CN111583695A - Intelligent environmental sanitation system based on Beidou navigation - Google Patents
Intelligent environmental sanitation system based on Beidou navigation Download PDFInfo
- Publication number
- CN111583695A CN111583695A CN202010357307.2A CN202010357307A CN111583695A CN 111583695 A CN111583695 A CN 111583695A CN 202010357307 A CN202010357307 A CN 202010357307A CN 111583695 A CN111583695 A CN 111583695A
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- China
- Prior art keywords
- unmanned
- sanitation
- module
- vehicle
- beidou navigation
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Abstract
The invention discloses an intelligent environmental sanitation system based on Beidou navigation, which comprises: the Beidou navigation module is used for acquiring positioning information of the unmanned sanitation vehicle in real time; the background control module is used for planning a cleaning route of the unmanned sanitation vehicle, receiving and processing positioning information to obtain geographical position information, and sending a control instruction for controlling the movement of the unmanned sanitation vehicle; the unmanned sanitation vehicle control module is used for controlling the unmanned sanitation vehicle to automatically drive according to the control instruction and the geographic position information; and the cleaning module is used for identifying the garbage and cleaning the garbage. This intelligence sanitation system overcomes among the prior art sanitation work still by a large amount of work operations go on, not only extravagant manpower, and the working effect is also very low moreover, and unmanned technique also utilizes the GPS system of USA mostly, faces independent innovation scheduling problem not enough.
Description
Technical Field
The invention relates to the technical field of intelligent environmental sanitation, in particular to an intelligent environmental sanitation system based on Beidou navigation.
Background
The urban environmental sanitation is an important component of the window of urban civilization and the construction and management of indoor cities, the quality of the environmental sanitation work quality is directly related to the urban environmental sanitation, and how to improve the environmental sanitation management level and the image of the environmental sanitation industry becomes one of important issues in the development of environmental sanitation industry.
In the prior art, sanitation work is still carried out by a large amount of work operations, so that not only is manpower wasted, but also the working effect is very low, and unmanned technologies mostly utilize the American GPS system and face the problems of insufficient independent innovation and the like.
Therefore, the intelligent environmental sanitation system based on Beidou navigation, which can effectively utilize the autonomous researched and developed Beidou system in China to carry out unmanned control on vehicles in the using process so as to realize the purpose of intelligent environmental sanitation, not only can accurately navigate, but also effectively saves manpower and improves working efficiency, is the problem to be solved urgently.
Disclosure of Invention
Aiming at the technical problems, the invention aims to overcome the problems that in the prior art, the environmental sanitation work is carried out by a large amount of work operations, not only is manpower wasted, but also the working effect is very low, and the unmanned technology mostly utilizes the American GPS system and faces insufficient independent innovation, so that the Beidou system which is independently researched and developed in China can be effectively utilized in the using process, the unmanned control is carried out on the vehicle, the intelligent environmental sanitation purpose is realized, the navigation is accurate, the manpower is effectively saved, and the working efficiency is improved.
In order to achieve the above object, the present invention provides an intelligent environmental sanitation system based on Beidou navigation, including:
the Beidou navigation module is used for acquiring positioning information of the unmanned sanitation vehicle in real time;
the background control module is used for planning a cleaning route of the unmanned sanitation vehicle, receiving and processing the positioning information to obtain geographical position information, and sending a control instruction for controlling the unmanned sanitation vehicle to move;
the unmanned sanitation vehicle control module is used for controlling the unmanned sanitation vehicle to automatically drive according to the control instruction and the geographic position information;
and the cleaning module is used for identifying the garbage and cleaning the garbage.
Preferably, the background control module comprises:
the route planning module is used for planning a cleaning route of the unmanned sanitation vehicle according to the city street view image and the garbage transfer station information;
the satellite receiver is used for receiving the positioning information of the unmanned sanitation vehicle from the Beidou navigation module and analyzing the positioning information of the unmanned sanitation vehicle according to an RTCM protocol to obtain the geographical position information of the unmanned sanitation vehicle,
and the control center is used for sending a control instruction for controlling the movement of the unmanned sanitation vehicle.
Preferably, the satellite receiver is a HX-BS498A receiver.
Preferably, the intelligent sanitation system further comprises:
and the vehicle-mounted information acquisition module is used for acquiring real-time image information in front of and around the unmanned sanitation vehicle.
Preferably, the intelligent sanitation system further comprises:
and the wireless transmission module is used for wirelessly transmitting the information of the background control module, the unmanned sanitation vehicle control module and the vehicle-mounted information acquisition module.
Preferably, the wireless transmission module includes: 3G modules, 4G modules, and 5G modules.
Preferably, the system further comprises:
the checking and accepting system is used for comparing the cleaned city street view image with a preset city street view image and marking the position of the garbage on the cleaned city street view image; wherein the content of the first and second substances,
when the number of the positions with the garbage is smaller than the threshold value, the cleaning result is qualified; otherwise, the cleaning result is unqualified.
Preferably, the system further comprises:
and the alarm module is arranged on the unmanned sanitation vehicle and sends an alarm signal to the background control module when a traffic accident happens to the unmanned sanitation vehicle.
According to the technical scheme, the intelligent environmental sanitation system based on Beidou navigation provided by the invention has the beneficial effects that: the self-developed Beidou navigation system in China is utilized to accurately position the sanitation vehicle, the background control module acquires the position information of the vehicle according to the positioning information, so that the controller accurately moves, the aim of accurately unmanned driving is achieved, the garbage on urban streets is effectively cleaned, the movement route of the sanitation vehicle is planned in advance, the information is acquired through the Beidou navigation module, the unmanned sanitation vehicle control module is used for converting a control instruction into a specific control action for the vehicle, and the cleaning module accurately identifies the garbage by utilizing various sensors and cleans the garbage. The intelligent environmental sanitation system based on Beidou navigation provided by the invention overcomes the problems that in the prior art, the environmental sanitation work is carried out by a large amount of work operations, not only is manpower wasted, but also the working effect is very low, and the unmanned technology mostly utilizes the American GPS system, so that the autonomous innovation is insufficient.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an intelligent environmental sanitation system based on Beidou navigation satellite System provided in a preferred embodiment of the invention;
fig. 2 is a schematic structural diagram of a background control module in an intelligent environmental sanitation system based on beidou navigation in a preferred embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1 and 2, the present invention provides an intelligent environmental sanitation system based on Beidou navigation, including:
the Beidou navigation module is used for acquiring positioning information of the unmanned sanitation vehicle in real time;
the background control module is used for planning a cleaning route of the unmanned sanitation vehicle, receiving and processing the positioning information to obtain geographical position information, and sending a control instruction for controlling the unmanned sanitation vehicle to move;
the unmanned sanitation vehicle control module is used for controlling the unmanned sanitation vehicle to automatically drive according to the control instruction and the geographic position information;
and the cleaning module is used for identifying the garbage and cleaning the garbage.
In the scheme, the intelligent sanitation system provided by the invention accurately positions sanitation vehicles by utilizing a Beidou navigation system independently developed in China, the background control module acquires position information of the vehicles according to the positioning information so as to accurately control the movement of the controller, the aim of accurately unmanned driving is fulfilled, and effective cleaning work is carried out on garbage on urban streets, the movement routes of the sanitation vehicles are planned in advance, the information based on the movement routes is acquired by the Beidou navigation module, the unmanned sanitation vehicle control module is used for converting control instructions into specific control actions for the vehicles, and the cleaning module accurately identifies the garbage by utilizing various sensors and cleans the garbage.
In a preferred embodiment of the present invention, the background control module includes:
the route planning module is used for planning a cleaning route of the unmanned sanitation vehicle according to the city street view image and the garbage transfer station information;
the satellite receiver is used for receiving the positioning information of the unmanned sanitation vehicle from the Beidou navigation module and analyzing the positioning information of the unmanned sanitation vehicle according to an RTCM protocol to obtain the geographical position information of the unmanned sanitation vehicle,
and the control center is used for sending a control instruction for controlling the movement of the unmanned sanitation vehicle.
In the above scheme, the movement route of the unmanned sanitation vehicle is planned by the route planning module, the planned basis is a city street view image and garbage transfer site information, it should be noted that the city street view image is a real-time city street view image before cleaning, the distribution situation of garbage can be roughly known according to the city street view image, and the garbage transfer of the unmanned sanitation vehicle in the cleaning process is one of necessary processes, so that the garbage transfer site information needs to be acquired, thereby planning a reasonable and efficient movement route.
The satellite receiver is used for receiving the positioning information from the Beidou navigation module, analyzing and processing the information to obtain accurate position information, and then sending the accurate position information to the control center, and the control center also sends a reasonable control instruction according to the position information and a planned movement route so as to control the sanitation workers to realize unmanned driving and cleaning work.
In a preferred embodiment of the invention, the satellite receiver is a HX-BS498A receiver.
In the scheme, the HX-BS498A receiver is a small double-star external measuring antenna covering BDS B1/B2 and GPS L1/L2, can meet the requirement of multi-system compatibility of the existing equipment, and is convenient for daily development and maintenance.
In a preferred embodiment of the present invention, the intelligent sanitation system further comprises:
and the vehicle-mounted information acquisition module is used for acquiring real-time image information in front of and around the unmanned sanitation vehicle.
In the scheme, the vehicle-mounted information acquisition module acquires real-time road conditions and information of the sanitation vehicle, so that the control center can adjust the control instruction in time, and safe, reasonable and accurate unmanned control is realized.
In a preferred embodiment of the present invention, the intelligent sanitation system further comprises:
and the wireless transmission module is used for wirelessly transmitting the information of the background control module, the unmanned sanitation vehicle control module and the vehicle-mounted information acquisition module.
In the scheme, the remote transmission of information depends on the wireless transmission module, so that accurate unmanned operation can be realized; wherein the content of the first and second substances,
the wireless transmission module includes: 3G module, 4G module and 5G module, abundant wireless module has guaranteed information transfer's stability and accuracy.
In a preferred embodiment of the present invention, the system further comprises:
the checking and accepting system is used for comparing the cleaned city street view image with a preset city street view image and marking the position of the garbage on the cleaned city street view image; wherein the content of the first and second substances,
when the number of the positions with the garbage is smaller than the threshold value, the cleaning result is qualified; otherwise, it is not qualified.
In the scheme, the invention is also provided with an acceptance system, and the principle of acceptance is to compare the pre-stored completely clean city street view image with the cleaned city street view image, mark the positions with garbage, and finally judge acceptance according to the number of the positions; wherein the content of the first and second substances,
when the number of the positions with the garbage is smaller than the threshold value, the cleaning result is qualified; otherwise, it is not qualified.
And of course, for the unqualified result, the movement route needs to be re-planned, and cleaning is carried out again until the qualified result is achieved.
In a preferred embodiment of the present invention, the system further comprises:
and the alarm module is arranged on the unmanned sanitation vehicle and sends an alarm signal to the background control module when a traffic accident happens to the unmanned sanitation vehicle.
In the above scheme, the alarm module can enable the rear staff to know the emergency situation of the site in time, and certainly, when the alarm is informed, the Beidou navigation module and the vehicle-mounted information acquisition module can timely feed back the accurate position information and the real-time site image information of the unmanned sanitation vehicle to the background control module so as to make an emergency response.
In conclusion, the intelligent environmental sanitation system based on Beidou navigation provided by the invention overcomes the problems that in the prior art, environmental sanitation work is carried out by a large amount of work operations, manpower is wasted, the working effect is very low, unmanned technologies mostly utilize the American GPS system, and autonomous innovation is insufficient.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. The utility model provides an intelligent sanitation system based on beidou navigation, its characterized in that, intelligent sanitation system includes:
the Beidou navigation module is used for acquiring positioning information of the unmanned sanitation vehicle in real time;
the background control module is used for planning a cleaning route of the unmanned sanitation vehicle, receiving and processing the positioning information to obtain geographical position information, and sending a control instruction for controlling the unmanned sanitation vehicle to move;
the unmanned sanitation vehicle control module is used for controlling the unmanned sanitation vehicle to automatically drive according to the control instruction and the geographic position information;
and the cleaning module is used for identifying the garbage and cleaning the garbage.
2. The Beidou navigation based intelligent sanitation system of claim 1, wherein the background control module comprises:
the route planning module is used for planning a cleaning route of the unmanned sanitation vehicle according to the city street view image and the garbage transfer station information;
the satellite receiver is used for receiving the positioning information of the unmanned sanitation vehicle from the Beidou navigation module and analyzing the positioning information of the unmanned sanitation vehicle according to an RTCM protocol to obtain the geographical position information of the unmanned sanitation vehicle,
and the control center is used for sending a control instruction for controlling the movement of the unmanned sanitation vehicle.
3. The Beidou navigation based intelligent sanitation system of claim 1, wherein the satellite receiver is a HX-BS498A receiver.
4. The Beidou navigation based intelligent sanitation system according to claim 1, further comprising:
and the vehicle-mounted information acquisition module is used for acquiring real-time image information in front of and around the unmanned sanitation vehicle.
5. The Beidou navigation based intelligent sanitation system according to claim 1, further comprising:
and the wireless transmission module is used for wirelessly transmitting the information of the background control module, the unmanned sanitation vehicle control module and the vehicle-mounted information acquisition module.
6. The Beidou navigation based intelligent environmental sanitation system according to claim 1, wherein the wireless transmission module comprises: 3G modules, 4G modules, and 5G modules.
7. The Beidou navigation based intelligent environmental sanitation system according to claim 1, further comprising:
the checking and accepting system is used for comparing the cleaned city street view image with a preset city street view image and marking the position of the garbage on the cleaned city street view image; wherein the content of the first and second substances,
when the number of the positions with the garbage is smaller than the threshold value, the cleaning result is qualified;
otherwise, the cleaning result is unqualified.
8. The Beidou navigation based intelligent environmental sanitation system according to claim 1, further comprising:
and the alarm module is arranged on the unmanned sanitation vehicle and sends an alarm signal to the background control module when a traffic accident happens to the unmanned sanitation vehicle.
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| CN202010357307.2A CN111583695A (en) | 2020-04-29 | 2020-04-29 | Intelligent environmental sanitation system based on Beidou navigation |
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| CN114296468A (en) * | 2022-01-05 | 2022-04-08 | 深圳市金阳盛城市服务集团有限公司 | Novel sanitation vehicle intelligent monitoring method, device, system and medium |
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Application publication date: 20200825 |