CN109542009A - One kind automatically controlling sprinkling truck system and its control method based on pedestrian position - Google Patents
One kind automatically controlling sprinkling truck system and its control method based on pedestrian position Download PDFInfo
- Publication number
- CN109542009A CN109542009A CN201811446923.4A CN201811446923A CN109542009A CN 109542009 A CN109542009 A CN 109542009A CN 201811446923 A CN201811446923 A CN 201811446923A CN 109542009 A CN109542009 A CN 109542009A
- Authority
- CN
- China
- Prior art keywords
- pedestrian
- distance
- sprinkling truck
- watering
- controlling terminal
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- 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.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2625—Sprinkler, irrigation, watering
Abstract
The present invention relates to one kind to automatically control sprinkling truck system and its control method based on pedestrian position, including human body detection device, central control module, route acquisition device, distance detection device, velocity measuring module, alarm device, electronic valve, the human detection module is used for for detecting pedestrian signal around sprinkling truck, the velocity measuring module is for detecting the sprinkling truck travel speed, the route acquisition device is for obtaining sprinkling truck conduct route, the distance detection device is for detecting pedestrian in the distance on sprinkling truck, and it will test distance and be sent to the controlling terminal, the controlling terminal control electronic valve carries out control intelligent measurement pedestrian to sprinkling truck water and carries out watering range modification.
Description
Technical field
The invention belongs to systems technology field, one kind automatically controlling sprinkling truck system and its controlling party based on pedestrian position
Method.
Background technique
With the development of society, requirement of the people for living environment is higher and higher, since urban pavement is due to stream of people's vehicle
The process of stream has a large amount of dust so as to cause road surface, and then can raise dust when blowing air over road surface, so that
Dust particles in the air of surrounding increase, and can suck in body dust when then citizen pass through from this, cause to human body
It influences, it is more also to more germ is carried additionally, due to road dust, so that can also be caused to pedestrian when pedestrian passes through
The problem of health, in order to which road pavement is dusted, city is all to be timed watering using sprinkling truck at present, so that road pavement is rushed
Brush away except dust, but due to the watering overall process on sprinkling truck be all by manual control, it is artificial it needs to be determined that the watering time,
Watering route and travel speed.
108018817 A of Chinese patent CN provides a kind of control system and its working method for sprinkling truck, the system
By the way that whether someone carries out the operation to sprinkling truck around detection sprinkling truck, but the system data is too single, can not be for row
Whether people is really in watering range, will lead to and makes mistakes, and can not give warning in advance, so inventing what one kind accurately detected
System be very it is necessary to.
Summary of the invention
It is an object of that present invention to provide one kind to automatically control sprinkling truck system and its control method based on pedestrian position.
One kind automatically controlling sprinkling truck system and its control method, including human body detection device, center based on pedestrian position
Control module, route acquisition device, distance detection device, velocity measuring module, alarm device, electronic valve, the human body inspection
It surveys module to be used for for detecting pedestrian signal around sprinkling truck, the velocity measuring module is for detecting the sprinkling truck traveling speed
Degree, the route acquisition device is for obtaining sprinkling truck conduct route, and the distance detection device is for detecting pedestrian in watering
The distance of vehicle, and will test distance and be sent to the controlling terminal, the controlling terminal control electronic valve is to sprinkling truck water
Controlled, specifically include following steps the following steps are included:
S1: it opens route acquisition device and obtains sprinkling truck conduct route, judge that sprinkling truck is in linear section, sprinkling truck is in straight line
Section starts the human body detection device when working, and detects pedestrian information around sprinkling truck, and pedestrian information is sent to described
Controlling terminal；
Step S2: the controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, judgement
Whether pedestrian reaches pre-set value at a distance from sprinkling truck, and the controlling terminal controls to adjust sprinkling truck if reaching pre-set value
Electronics valve regulation watering dynamics, the controlling terminal controls the electronic valve without power of sprinkling water if not up to pre-set value
Degree is adjusted；
S3: distance detection device described in time T detects second distance S1, judges the first distance S and the second distance S1
Whether pre-set value is reached, the electronic valve that the controlling terminal controls the sprinkling truck if reaching pre-set value carries out
Watering dynamics is adjusted, if not up to pre-set value told controlling terminal restart obtain pedestrian information and pedestrian and sprinkling truck it
Between first distance；
S4: controlling terminal when pedestrian's track route intersects with sprinkler range is detected after executing step S3 and is opened
Move the alarm device to pedestrian carry out alarm, when pedestrian reaches pre-set value with sprinkling truck distance if the controlling terminal stop
Only sprinkler operation and continue carry out alarm.
Wherein, according to S2, wherein detection judges pedestrian apart from further comprising the steps of for the first time:
S11: the controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, obtains current
Watering distance, wherein current watering distance is to shift to an earlier date the maximum watering distance of typing, and estimate watering distance according to water outlet dynamics；
S12: the first distance S between the detection pedestrian and sprinkling truck is judged whether in pre-set value, wherein described default
Definite value is sprinkler distance；
S13: if the first distance S between the detection pedestrian and sprinkling truck is in pre-set value, the controlling terminal is controlled
It is described to control to adjust the electronic valve adjusting watering dynamics；
S14: if the first distance S between the detection pedestrian and sprinkling truck is not in pre-set value, the controlling terminal exists
The first distance S1 between the detection pedestrian and sprinkling truck is detected after time T, and will test at value sending value controlling terminal.
Wherein, according to S3, wherein time T is 3S ~ 5S, wherein second of detection method also specifically includes following step
It is rapid:
S21: after time T, the controlling terminal starts distance detection device, detects the second distance S between pedestrian and sprinkling truck,
Current watering distance is obtained, wherein maximum watering distance of the current watering distance for typing in advance, and estimated according to water outlet dynamics
Watering distance；
S22: calculating the speed that pedestrian walks to sprinkling truck, and wherein the speed of pedestrian is | S1-S2 |/T, and obtain the row on sprinkling truck
Sail speed speed, judge sprinkling truck traveling after whether have watering range cross with pedestrian；
S23: judge to have after sprinkling truck traveling watering range and the pedestrian then controlling terminal that crosses to reduce watering range；
S24: judge to reacquire pedestrian first without watering range and the pedestrian then controlling terminal that crosses after sprinkling truck traveling
Distance value S1.
Wherein, at human body detection device is placed in front of headstock sprinkler tip, the detection range then sprinkler
2 ~ 3 times of range change with the variation of watering range, and will test value and be sent at the controlling terminal, the alarm dress
Loudspeaker are set to, the controlling terminal controls the loudspeaker and notifies that pedestrian is separate when condition reaches.
The utility model has the advantages that
The present invention combines sprinkling truck travel speed according to pedestrian's run trace and speed, judges whether pedestrian can locate in advance
In watering range in, and in advance judge reduction watering range.
Detailed description of the invention
Fig. 1 is a kind of flow chart that sprinkling truck system and its control method are automatically controlled based on pedestrian position of the present invention.
Fig. 2 is a kind of first time detection that sprinkling truck system and its control method are automatically controlled based on pedestrian position of the present invention
Flow chart.
Fig. 3 is a kind of second of process that sprinkling truck system and its control method are automatically controlled based on pedestrian position of the present invention
Figure.
Fig. 4 is a kind of structure chart that sprinkling truck system and its control method are automatically controlled based on pedestrian position of the present invention.
Specific embodiment
The one kind proposed according to embodiments of the present invention with description with reference to the accompanying drawings is based on pedestrian position and automatically controls watering
Vehicle system and its control method.
As shown in Figs 1-4, sprinkling truck system and its control method, including human testing dress are automatically controlled based on pedestrian position
It sets, central control module, route acquisition device, distance detection device, velocity measuring module, alarm device, electronic valve is described
Human detection module is used for for detecting pedestrian signal around sprinkling truck, and the velocity measuring module is for detecting the sprinkling truck
Travel speed, the route acquisition device is for obtaining sprinkling truck conduct route, and the distance detection device is for detecting pedestrian
Distance in sprinkling truck, and will test distance and be sent to the controlling terminal, the controlling terminal control electronic valve is to watering
Vehicle water is controlled, and human body detection device is placed at headstock sprinkler tip front, and then the sprinkling truck is spilt detection range
2 ~ 3 times of water range change with the variation of watering range, and will test value and be sent at the controlling terminal, the alarm
Device is loudspeaker, and when condition reaches, the controlling terminal controls the loudspeaker and notifies that pedestrian is separate.
Specifically include following steps the following steps are included:
S1: it opens route acquisition device and obtains sprinkling truck conduct route, judge that sprinkling truck is in linear section, sprinkling truck is in straight line
Section starts the human body detection device when working, and detects pedestrian information around sprinkling truck, and pedestrian information is sent to described
Controlling terminal；
Step S2: the controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, judgement
Whether pedestrian reaches pre-set value at a distance from sprinkling truck, and the controlling terminal controls to adjust sprinkling truck if reaching pre-set value
Electronics valve regulation watering dynamics, the controlling terminal controls the electronic valve without power of sprinkling water if not up to pre-set value
Degree is adjusted；
S3: distance detection device described in time T detects second distance S1, judges the first distance S and the second distance S1
Whether pre-set value is reached, the electronic valve that the controlling terminal controls the sprinkling truck if reaching pre-set value carries out
Watering dynamics is adjusted, if not up to pre-set value told controlling terminal restart obtain pedestrian information and pedestrian and sprinkling truck it
Between first distance；
S4: controlling terminal when pedestrian's track route intersects with sprinkler range is detected after executing step S3 and is opened
Move the alarm device to pedestrian carry out alarm, when pedestrian reaches pre-set value with sprinkling truck distance if the controlling terminal stop
Only sprinkler operation and continue carry out alarm.
Described in S2, wherein detection judges pedestrian apart from further comprising the steps of for the first time:
S11: the controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, obtains current
Watering distance, wherein current watering distance is to shift to an earlier date the maximum watering distance of typing, and estimate watering distance according to water outlet dynamics；
S12: the first distance S between the detection pedestrian and sprinkling truck is judged whether in pre-set value, wherein described default
Definite value is sprinkler distance；
S13: if the first distance S between the detection pedestrian and sprinkling truck is in pre-set value, the controlling terminal is controlled
It is described to control to adjust the electronic valve adjusting watering dynamics；
S14: if the first distance S between the detection pedestrian and sprinkling truck is not in pre-set value, the controlling terminal exists
The first distance S1 between the detection pedestrian and sprinkling truck is detected after time T, and will test at value sending value controlling terminal.
Described in S3, wherein time T be 3S ~ 5S, wherein second of detection method also specifically includes the following steps:
S21: after time T, the controlling terminal starts distance detection device, detects the second distance S between pedestrian and sprinkling truck,
Current watering distance is obtained, wherein maximum watering distance of the current watering distance for typing in advance, and estimated according to water outlet dynamics
Watering distance；
S22: calculating the speed that pedestrian walks to sprinkling truck, and wherein the speed of pedestrian is | S1-S2 |/T, and obtain the row on sprinkling truck
Sail speed speed, judge sprinkling truck traveling after whether have watering range cross with pedestrian；
S23: judge to have after sprinkling truck traveling watering range and the pedestrian then controlling terminal that crosses to reduce watering range；
S24: judge to reacquire pedestrian first without watering range and the pedestrian then controlling terminal that crosses after sprinkling truck traveling
Distance value S1.
Claims (5)
1. one kind automatically controls sprinkling truck system and its control method, including human body detection device, center control based on pedestrian position
Molding block, route acquisition device, distance detection device, velocity measuring module, alarm device, electronic valve, the human testing
Module is used for for detecting pedestrian signal around sprinkling truck, and the velocity measuring module is for detecting the sprinkling truck traveling speed
Degree, the route acquisition device is for obtaining sprinkling truck conduct route, and the distance detection device is for detecting pedestrian in watering
The distance of vehicle, and will test distance and be sent to the controlling terminal, the controlling terminal control electronic valve is to sprinkling truck water
Controlled, specifically include following steps the following steps are included:
Step S1: it opens route acquisition device and obtains sprinkling truck conduct route, judge that sprinkling truck is in linear section, sprinkling truck exists
Linear section starts the human body detection device when working, detect pedestrian information around sprinkling truck, and pedestrian information is sent to
The controlling terminal；
Step S2: the controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, judgement
Whether pedestrian reaches pre-set value at a distance from sprinkling truck, and the controlling terminal controls to adjust sprinkling truck if reaching pre-set value
Electronics valve regulation watering dynamics, the controlling terminal controls the electronic valve without power of sprinkling water if not up to pre-set value
Degree is adjusted；
Step S3: distance detection device described in time T detect second distance S1, judge the first distance S with described second away from
Whether reach pre-set value from S1, the controlling terminal controls the electronic valve on the sprinkling truck if reaching pre-set value
Watering dynamics adjusting is carried out, told controlling terminal, which is restarted, if not up to pre-set value obtains pedestrian information and pedestrian and watering
First distance between vehicle；
Step S4: it is whole that control when pedestrian's track route intersects with sprinkler range is detected after executing step S3
End starts the alarm device and carries out alarm to pedestrian, when pedestrian and sprinkling truck distance reach pre-set value if the control it is whole
End stops sprinkler operation and continues to carry out alarm.
2. it is according to claim 1 a kind of based on pedestrian position automatic control sprinkling truck system and its control method, it is special
Sign is, at the human body detection device is placed in front of headstock sprinkler tip, the detection range then sprinkler model
2 ~ 3 times enclosed change with the variation of watering range, and will test value and be sent at the controlling terminal.
3. as described in claim 1 a kind of based on pedestrian position automatic control sprinkling truck system and its control method, feature
It is, according to step S2, wherein detection judges pedestrian apart from further comprising the steps of for the first time:
(1) controlling terminal starts distance detection device, detects the first distance S between pedestrian and sprinkling truck, obtains current
Watering distance, wherein current watering distance is to shift to an earlier date the maximum watering distance of typing, and estimate watering distance according to water outlet dynamics；
(2) the first distance S between the detection pedestrian and sprinkling truck is judged whether in pre-set value, wherein described presetting
Value is sprinkler distance；
(3) if the first distance S between the detection pedestrian and sprinkling truck is in pre-set value, the controlling terminal controls institute
It states and controls to adjust the electronic valve adjusting watering dynamics；
(4) if it is described detection pedestrian and sprinkling truck between first distance S not in pre-set value, the controlling terminal when
Between first distance S1 between the detection pedestrian and sprinkling truck is detected after T, and will test at value sending value controlling terminal.
4. as described in claim 1 a kind of based on pedestrian position automatic control sprinkling truck system and its control method, feature
Be, according to step S3, wherein time T be 3S ~ 5S, wherein second of detection method also specifically includes the following steps:
(1) after time T, the controlling terminal starts distance detection device, detects the second distance S between pedestrian and sprinkling truck,
Current watering distance is obtained, wherein maximum watering distance of the current watering distance for typing in advance, and estimated according to water outlet dynamics
Watering distance；
(2) speed that pedestrian walks to sprinkling truck is calculated, wherein the speed of pedestrian is | S1-S2 |/T, and obtain the row on sprinkling truck
Sail speed speed, judge sprinkling truck traveling after whether have watering range cross with pedestrian；
(3) judge to have after sprinkling truck traveling watering range and the pedestrian then controlling terminal that crosses to reduce watering range；
(4) judge after sprinkling truck traveling without watering range and pedestrian cross the then controlling terminal reacquire pedestrian first away from
From value S1.
5. as described in claim 1 a kind of based on pedestrian position automatic control sprinkling truck system and its control method, feature
It is, the alarm device is loudspeaker, and when condition reaches, the controlling terminal controls the loudspeaker and notifies that pedestrian is separate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446923.4A CN109542009A (en) | 2018-11-29 | 2018-11-29 | One kind automatically controlling sprinkling truck system and its control method based on pedestrian position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446923.4A CN109542009A (en) | 2018-11-29 | 2018-11-29 | One kind automatically controlling sprinkling truck system and its control method based on pedestrian position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109542009A true CN109542009A (en) | 2019-03-29 |
Family
ID=65851148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811446923.4A Withdrawn CN109542009A (en) | 2018-11-29 | 2018-11-29 | One kind automatically controlling sprinkling truck system and its control method based on pedestrian position |
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| CN (1) | CN109542009A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110205968A (en) * | 2019-04-24 | 2019-09-06 | 安徽酷哇机器人有限公司 | Sprinkler control method, system and sprinkling truck |
| CN111119114A (en) * | 2019-12-31 | 2020-05-08 | 合肥移顺信息技术有限公司 | Sprinkling control method and electronic equipment |
| CN112000102A (en) * | 2020-08-27 | 2020-11-27 | 江苏徐工信息技术股份有限公司 | Sprinkler mis-spraying prevention system and method based on video detection and GPS |
| CN113529635A (en) * | 2021-07-09 | 2021-10-22 | 上海熙众新能源技术有限公司 | Sprinkling control method and system and intelligent sprinkling truck |
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| CN106828388A (en) * | 2016-12-30 | 2017-06-13 | 浙江吉利控股集团有限公司 | For the vehicle active warning system and method and vehicle of pedestrian |
| CN107142888A (en) * | 2017-04-28 | 2017-09-08 | 苏州亮磊知识产权运营有限公司 | A kind of Intelligent road watering robot and its control method with unmanned plane |
| CN108018817A (en) * | 2017-12-20 | 2018-05-11 | 何贤永 | A kind of control system and its method of work for sprinkling truck |
| CN108049355A (en) * | 2017-12-13 | 2018-05-18 | 徐剑霞 | A kind of environmental-protection sprinkler of automatic avoidance pedestrian |
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2018
- 2018-11-29 CN CN201811446923.4A patent/CN109542009A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828388A (en) * | 2016-12-30 | 2017-06-13 | 浙江吉利控股集团有限公司 | For the vehicle active warning system and method and vehicle of pedestrian |
| CN107142888A (en) * | 2017-04-28 | 2017-09-08 | 苏州亮磊知识产权运营有限公司 | A kind of Intelligent road watering robot and its control method with unmanned plane |
| CN108049355A (en) * | 2017-12-13 | 2018-05-18 | 徐剑霞 | A kind of environmental-protection sprinkler of automatic avoidance pedestrian |
| CN108018817A (en) * | 2017-12-20 | 2018-05-11 | 何贤永 | A kind of control system and its method of work for sprinkling truck |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110205968A (en) * | 2019-04-24 | 2019-09-06 | 安徽酷哇机器人有限公司 | Sprinkler control method, system and sprinkling truck |
| CN111119114A (en) * | 2019-12-31 | 2020-05-08 | 合肥移顺信息技术有限公司 | Sprinkling control method and electronic equipment |
| CN112000102A (en) * | 2020-08-27 | 2020-11-27 | 江苏徐工信息技术股份有限公司 | Sprinkler mis-spraying prevention system and method based on video detection and GPS |
| CN113529635A (en) * | 2021-07-09 | 2021-10-22 | 上海熙众新能源技术有限公司 | Sprinkling control method and system and intelligent sprinkling truck |
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Application publication date: 20190329 |