CN110334874A - A kind of smart city garbage truck travel route optimization method - Google Patents
A kind of smart city garbage truck travel route optimization method Download PDFInfo
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q50/26—Government or public services
Abstract
The application discloses a kind of smart city garbage truck travel route optimization method, comprising: the load data of the dustbin at each garbage reclamation point of real-time monitoring；The location information of target dustbin is obtained, the load data of the target dustbin is greater than threshold value；The running state information of the location information of the target dustbin and garbage truck is fed back into map route planning system, so that the map route planning system generates recommended route, the recommended route is the programme path for avoiding traffic congestion；Wherein, the running state information of the garbage truck includes garbage truck start position, garbage truck final position, garbage truck headstock direction, garbage truck travel speed and departure time；According to the recommended route, controls the garbage truck and advance to the target dustbin.The application, in conjunction with Current traffic traffic information, can generate recommended route by map route planning system, improve the efficiency of garbage truck operation and garbage collection according to the load data of the dustbin at each garbage reclamation point.
Description
Technical field
This application involves environmental sanitation technical field of garbage collection more particularly to a kind of smart city garbage truck travel route to optimize
Method.
Background technique
China, various regions, city fixed position is distributed with dustbin, and sanitationman can control garbage truck and travel to some
The dustbin that position is pointed out, and the rubbish object loaded in dustbin is poured onto garbage truck, so that garbage reclamation work is completed,
Guarantee the cleaning of urban environmental hygiene.
Garbage truck is usually to travel according to fixed route and time at present, to complete garbage collection work.But rubbish
Vehicle along route when driving, since sanitationman does not know about the negative of dustbin in the garbage reclamation point of route approach in advance
Lotus situation often will appear and sail in advance to the less dustbin of quantity of refuse, at rear traveling to fully loaded dustbin, lead to rubbish
Amount can not clear up in time close to the rubbish in dustbin that is fully loaded or being fully loaded with, and garbage truck according to route successively before
Toward each garbage reclamation point, the bad situation of road conditions during which may also be encountered, garbage truck is caused to run and collect the efficiency of rubbish
It is low.
Summary of the invention
The application provides a kind of smart city garbage truck travel route optimization method, to solve garbage truck operation and collect rubbish
The problem of rubbish low efficiency.
The application provides a kind of smart city garbage truck travel route optimization method, comprising:
The load data of dustbin at each garbage reclamation point of real-time monitoring；
The location information of target dustbin is obtained, the load data of the target dustbin is greater than threshold value；
The running state information of the location information of the target dustbin and garbage truck is fed back into map route planning system
System, so that the map route planning system generates recommended route, the recommended route is the programme path for avoiding traffic congestion；
Wherein, the running state information of the garbage truck includes garbage truck start position, garbage truck final position, garbage truck headstock side
To, garbage truck travel speed and departure time；
According to the recommended route, controls the garbage truck and advance to the target dustbin.
Optionally, level sensor is installed, or different in the dustbin inner wall vertical direction in the dustbin
Bar shaped pressure sensor is set gradually at height, it is for detecting the height of materials of current rubbish in the dustbin, then described negative
Lotus data are the ratio value of the height of materials of current rubbish and the dustbin total height in the dustbin；
Alternatively, being provided with camera above the bung hole of the dustbin, the camera is for obtaining in the dustbin
The height of materials of current rubbish；Then the load data is the height of materials and the dustbin of current rubbish in the dustbin
The ratio value of total height.
Optionally, the threshold value is 60%.
Optionally, pressure sensor is set in the dustbin bottom, for calculating j-th of target dustbin of current time
Interior rubbish loading capacity mj, mj=Fj/ g, FjFor the pressure detecting of the pressure sensor in j-th of target dustbin of current time
Value, g is gravity coefficient, value 9.8N/kg.
Optionally, the method also includes:
Calculate the remaining loading capacity m of the garbage truckl, ml=mk–mi, mkFor the total weight of the garbage truck, miWhen being i-th
Carve the loading capacity of the garbage truck；
If ml=0, it controls the garbage truck and is travelled to the garbage truck final position；
IfThe garbage truck is controlled to j-th of target dustbin traveling of current time, until ml=
0；mjFor the rubbish useful load in j-th of target dustbin of current time, n is the number of current time target dustbin for clearance
Amount；
Wherein, when the i-th moment was the garbage collection completion in the previous target dustbin of j-th of target dustbin
At the time of corresponding.
Optionally, the first positioning device is provided on the dustbin, first positioning device is for obtaining the rubbish
The location information of rubbish bucket；First positioning device is GPS device, Beidou navigation device or alignment sensor.
Optionally, the second positioning device is provided on the garbage truck, second positioning device for obtaining institute in real time
State the current location information of garbage truck；Second positioning device is GPS device, Beidou navigation device or alignment sensor.
Optionally, the map route planning system generates recommended route, comprising:
Current traffic traffic information is obtained by map route planning system；
The map route planning system generates several routes that pass unimpeded according to the Current traffic traffic information；
The map route planning system selects the recommended route from several routes that pass unimpeded.
Optionally, the method also includes:
Obtain the priority of several routes that pass unimpeded；
The recommended route is set by the route that passes unimpeded of the highest priority.
Optionally, the method also includes:
After the completion of garbage collection in current target dustbin, the recommended route is updated；
It advances according to updated recommended route control garbage truck.
From the above technical scheme, garbage truck travel route optimization method in smart city provided by the present application, Neng Gougen
Map route planning system is utilized in conjunction with Current traffic traffic information according to the load data of the dustbin at each garbage reclamation point
Recommended route is automatically generated, when garbage truck is advanced according to recommended route, can preferentially handle the dustbin that will be fully loaded in time, and
And hide traffic congestion, to improve the operational efficiency and garbage collection efficiency of garbage truck, the walking of garbage truck can also be shortened
Distance, to reduce oil consumption and operating cost.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow chart of the smart city garbage truck travel route optimization method shown in the embodiment of the present application；
Fig. 2 is that schematic diagram is planned in the distribution of garbage reclamation point and garbage truck travel route shown in the embodiment of the present application.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the application provides a kind of smart city garbage truck travel route optimization method, the method can be
It is executed in the control platform of control garbage truck operation, described method includes following steps:
Step S1, the load data of the dustbin at each garbage reclamation point of real-time monitoring.
In one possible implementation, mountable level sensor on the inner sidewall of dustbin, for detecting rubbish
The piling height of current rubbish material in bucket, with the accumulation of rubbish in dustbin, the detected value of level sensor is also synchronous to be increased
Add；Alternatively, the pressure sensor of bar shaped can be installed in a manner of inlaying or paste etc. in dustbin, sensed by pressure
Load variations in dustbin, for example bar shaped pressure sensor is set gradually along dustbin inner wall vertical direction different height,
Dustbin internal loading changes, and when sanitary fill is to a certain height, the pressure sensor at respective heights is triggered, then leads to
The mounting height of over-voltage force snesor can be obtained the height of materials of rubbish in dustbin.In this case, the load data
For the height of materials of rubbish current in dustbin and the ratio value of dustbin total height.
, can be in the top of dustbin in alternatively possible implementation, and be aligned at the bung hole of dustbin and set
Camera is set, camera is used to obtain the height of materials of current rubbish in dustbin, and in this case, load data is dustbin
The height of materials of interior current rubbish and the ratio value of dustbin total height, that is, judge piling height of the rubbish in bucket apart from bung hole
The difference in height of upper limit position, the difference in height is smaller, then dustbin is closer to fully loaded.It should be noted that measurement dustbin load
The mode of data include but is not limited to it is several cited by the present embodiment, those skilled in the art can be according to practical situations
Flexibly choose the mode of measurement dustbin load.Step S2 obtains the location information of target dustbin, the target dustbin
Load data is greater than threshold value.
Optionally, the threshold value is 60%, when the load data of dustbin is greater than 60%, then illustrates rubbish in dustbin
It has been stacked into a certain degree, has been closer to be fully loaded with, it would be highly desirable to which garbage truck comes to collect the rubbish in the target dustbin, at this moment needs
Obtain the location information of target dustbin.In the possible implementation of the present embodiment, first can be set on dustbin
Positioning device, the first positioning device are used to obtain the location information of dustbin, and the first positioning device is GPS device, Beidou navigation
Device or alignment sensor etc., location information are mainly longitude and latitude data, are no more than 6 after decimal point, such as: 40.056878,
116.30815, the location information for the target dustbin that the first positioning device obtains can be transmitted to through wireless communication
Control platform.The running state information of the location information of the target dustbin and garbage truck is fed back to map road by step S3
Line planning system, so that the map route planning system generates recommended route, the recommended route is to avoid traffic congestion
Programme path；Wherein, the running state information of the garbage truck includes garbage truck start position, garbage truck final position, rubbish
Vehicle headstock direction, garbage truck travel speed and departure time.
Step S4 controls the garbage truck and advances to the target dustbin according to the recommended route.
In the possible implementation of the present embodiment, the second positioning device is provided on garbage truck, the second positioning device is used
In the current location information for obtaining garbage truck in real time, the second positioning device is GPS device, Beidou navigation device or alignment sensor
Deng.Location information is mainly longitude and latitude data, is no more than 6 after decimal point, such as: 40.056878,116.30815, second is fixed
The current location information for the garbage truck that position device obtains, can be transmitted to control platform through wireless communication.If rubbish
It is fitted without vehicle carried pick device on rubbish vehicle, then the self-contained intelligent terminal of garbage truck driver can be used to obtain garbage truck
Current location information, Dun intelligent terminal described here can be for smart phone, tablet computer, smartwatch, Intelligent bracelet etc.
Equipment.When garbage truck is in start position, garbage truck start position can be determined by the second positioning device.
Garbage truck final position is traditionally arranged to be the geographical location where fixed destructor plant；It can be risen with manual setting
The headstock direction of point, headstock direction are to be used for auxiliary judgment garbage truck start position with direct north angle clockwise, the parameter
The positive reverse track in place improves and calculates road accuracy rate, and value type is int64, value range 0-359；It can be fixed by second
Travel speed of the position device estimation garbage truck near start position attachment, or the garbage truck average overall travel speed of default,
The travel speed value of garbage truck can be manually set；When setting out of garbage truck is distributed automatically according to rubbish load condition in region
Between, it can also be according to the real-time job placement of driver user, the departure time of manual setting garbage truck.
Control platform gives parameter feedback needed for running state information of the location information of target dustbin and garbage truck etc.
Map route planning system, map route planning system can be calculated and be generated automatically recommendation paths by build-in function.This reality
Apply in example, the map route planning system be have map route planning, Route Generation, anti-traffic congestion route optimization,
The software systems, such as Baidu map, Amap, Google Maps of functions such as figure navigation etc..Calculate and generate recommended route institute
The parameter information needed includes but is not limited to that can be advised according to the requirement and different map routes of practical application described in the present embodiment
Functional configuration and calculation method of the system of drawing etc., adaptability obtain relevant parameter.
In practical applications, in order to make garbage truck when driving, the feelings of traffic congestion will not be encountered as far as possible according to recommended route
Condition, so that garbage truck can arrive at as early as possible at target dustbin clears up rubbish in time, the recommended route is map route planning
Current traffic road conditions in system reference area, the programme path for avoiding traffic congestion of generation.In the specific implementation, by map road
Line planning system obtains Current traffic traffic information, and map route planning system generates several according to Current traffic traffic information
Pass unimpeded route, and the route that passes unimpeded is the route for enabling the unobstructed traveling of garbage truck not encounter traffic congestion, and the route that passes unimpeded can
Can have it is a plurality of, map route planning system need from a plurality of route that passes unimpeded, select a final recommended route, with guidance
The traveling of garbage truck.
Further, the priority for obtaining several routes that pass unimpeded sets the route that passes unimpeded of highest priority to recommend road
Line, priority described here can be set with concrete condition, such as according to path length (the i.e. arrival target for the route that passes unimpeded
The time needed at dustbin) it determines, path length is bigger, the priority of the corresponding route that passes unimpeded is lower, namely reaches mesh
The time needed at mark dustbin is bigger, and the priority of the corresponding route that passes unimpeded is lower；Alternatively, can be by the several orderly and clearly of generation
Walking along the street line shows garbage truck driver, therefrom selects recommended route according to personal inclination by garbage truck driver.Priority is set
Surely described in being not limited to the present embodiment, those skilled in the art require flexibly to set as the case may be and to the expectation of recommended route
It sets.
In the present embodiment in other possible implementations, after the completion of garbage collection in current target dustbin,
The recommended route is updated, is advanced according to updated recommended route control garbage truck.For example, when first aim dustbin
After the completion of garbage collection, can plan the travel route of subsequent garbage truck again according to the method described above immediately, i.e., to recommended route into
Row updates, to adapt to the traffic and rubbish load of real-time change, to guarantee that garbage truck always can be with optimal recommendation
Route is gone to fetch under target dustbin one by one, to effectively improve the operational efficiency and garbage collection efficiency of garbage truck.
In the present embodiment, the recommended route/route that passes unimpeded calculating, planning and generation method are referred to existing map route planning system
Build-in function algorithm of system etc., this embodiment is not repeated.
After determining that load data is greater than 60% target dustbin, need to calculate in current target dustbin
Rubbish loading capacity, so that the travel route to garbage truck is planned.In the concrete realization, it can be set in the dustbin bottom
Pressure sensor is set, for calculating the rubbish loading capacity m in j-th of target dustbin of current timej, mj=Fj/ g, FjIt is current
The pressure detection value of pressure sensor in j-th of target dustbin of moment, unit are newton (N), and g is gravity coefficient, value
For 9.8N/kg.For example, when determining that current time is for clearance there are the rubbish in n target dustbin, it can be to this n mesh
Mark dustbin is numbered, and j-th of target dustbin is to number the target dustbin for being j, and 1≤j≤n, n are natural number.
In the optional scheme of the present embodiment, the method also includes: calculate the remaining loading capacity m of the garbage truckl, ml
=mk–mi, mkFor the total weight of the garbage truck, miFor the loading capacity of garbage truck described in the i-th moment；If ml=0, illustrate rubbish
The residual capacity of vehicle is zero, i.e. garbage truck has been fully loaded with, and controls the garbage truck and travels to the garbage truck final position.Also
It is to say, after garbage truck goes to multiple target dustbins to collect rubbish, the rubbish in garbage truck can be gradually accumulated, until reaching full
It carries, at this moment garbage truck can not continue to accommodate extra rubbish, it is necessary to go to destructor plant, the rubbish in garbage truck is unloaded
Load empties, so that garbage truck can collect rubbish again.
IfIllustrate garbage truck also underload, then controls the garbage truck to j-th of mesh of current time
Dustbin traveling is marked, until mlWhen=0, garbage truck is travelled to terminal destructor plant.Wherein, mjFor j-th of target of current time
Rubbish useful load in dustbin, n are the quantity of current time target dustbin for clearance；I-th moment was j-th of mesh
At the time of correspondence when marking the garbage collection completion in the previous target dustbin of dustbin.
When garbage truck completes the garbage collection in previous target dustbin, detects and record at this time (when i.e. i-th
Carve) the loading capacity m of garbage trucki, and calculate the remaining loading capacity m of garbage truckl；Then target rubbish is redefined at current time
Bucket determines the mesh that n load data is greater than 60% to adapt to the dynamic change of dustbin load data at each garbage reclamation point
Dustbin is marked, n is natural number, and dustbin is numbered, such as the continuous number number from 1 to n, when then calculating current
Carve the rubbish useful load m in n target dustbinj, j=1,2 ..., n；If metIllustrate garbage truck also not
It is fully loaded, then need to plan that garbage truck is advanced in the target dustbin which current time number to, specifically can according to travel away from
Garbage truck is then controlled to current time from, information such as running time, priority, traffic congestion situation to determine number j
J-th of target dustbin traveling, and so on, until garbage truck is fully loaded, then can control garbage truck to destructor plant
Traveling is to unload rubbish.
Fig. 2 is that schematic diagram, figure are planned in the distribution of garbage reclamation point and garbage truck travel route shown in the embodiment of the present application
Middle label 1~28 is the dustbin position of the garbage reclamation point in depicted area, and thick lines are the rule of the application garbage truck in figure
Draw route.It can be seen that compared to traditional garbage truck travel route, since the application is according to the negative of the dustbin at each garbage reclamation point
Lotus data automatically generate recommended route using map route planning system, realize traffic route in conjunction with Current traffic traffic information
Optimum programming when garbage truck is advanced according to recommended route, can preferentially handle the dustbin that will be fully loaded with, and hide friendship in time
Logical congestion can also shorten the walking distance of garbage truck to improve the operational efficiency and garbage collection efficiency of garbage truck, thus
Reduce oil consumption and operating cost.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by appended
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of smart city garbage truck travel route optimization method characterized by comprising
The load data of dustbin at each garbage reclamation point of real-time monitoring；
The location information of target dustbin is obtained, the load data of the target dustbin is greater than threshold value；
The running state information of the location information of the target dustbin and garbage truck is fed back into map route planning system, with
The map route planning system is set to generate recommended route, the recommended route is the programme path for avoiding traffic congestion；Wherein,
The running state information of the garbage truck includes garbage truck start position, garbage truck final position, garbage truck headstock direction, rubbish
Vehicle travel speed and departure time；
According to the recommended route, controls the garbage truck and advance to the target dustbin.
2. the method according to claim 1, wherein being equipped with level sensor, Huo Zhe in the dustbin
Bar shaped pressure sensor is set gradually at the dustbin inner wall vertical direction different height, is worked as detecting in the dustbin
The height of materials of preceding rubbish, then the load data is that the height of materials of current rubbish and the dustbin are total in the dustbin
The ratio value of height；
Alternatively, being provided with camera above the bung hole of the dustbin, the camera is current in the dustbin for obtaining
The height of materials of rubbish；Then the load data is that the height of materials of current rubbish and the dustbin are always high in the dustbin
The ratio value of degree.
3. method according to claim 1 or 2, which is characterized in that the threshold value is 60%.
4. according to the method described in claim 3, it is characterized in that, being used in dustbin bottom setting pressure sensor
Calculate the rubbish loading capacity m in j-th of target dustbin of current timej, mj=Fj/ g, FjFor j-th of target rubbish of current time
The pressure detection value of pressure sensor in bucket, g is gravity coefficient, value 9.8N/kg.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
Calculate the remaining loading capacity m of the garbage truckl, ml=mk–mi, mkFor the total weight of the garbage truck, miFor the i-th moment institute
State the loading capacity of garbage truck；
If ml=0, it controls the garbage truck and is travelled to the garbage truck final position；
IfThe garbage truck is controlled to j-th of target dustbin traveling of current time, until ml=0；mj
For the rubbish useful load in j-th of target dustbin of current time, n is the quantity of current time target dustbin for clearance；
Wherein, it is corresponding when the i-th moment was the garbage collection completion in the previous target dustbin of j-th of target dustbin
At the time of.
6. described the method according to claim 1, wherein be provided with the first positioning device on the dustbin
First positioning device is used to obtain the location information of the dustbin；First positioning device is GPS device, Beidou navigation dress
It sets or alignment sensor.
7. described the method according to claim 1, wherein be provided with the second positioning device on the garbage truck
Second positioning device is used to obtain the current location information of the garbage truck in real time；Second positioning device is GPS device, north
Struggle against navigation device or alignment sensor.
8. the method according to claim 1, wherein the map route planning system generates recommended route, packet
It includes:
Current traffic traffic information is obtained by map route planning system；
The map route planning system generates several routes that pass unimpeded according to the Current traffic traffic information；
The map route planning system selects the recommended route from several routes that pass unimpeded.
9. according to the method described in claim 8, it is characterized in that, the method also includes:
Obtain the priority of several routes that pass unimpeded；
The recommended route is set by the route that passes unimpeded of the highest priority.
10. according to claim 1, method described in 8 or 9, which is characterized in that the method also includes:
After the completion of garbage collection in current target dustbin, the recommended route is updated；
The garbage truck is controlled according to updated recommended route to advance.
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| CN115049309B (en) * | 2022-07-19 | 2023-01-13 | 中环洁环境有限公司 | Garbage collection and transportation route planning method and system |
| CN115271190B (en) * | 2022-07-19 | 2023-05-19 | 中环洁环境有限公司 | Method and device for arranging garbage centralized recovery points |
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