CN111218911A - Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle - Google Patents

Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle Download PDF

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CN111218911A
CN111218911A CN201911305471.2A CN201911305471A CN111218911A CN 111218911 A CN111218911 A CN 111218911A CN 201911305471 A CN201911305471 A CN 201911305471A CN 111218911 A CN111218911 A CN 111218911A
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garbage
fan
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rotating speed
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CN111218911B (en
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梁河川
钟银彪
王宁
孙磊
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Beijing Jinkai New Energy And Environmental Technology Co ltd
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Suzhou Aocheng Intelligent Technology Co ltd
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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
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/001—Testing thereof; Determination or simulation of flow characteristics; Stall or surge detection, e.g. condition monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
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Abstract

The utility model provides an economizer system and energy-conserving method for sweeping cleaning vehicle can adjust the fan rotational speed in real time according to the clean degree in front of sweeping cleaning vehicle, energy saving and emission reduction under the prerequisite of guaranteeing that the road cleans cleanly. The energy saving system comprises: the data acquisition module is used for acquiring road surface information around the vehicle; the AI rubbish identification module identifies the quantity and the type of rubbish; the fan logic control module converts the quantity and the type of the garbage into corresponding fan rotating speed; and the vehicle controller is used for adjusting the rotating speed of the fan. The energy-saving method comprises the following steps: collecting road surface information around a vehicle; identifying the quantity and the type of garbage in the road surface information; and the rotating speed of the fan is automatically adjusted according to the quantity and the type of the garbage. The rotating speed of the fan can be adjusted to be the lowest rotating speed capable of sucking away the garbage according to the quantity and the type of the garbage, so that the energy conservation and the emission reduction are realized on the premise of ensuring that a road is cleaned cleanly.

Description

Energy-saving system and energy-saving method applied to road sweeping cleaning vehicle
Technical Field
The disclosure belongs to the technical field of intelligent science and technology, and particularly relates to an energy-saving system and an energy-saving method applied to a sweeping cleaning vehicle.
Background
The road sweeping cleaning vehicle is divided into a fuel oil type and an electric type according to an energy supply mode, and is divided into a large road sweeping vehicle and a small road sweeping machine according to the size of the vehicle. Sweeping machines and road sweepers generally include a sweeper brush and a fan, and some equipment can be rated for installing a high-pressure flushing device additionally to prevent dust. The sweeping brush collects the garbage on two sides of a road to the middle of the vehicle body, and then the garbage is sucked into the collecting box by the suction force provided by the fan. The power of the sweeping brush is generally dozens of watts/hour, and the power of the fan is hundreds of watts/hour.
In urban road cleaning operation, the use of road sweeper and road sweeper can reduce manual work time, promotes clean operating efficiency. Theoretically speaking, vehicle operating personnel should adjust fan power according to the clean degree of road surface, but can often appear operating personnel in the in-process of actual operation for the convenience, adjust fan power to the biggest at whole operation in-process, cause fuel or electric quantity extravagant. And the operator cannot quantitatively evaluate the cleaning condition in front of the vehicle well and cannot select the most appropriate power. Therefore, a system capable of adjusting the power of the fan according to the road cleaning condition is needed, and on the basis of ensuring the road cleaning, fuel is saved or the working time of the motor is prolonged.
Disclosure of Invention
The utility model provides an economizer system and energy-conserving method for sweeping cleaning vehicle can adjust the fan rotational speed in real time according to the clean degree in front of sweeping cleaning vehicle, energy saving and emission reduction under the prerequisite of guaranteeing that the road cleans cleanly.
In one aspect, the present disclosure provides an energy saving system for a sweeping vehicle, comprising: the data acquisition module is used for acquiring road surface information around the vehicle; the AI garbage recognition module is used for processing the road information data collected by the data collection module and recognizing the quantity and the type of garbage; the fan logic control module receives the data information of the quantity and the type of the garbage identified by the AI garbage identification module and converts the data information into corresponding fan rotating speed; and the vehicle controller is used for receiving the information of the rotating speed of the fan and adjusting the rotating speed of the fan.
The further improved scheme is as follows: the data acquisition module is a wide-angle vision sensor; the AI garbage recognition module consists of a Mobilene-SSD deep learning neural network.
The further improved scheme is as follows: the data acquisition module is in communication connection with the AI garbage recognition module, the AI garbage recognition module is in communication connection with the fan logic control module, the fan logic control module is in communication connection with the vehicle controller, and the vehicle controller is in communication connection with the fan.
The further improved scheme is as follows: the energy-saving system is applied to a sweeping and cleaning vehicle and also comprises a cloud platform and a communication module; the data acquisition module, the AI garbage recognition module and the vehicle controller are all in wired or wireless communication connection with the communication module; the cloud platform is in wireless communication connection with the communication module.
The further improved scheme is as follows: the energy-saving system applied to the sweeping and cleaning vehicle further comprises a display module, and the display module is connected with the fan logic control module.
In another aspect, the present disclosure provides an energy saving method applied to a sweeping vehicle, including the steps of:
s1, collecting road surface information around the vehicle;
s2, identifying the quantity and the type of the garbage in the road surface information;
and S3, automatically adjusting the rotating speed of the fan according to the quantity and the type of the garbage.
The further improved scheme is as follows: in step S1, road surface information around the vehicle is acquired by the image.
The further improved scheme is as follows: in step S3, a sigmoid function is used to obtain a cleanliness value according to the quantity and type of garbage in a unit area of a road, and the cleanliness value is converted into a corresponding fan rotation speed.
The further improved scheme is as follows: the cleanliness values were calculated as follows:
Figure BDA0002321781880000031
value range of [0, 100 ]]Larger values represent more waste; wherein the content of the first and second substances,
x1is an index of the area of the garbage;
α is the weight of the garbage area index;
x2is a garbage quality index;
β is the garbage quality index weight.
The further improved scheme is as follows: and after the cleanliness values are subjected to Kalman filtering, converting the cleanliness values into corresponding fan rotating speeds.
The beneficial effect of this disclosure does:
the energy-saving system applied to the sweeping cleaning vehicle acquires road surface information around the vehicle through the data acquisition module, identifies the quantity and the type of garbage through the AI garbage identification module, and converts the data information of the quantity and the type of the garbage into corresponding fan rotating speed through the fan logic control module; the vehicle controller adjusts the rotating speed of the fan, and the rotating speed of the fan can be adjusted to the lowest rotating speed capable of sucking away the garbage according to the quantity and the type of the garbage, so that the energy conservation and emission reduction are realized on the premise of ensuring that the road is cleaned cleanly.
The energy-saving method applied to the sweeping and cleaning vehicle identifies the quantity and the type of garbage in road surface information by collecting the road surface information around the vehicle, and automatically adjusts the rotating speed of a fan according to the quantity and the type of the garbage; the rotating speed of the fan can be adjusted to be the lowest rotating speed capable of sucking away the garbage according to the quantity and the type of the garbage, so that the energy conservation and the emission reduction are realized on the premise of ensuring that a road is cleaned cleanly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings may be obtained from the drawings without inventive effort.
FIG. 1 is a block diagram of an economizer system for a sweeping vehicle according to the present disclosure.
Fig. 2 is a schematic flow chart illustrating real-time adjustment of the rotation speed of the primary air fan in the present disclosure.
Fig. 3 is a schematic structural diagram of a mobilent-SSD neural network in the present disclosure.
Fig. 4 is a schematic Kalman filter flow diagram in the present disclosure.
Detailed Description
The technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without inventive step, are within the scope of the disclosure.
The first embodiment is as follows:
referring to fig. 1, the present embodiment provides an energy saving system for a sweeping vehicle, including:
and the data acquisition module is used for acquiring the road surface information around the vehicle.
And the AI garbage recognition module is used for processing the road information data collected by the data collection module and recognizing the quantity and the type of garbage.
And the fan logic control module receives the data information of the quantity and the type of the garbage identified by the AI garbage identification module and converts the data information into corresponding fan rotating speed.
And the vehicle controller is used for receiving the information of the rotating speed of the fan and adjusting the rotating speed of the fan.
The data acquisition module can adopt equipment for acquiring images such as a wide-angle vision sensor, a CCD (charge coupled device) photosensitive camera or a CMOS (complementary metal oxide semiconductor) photosensitive camera, and can be arranged in front of the road sweeping and cleaning vehicle and used for acquiring road surface images about to pass by the vehicle; the data acquisition module can acquire the image information of the road surface within a rectangular range of 8 meters in front of the vehicle and 4 meters in width. The camera can be additionally arranged on the periphery of the vehicle and used for monitoring the cleaning operation effect of the vehicle.
The AI garbage recognition module is composed of a Mobile-SSD deep learning neural network, processes image information collected by the data collection module, and can recognize the type and the quantity of garbage in each frame of image. The AI garbage recognition module takes the image of the data acquisition module as input, outputs and recognizes the position (bounding box), classification (label) and confidence (probe) of garbage, and can recognize common road garbage such as leaves, plastic bottles, plastic bags, ring-pull cans, branches, stones, bricks and the like; the AI garbage recognition module depends on NVIDIA GPU and TensorRT architecture, and NPU or TPU can be selected as a core computing unit; according to different computing capabilities of core computing units, a Yolov3 model, a Mask RCNN model or a fast RCNN model can be selected to ensure the real-time performance of the system.
The structure of the AI garbage recognition module is shown in fig. 3, wherein Conv represents a normal convolutional layer, Conv dw represents a depth-wise decomposition convolutional layer, s1 and s2 represent that the convolution calculation step size is 1 or 2, respectively, Avg Pool represents a pooling layer, FC represents a full-link layer, Softmax represents a regression Classifier, and Classifier represents the classification result. The AI garbage recognition module outputs garbage positions (in a bounding box form, x and y at the upper left corner and w and h of the width and the height of a rectangle), classification (12 types in total) and confidence (probe, value range [0, 1]) in each frame of image.
On the basis of the scheme: the data acquisition module is in communication connection with the AI garbage recognition module, the AI garbage recognition module is in communication connection with the fan logic control module, the fan logic control module is in communication connection with the vehicle controller, and the vehicle controller is in communication connection with the fan. The communication connection in this scheme CAN adopt communication connection such as CAN, UART and GPIO communication, CAN transmit fan control signal, acquires the current rotational speed of fan, acquires control vehicle speed, acquires oil mass (electric quantity), and it is long when acquireing the operation, acquires information such as driver's cabin keying operation.
On the basis of the scheme: the energy-saving system is applied to a sweeping and cleaning vehicle and also comprises a cloud platform and a communication module; the data acquisition module, the AI garbage recognition module and the vehicle controller are all in wired or wireless communication connection with the communication module; the cloud platform is in wireless communication connection with the communication module. The cloud platform receives road surface images, fan rotating speeds and vehicle state information sent by the wireless communication module, wherein the wireless communication module can be 4G or 5G. Preferably, 5G communication is used, so that real-time performance can be guaranteed.
The AI garbage recognition module can be arranged on the vehicle-mounted terminal equipment; or the AI garbage recognition module is arranged at the cloud platform end, the data of the data acquisition module is uploaded to the cloud platform by the wireless communication module, and then the classification result is transmitted back to the vehicle-mounted end equipment.
On the basis of the scheme: the energy-saving system applied to the sweeping and cleaning vehicle further comprises a display module, and the display module is connected with the fan logic control module. The display module comprises common HDMI display equipment, is installed in the cab and can display information such as a working area of equipment in front of the vehicle, a garbage recognition effect and a vehicle state. The display module can also comprise an LCD display screen arranged outside the vehicle and used for displaying the real-time rotating speed of the fan and the working state of the vehicle.
Example two:
referring to fig. 2, the embodiment provides an energy saving method applied to a sweeping vehicle, including the following steps:
and S1, collecting road surface information around the vehicle.
And S2, identifying the quantity and the type of the garbage in the road surface information.
And S3, automatically adjusting the rotating speed of the fan according to the quantity and the type of the garbage.
The rotating speed of the fan is automatically adjusted according to the quantity and the quality of the garbage, and the minimum fan power is selected to clean the road on the premise of cleanness. When the rotating speed of the fan needs to be adjusted up or down, corresponding adjustment is carried out, and when the rotating speed of the fan is not changed, the rotating speed of the fan is kept unchanged.
In step S1, road surface information around the vehicle is acquired by the image.
In step S3, a sigmoid function is used to obtain a cleanliness value according to the quantity and type of garbage in a unit area of a road, and the cleanliness value is converted into a corresponding fan rotation speed.
The further improved scheme is as follows: the cleanliness values were calculated as follows:
Figure BDA0002321781880000071
value range of [0, 100 ]]Larger values represent more waste; wherein the content of the first and second substances,
x1is an index of the area of the garbage;
α is the weight of the garbage area index;
x2is a garbage quality index;
β is the garbage quality index weight.
The fan logic control module can match the quality of the garbage according to the matching relation between the type and the quality of the garbage stored in the fan logic control module through the type and the quantity of the garbage identified by the AI garbage identification module; and then calculating the cleanliness of the road surface according to the type, the quantity, the quality and the area of the garbage.
On the basis of the scheme: and after the cleanliness values are subjected to Kalman filtering, converting the cleanliness values into corresponding fan rotating speeds. And carrying out Kalman filtering on the cleanliness of each frame of image to obtain a cleanliness numerical value for adjusting the rotating speed of the fan. The Kalman filter calculation is shown in fig. 4, where:
Figure BDA0002321781880000072
is a priori estimated value of the k iteration cleanliness;
Figure BDA0002321781880000073
is a priori estimated value of the cleanliness of the k-1 th iteration;
Figure BDA0002321781880000074
is a posterior estimated value of the k iteration cleanliness;
Kkkalman gain for the kth iteration;
q is a process excitation noise covariance, obeying Gaussian distribution;
r is the covariance of the measured noise, and follows Gaussian distribution;
Pkestimating covariance for the posterior of the k-th iteration cleanliness;
Pk-1estimating covariance for the (k-1) th iteration cleanliness posteriori;
Figure BDA0002321781880000075
estimating covariance a priori for the kth iteration cleanliness;
ykthe observed value of the cleanliness of the kth iteration, namely the cleanliness calculated by the frame image;
A. b is a coefficient matrix of the state transition equation, and the values in the calculation are 1 and 0 respectively;
h is a conversion matrix, and the value in calculation is 1.
And finally, converting the cleanliness into a corresponding fan rotating speed.
On the basis of the scheme: the rotating speed of the fan can be converted into a group of discrete control signals after three times of spline interpolation, and the rotating speed of the fan can be switched stably, safely and efficiently. The interpolation formula chosen is as follows:
Figure BDA0002321781880000081
wherein, the value range of x is [0, delta t]Indicating the time of signal transmission; y has a value range of [ y0，y0+Δr]Denotes the rotational speed, y0At an initial rotational speed, y0+ Δ r is the target rotation speed.
The present disclosure is not limited to the above alternative embodiments, and any other various forms of products may be obtained by anyone in the light of the present disclosure, but any changes in shape or structure thereof fall within the scope of the present disclosure, which is defined by the claims of the present disclosure.

Claims (10)

1. An energy saving system for a sweeping vehicle comprising:
the data acquisition module is used for acquiring road surface information around the vehicle;
the AI garbage recognition module is used for processing the road information data collected by the data collection module and recognizing the quantity and the type of garbage;
the fan logic control module receives the data information of the quantity and the type of the garbage identified by the AI garbage identification module and converts the data information into corresponding fan rotating speed;
and the vehicle controller is used for receiving the information of the rotating speed of the fan and adjusting the rotating speed of the fan.
2. An energy saving system as claimed in claim 1 wherein the data acquisition module is a wide angle vision sensor; the AI garbage recognition module consists of a Mobilene-SSD deep learning neural network.
3. The energy saving system applied to the sweeping vehicle according to claim 1, wherein the data collection module is in communication with an AI garbage recognition module, the AI garbage recognition module is in communication with a fan logic control module, the fan logic control module is in communication with a vehicle controller, and the vehicle controller is in communication with a fan.
4. An energy saving system for a sweeping vehicle according to claim 3 further comprising a cloud platform and a communication module; the data acquisition module, the AI garbage recognition module and the vehicle controller are all in wired or wireless communication connection with the communication module; the cloud platform is in wireless communication connection with the communication module.
5. An energy saving system for a sweeping vehicle according to any one of claims 1 to 4 further including a display module connected to the fan logic control module.
6. An energy saving method applied to a sweeping vehicle is characterized by comprising the following steps:
s1, collecting road surface information around the vehicle;
s2, identifying the quantity and the type of the garbage in the road surface information;
and S3, automatically adjusting the rotating speed of the fan according to the quantity and the type of the garbage.
7. The energy saving method applied to a sweeping vehicle according to claim 6, wherein in step S1, the road information around the vehicle is collected by image.
8. The energy-saving method for the sweeping vehicle according to claim 6, wherein in step S3, a sigmoid function is used to obtain the cleanliness factor according to the quantity and type of garbage in a unit area of the road, and the cleanliness factor is converted into a corresponding fan speed.
9. An energy saving method applied to a sweeping vehicle according to claim 8, wherein the cleanliness value is calculated as follows:
Figure FDA0002321781870000021
value range of [0, 100 ]]Larger values represent more waste; wherein the content of the first and second substances,
x1is an index of the area of the garbage;
α is the weight of the garbage area index;
x2is a garbage quality index;
β is the garbage quality index weight.
10. An energy saving method applied to a sweeping vehicle according to claim 8 or 9, characterized in that the cleanliness values are Kalman filtered and then converted to corresponding fan speeds.
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CN113718691A (en) * 2021-09-17 2021-11-30 酷哇环境技术有限公司 Intelligent wind direction control system of sweeper
GB2623744A (en) * 2022-10-17 2024-05-01 Bucher Municipal Ltd A road cleaning vehicle
GB2623743A (en) * 2022-10-17 2024-05-01 Bucher Municipal Ltd A road cleaning vehicle

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