided, cleaning of the cleaning device to urban road is realized.
Preferably, the navigation system 1 includes first processing module, Second processing module, third processing module, and described the
One processing module is used to determine the exact position of cleaning device, the Second processing module be used for cleaning device journey time into
Row prediction, the third processing module is for determining that cleaning device travels optimal path；The first processing module includes first
It handles submodule, second processing submodule and third and handles submodule, the first processing submodule is determined by pseudorange to be cleaned
The initial position of device, for determining that pseudorange calculates error, the third processing submodule is based on the second processing submodule
Cleaning device initial position and pseudorange measuring and calculating error determine the exact position of cleaning device；
The first processing submodule determines the rough location of cleaning device by pseudorange, in the following ways: Jiang Yitai
GPS receiver is mounted on cleaning device, and cleaning device initial position is determined by following formula:In above-mentioned formula, (x, y, z) indicates cleaning device just step
It sets, (xi, yi, zi) indicate that i-th of satellite position, c indicate the light velocity, tiIndicate the clock deviation amendment of i-th of satellite, t indicates receiver
Clock deviation, RXiPseudorange of the expression cleaning device to i-th of satellite, i=1,2,3,4；
The second processing submodule is for determining that pseudorange calculates error, in the following ways: two GPS receiver are pacified
Mounted in two base stations A and B, it is known that the physical location of two base stations is respectively (X1, Y1, Z1)、(X2, Y2, Z2), according to pseudorange
The position for two base stations that measure formula determines is respectively (X3, Y3, Z3)、(X4, Y4, Z4), determine that pseudorange is calculated by following formula
Error:In above-mentioned formula, GT1Indicate that pseudorange calculates error；
The third processing submodule determines the essence of cleaning device based on cleaning device initial position and pseudorange measuring and calculating error
True position, in the following ways: the exact position (x of cleaning device0, y0, z0) determined by following formula: (x0, y0, z0)=GT1+
(x, y, z)；
This preferred embodiment first processing module determines pseudo range measurement error by the way that two base stations are arranged, and improves cleaning
Device positioning accuracy is laid a good foundation for the navigation of subsequent cleaning device；
Preferably, the Second processing module includes forming time prediction module and prediction result evaluation module, the shape
At time prediction module for obtaining cleaning device Forecasting of Travel Time as a result, the prediction result evaluation module is used for prediction
As a result it is evaluated；The formation time prediction module is for obtaining cleaning device Forecasting of Travel Time as a result, using with lower section
Formula hypothesis has identical journey time in the identical period with each section in one day of identical historical trend, to sanitizer cartridge
The journey time set is carried out prediction and is carried out using following formula:On
It states in formula, ADi,m(n) indicate section i in the Forecasting of Travel Time value that time interval is m, ADi,m(o) indicate section i in the time
Between be divided into the history journey time numerical value of m, AD 'i,mIndicate section i in the nearest journey time numerical value that time interval is m, ρ table
Show smoothing factor, ρ ∈ (0,1)；
The prediction result evaluation module is for evaluating prediction result, in the following ways: being calculate by the following formula
The accuracy factor of Forecasting of Travel Time result:In above-mentioned formula, DT indicates Forecasting of Travel Time knot
The accuracy factor of fruit, y1Indicate Forecasting of Travel Time value, y2Indicate journey time measured value；The Forecasting of Travel Time result
The accuracy factor it is bigger, indicate Forecasting of Travel Time it is more accurate；
This preferred embodiment Second processing module predicts journey time by history journey time, realizes stroke
The prediction and assessment of time, ensure that the accuracy of prediction, lay a good foundation for the navigation of subsequent cleaning device.
Preferably, the third processing module includes that modeling submodule and path submodule, the modeling submodule are used for
Traffic network model is established, the path submodule is based on traffic network model and chooses optimal path；
The modeling submodule is for establishing traffic network model, in the following ways: non-directed graph indicates traffic network,
In, node indicates the crossing in road network, and the side between node indicates the section in road network, determines the weight of every road in road network
In the following ways:
Firstly, calculating the section factor in each section:In above-mentioned formula,
MHiIndicate the section factor in i-th of section, a1Indicate that the maximum cleaning device of section unit time passes through number, a2Indicate section one
The number of traffic accident, a occur in year3Indicate pavement behavior quantized value, a3=3, road surface is pitch, a3=2, road surface is cement,
a3=1, road surface is soil property, a4Indicate section billing unit mileage charge；
Then, corresponding weight is determined according to the section factor in each section:Above-mentioned formula
In, RUiIndicate the weight in i-th of section, fiIndicate the length in i-th of section, n indicates the quantity in section in road network；
The path submodule is based on traffic network model and chooses optimal path, in the following ways: choosing total weight most
Small section is as optimal path.
During this preferred embodiment third processing module determines section weight, the passage energy in section has been fully considered
Power, accident occurrence frequency, pavement behavior and charge situation, have obtained accurate section weight, ensure that the optimal selection in path.
It is cleaned using urban road cleaning device of the present invention, chooses 5 cities and tested, respectively city 1, city
City 2, city 3, city 4, city 5, count cleaning efficiency and cleaning cost, compare compared with cleaning vehicle, generation has
Beneficial effect is as shown in the table:
| Cleaning efficiency improves | Cleaning cost reduces | |
| City 1 | 29% | 27% |
| City 2 | 27% | 26% |
| City 3 | 26% | 26% |
| City 4 | 25% | 24% |
| City 5 | 24% | 22% |
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, processor can be realized in one or more the following units: specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units designed for realizing functions described herein or combinations thereof.
For software implementations, some or all of embodiment process can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for from a place to any medium of another place transmission computer program.Storage medium can be computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store have instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (7)
1. a kind of urban road cleaning device, which is characterized in that including navigation system, drive system, purging system, control system
System；
The navigation system is used to determine real time position, Forecasting of Travel Time result and the optimal path of cleaning device；
The drive system connects the navigation system, for the real time position according to cleaning device, Forecasting of Travel Time result
With optimal path control cleaning device movement；
The region that the purging system is used to pass through cleaning device carries out automatic cleaning；
The control system connects the navigation system, for passing through setting movement speed, in cleaning device automatic cleaning situation
Lower control cleaning device is run with stabilized speed；
The purging system includes: cleaning brush, is cleaned for road pavement；Hydraulic motor, for drive the cleaning brush into
Row cleaning work.
2. urban road cleaning device according to claim 1, which is characterized in that the navigation system includes the first processing
Module, Second processing module, third processing module, the first processing module are used to determine the exact position of cleaning device, institute
Second processing module is stated for predicting cleaning device journey time, the third processing module is for determining cleaning device
Travel optimal path；The first processing module includes that the first processing submodule, second processing submodule and third handle submodule
Block, the first processing submodule determine the initial position of cleaning device by pseudorange, and the second processing submodule is for true
Determine pseudorange measuring and calculating error, the third processing submodule determines sanitizer cartridge based on cleaning device initial position and pseudorange measuring and calculating error
The exact position set.
3. urban road cleaning device according to claim 2, which is characterized in that the first processing submodule passes through puppet
Away from the rough location for determining cleaning device, in the following ways: a GPS receiver being mounted on cleaning device, sanitizer cartridge
Initial position is set to determine by following formula:In above-mentioned formula, (x,
Y, z) indicate cleaning device rough location, (xi, yi, zi) indicate that i-th of satellite position, c indicate the light velocity, tiIndicate i-th of satellite
Clock deviation amendment, t indicate receiver clock deviation, RXiPseudorange of the expression cleaning device to i-th of satellite, i=1,2,3,4.
4. urban road cleaning device according to claim 3, which is characterized in that the second processing submodule is for true
Determine pseudorange measuring and calculating error, in the following ways: two GPS receiver being mounted on two base stations A and B, it is known that two benchmark
The physical location stood is respectively (X1, Y1, Z1)、(X2, Y2, Z2), according to the position for two base stations that pseudorange measure formula determines
Respectively (X3, Y3, Z3)、(X4, Y4, Z4), determine that pseudorange calculates error by following formula:In above-mentioned formula, GT1Indicate that pseudorange calculates error.
5. urban road cleaning device according to claim 4, which is characterized in that the third processing submodule is based on clear
Clean device initial position and pseudorange measuring and calculating error determine the exact position of cleaning device, in the following ways: the essence of cleaning device
True position (x0, y0, z0) determined by following formula: (x0, y0, z0)=GT1+ (x, y, z).
6. urban road cleaning device according to claim 5, which is characterized in that the Second processing module includes being formed
Time prediction module and prediction result evaluation module, the formation time prediction module are pre- for obtaining cleaning device journey time
It surveys as a result, the prediction result evaluation module is for evaluating prediction result；The formation time prediction module is for obtaining
Cleaning device Forecasting of Travel Time is taken as a result, assuming that there is each section in one day of identical historical trend to exist in the following ways
There is identical journey time in the identical period, carries out prediction to the journey time of cleaning device and is carried out using following formula: In above-mentioned formula, ADi,m(n) indicate section i between the time
It is divided into the Forecasting of Travel Time value of m, ADi,m(o) indicate section i in the history journey time numerical value that time interval is m, AD 'i,mTable
Show section i in the nearest journey time numerical value that time interval is m, ρ indicates smoothing factor, ρ ∈ (0,1).
7. urban road cleaning device according to claim 6, which is characterized in that the prediction result evaluation module is used for
Prediction result is evaluated, in the following ways: it is calculate by the following formula the accuracy factor of Forecasting of Travel Time result:In above-mentioned formula, DT indicates the accuracy factor of Forecasting of Travel Time result, y1Indicate journey time
Predicted value, y2Indicate journey time measured value；The accuracy factor of the Forecasting of Travel Time result is bigger, indicates journey time
It is more accurate to predict.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810961366.3A CN109137801B (en) | 2018-08-22 | 2018-08-22 | Urban road cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810961366.3A CN109137801B (en) | 2018-08-22 | 2018-08-22 | Urban road cleaning device |
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| Publication Number | Publication Date |
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| CN109137801A true CN109137801A (en) | 2019-01-04 |
| CN109137801B CN109137801B (en) | 2020-04-07 |
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