CN114043852A - Unmanned vehicle smell removal system and method based on GPS positioning - Google Patents
Unmanned vehicle smell removal system and method based on GPS positioning Download PDFInfo
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- CN114043852A CN114043852A CN202111346266.8A CN202111346266A CN114043852A CN 114043852 A CN114043852 A CN 114043852A CN 202111346266 A CN202111346266 A CN 202111346266A CN 114043852 A CN114043852 A CN 114043852A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H3/00—Other air-treating devices
- B60H3/0085—Smell or pollution preventing arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00735—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
- B60H1/008—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models the input being air quality
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00814—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation
- B60H1/00821—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation the components being ventilating, air admitting or air distributing devices
Abstract
The invention provides a GPS positioning-based unmanned vehicle odor removal system, which is characterized by comprising the following components: the system comprises a vehicle-mounted unit controller, a wireless communication module and a control module, wherein the wireless communication module is used for receiving a vehicle calling instruction; the air conditioner comprises an air quality sensor and an air conditioner, wherein the air conditioner comprises an air conditioner controller used for controlling the operation of the air conditioner and receiving data transmitted by the air quality sensor; the automatic control driver comprises a vehicle automatic driving control module and a measuring module used for calculating the time required by driving to a taxi calling point; the combined inertial navigation receives GPS signals to realize vehicle positioning; the vehicle-mounted unit controller and the automatic driving controller are respectively connected with the air conditioner through CAN lines, the air quality sensor is electrically connected with the air conditioner, and the combined inertial navigation device is electrically connected with the automatic control driver. The system of the invention has accuracy and high efficiency in odor removal.
Description
Technical Field
The application relates to the technical field of vehicle odor removal, in particular to a GPS positioning-based unmanned vehicle odor removal system and method.
Background
Unmanned vehicles are more and more used as vehicles for connection, the vehicles are in an unmanned and closed state in the connection process and may generate peculiar smell, and the existing vehicles only rely on doors opened in the processes of passengers getting on and off and air conditioners after passengers get on the vehicles for air purification.
Chinese patent application publication No. CN107215169A discloses a vehicle and an in-vehicle air quality optimization device and optimization method thereof, including: an air quality detection unit adapted to detect air quality and including a first detection subunit adapted to detect CO in air in the vehicle2Concentration; a judging unit adapted to judge the CO detected by the first detecting subunit2Whether the concentration is higher than a set first threshold value; a communication unit adapted to judge the CO at the judging unit2And sending an air conditioner external circulation ventilation instruction when the concentration is higher than the first threshold value, wherein the air conditioner external circulation ventilation instruction is used for starting an air conditioner external circulation ventilation function. The in-vehicle air quality optimization device comprises an air quality detection unit, a judgment unit and an execution unit, wherein the air quality detection unit is suitable for detecting the air quality and detecting CO in the in-vehicle air2A first detecting subunit of concentration, a judging unit adapted to judge the CO detected by the first detecting subunit2Whether the concentration is higher than a set first threshold value or not, the communication unit is suitable for judging the CO in the judging unit2And sending an air conditioner external circulation ventilation instruction when the concentration is higher than the first threshold value so as to start the air conditioner external circulation ventilation function. After the external circulation ventilation function of the air conditioner is started, fresh air outside the automobile can enter the automobile, so that the CO of the air inside the automobile is reduced2Concentration, alleviating the symptoms of fatigue of the vehicle user.
The Chinese patent application with the publication number of CN110789294A discloses an automatic ventilation system of an automobile, which comprises an automobile body control module, a window glass lifting motor and an automobile door unlocking key, wherein the window glass lifting motor and the automobile door unlocking key are connected with the automobile body control module; the vehicle body control module carries out ventilation operation after receiving a vehicle door unlocking signal of a vehicle door unlocking key or a vehicle remote control key, and the ventilation operation is as follows: the vehicle body control module controls the operation of the vehicle window glass lifting motor, so that the vehicle window glass descends by a preset height after the vehicle door is unlocked, and the vehicle window glass is closed after the window descending time reaches the preset ventilation time. To the characteristics such as the new car smell is heavy, formaldehyde volatilizees slowly, through the automatic ventilation operation, provides a safer and healthier car internal environment for the consumer, and the whole set of system need not to change by a wide margin on the hardware, has change spare part small in quantity, characteristics with low costs, and the scheme is accepted by complete machine factory easily, has fine practicality.
However, in the prior art, although it is disclosed that the automatic air purifying device is started to remove odor and purify the vehicle by detecting environmental conditions or preset conditions, the techniques cannot realize intelligent and efficient odor removal control.
Disclosure of Invention
The application provides a GPS positioning-based unmanned vehicle odor removal system and method to solve the problems in the related art, and the technical scheme is as follows:
in a first aspect, the present application provides a GPS-based location based driverless vehicle odor elimination system comprising:
the system comprises a vehicle-mounted unit (OBU) controller, wherein a wireless communication module for receiving a vehicle calling instruction is arranged in the OBU controller;
the air quality sensor is used for detecting the quality of air in the vehicle;
the air conditioner is used for adjusting the quality of air in the vehicle and comprises an air conditioner controller used for controlling the operation of the air conditioner and receiving the data transmitted by the air quality sensor, and the air conditioner controller comprises a data processing module;
the automatic control driver comprises a vehicle automatic driving control module and a measuring module used for calculating the time required by driving to a taxi calling point;
the combined inertial navigation receives GPS signals to realize vehicle positioning;
the vehicle-mounted unit controller and the automatic driving controller are respectively connected with the air conditioner through CAN lines, the air quality sensor is electrically connected with the air conditioner, and the combined inertial navigation device is electrically connected with the automatic control driver.
Further, the air conditioner further comprises an air blower and an internal and external circulation motor, wherein the air blower and the internal and external circulation motor are respectively and electrically connected with the air conditioner controller.
Further, the air conditioner controller also comprises a control module for adjusting the duty ratio of the blower.
Further, the air purifying speed of the air conditioner is 0.3-10 mu g/m3。
In a second aspect, the present application provides a GPS-based location based method of odour removal for an unmanned vehicle, the method employing a system as hereinbefore described, the method comprising the steps of:
1) the vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller;
2) the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system;
3) the automatic driving controller calculates the time t required by arrival according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller;
4) the air conditioner controller sends an air quality measuring instruction to the air quality sensor and receives the air quality transmitted by the air quality sensor;
5) the air conditioner controller obtains the air quality n and a preset target air quality n according to the obtained air quality n0And calculating the required air conditioner purification rate according to the arrival time and controlling the air conditioner to purify the air.
Further, the air quality is the content of PM2.5 in the air.
Further, the preset target air quality n0≤35μg/m3。
Further, the air purifying speed of the air conditioner is 0.3-10 mu g/m3。
Further, the control of the air conditioner includes:
5.1) judging the obtained air quality n and the preset target air quality n0The relationship between;
5.2) when n is less than or equal to n0When the air conditioner is started, the air conditioner is not started;
when n > n0When, the formula t is adoptedmax=（n-n0）/VminCalculating to obtain the maximum time t required by air purificationmaxBy the formula tmin=（n-n0）/VmaxCalculating to obtain the minimum time t required by air purificationminIn which V isminThe minimum purification rate of the air conditioner is in units of mu g/s and VmaxThe unit is the maximum purification rate of the air conditioner and is mu g/s; judging the time t needed for arriving the station and the maximum time tmaxThe minimum time tminAnd performing the following steps:
5.2.1) when tmaxWhen t is less than t, the air conditioner is not started temporarily, and the automatic driving controller continuously monitors and calculates the time required by arrival until tmaxWhen = t, the air conditioner controller controls the air conditioner to purify at the minimum purification rate;
5.2.2) when tmin＜t≤tmaxThe air conditioner controller is according to model V = (n-n)0) Adjusting the air conditioner purification rate V;
5.2.3) when t is less than or equal to tminAnd when the air conditioner is in use, the air conditioner controller controls the air conditioner to purify at the maximum purification rate.
Further, the purification rate of the air conditioner is realized by controlling the duty ratio of the blower, wherein the duty ratio m = (V/V)max）×100%。
Further, when the air conditioner performs air purification, the air conditioner controller adjusts the working mode of the internal and external circulation motor to the external circulation mode.
The advantages or beneficial effects in the above technical solution at least include: whether need remove the flavor through detecting the interior air quality judgement of car, remove the flavor through opening the air conditioner air-blower, carry out the air-blower through the interior air quality and reach passenger's station time and open and the amount of wind size is judged, remove the flavor and have accuracy and high efficiency.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a block diagram of a GPS location based drone vehicle odor elimination system according to an embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
FIG. 1 shows a block diagram of a GPS location based unmanned vehicle odor elimination system according to an embodiment of the application, comprising an on-board unit (OBU) controller having a wireless communication module disposed therein for receiving a taxi hailing instruction; the air quality sensor is used for detecting the quality of air in the vehicle; the air conditioner is used for adjusting the quality of air in the vehicle and comprises an air conditioner controller used for controlling the operation of the air conditioner and receiving the data transmitted by the air quality sensor, and the air conditioner controller comprises a data processing module; the automatic control driver comprises a vehicle automatic driving control module and a measuring module used for calculating the time required by driving to a taxi calling point; the combined inertial navigation system (not shown) receives GPS signals to realize vehicle positioning; the vehicle-mounted unit controller and the automatic driving controller are respectively connected with the air conditioner through CAN lines, the air quality sensor is electrically connected with the air conditioner, and the combined inertial navigation device is electrically connected with the automatic control driver.
In one embodiment, the air conditioner comprises an air blower and an internal and external circulation motor, the air conditioner controller is electrically connected with the air blower and the internal and external circulation motor, and during operation, the air conditioner controller drives the air blower to perform a smell removal function and simultaneously adjusts the internal and external circulation motor to an external circulation mode.
In one embodiment, the air conditioner controller further comprises a control module for adjusting the duty ratio of the blower, and during operation, the air conditioner controller adjusts the blower to a proper air volume according to the duty ratio of the blower calculated by the data processing module.
Embodiments of the present application also provide a method of odour removal for unmanned vehicles using a system as hereinbefore described, the method comprising the steps of:
1) the vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller;
2) the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system;
3) the automatic driving controller calculates the time t required by arrival according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller;
4) the air conditioner controller sends an air quality measuring instruction to the air quality sensor and receives the air quality transmitted by the air quality sensor;
5) the air conditioner controller obtains the air quality n and a preset target air quality n according to the obtained air quality n0And calculating the required air conditioner purification rate according to the arrival time and controlling the air conditioner to purify the air.
In one embodiment, the air mass n is the content of PM2.5 in air.
In one embodiment, the pre-staging is performed in advance of the pre-stagingSet target air mass n0≤35μg/m3。
In one embodiment, a target air mass n is preset0=35μg/m3In this embodiment, the air-conditioning system for vehicles has an air-cleaning rate of 0.3 to 10 μ g/m3(ii) a The vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller; the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system; the automatic driving controller calculates the time t required for arriving at the station to be 600s according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller; the air conditioner controller sends an air quality measuring command to an air quality sensor, and the air quality in the vehicle measured by the air quality sensor is n =100 mug/m3And transmitting the information to the air conditioner controller; air conditioner controller pair n and n0Is judged as n > n0According to tmax=（n-n0）/VminCalculating the maximum time t required for removing odormax217s, less than the time required for arriving at the station, temporarily stopping the air conditioner, continuously monitoring and calculating the time required for arriving at the station by the automatic driving controller in the moving process of the vehicle, and controlling the air conditioner to be 0.3 μ g/m by the air conditioner controller when the time required for arriving at the station reaches 217s3The rate of decontamination is deodorizing.
In one embodiment, the purge rate is achieved by controlling the blower duty cycle, where m = (V/V)max）×100%=（0.3/10）×100%=30%。
In one embodiment, a target air mass n is preset0=35μg/m3In this embodiment, the air-conditioning system for a vehicle has an air-cleaning rate of 0.3 to 10 μ g/m3(ii) a The vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller; the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system; the automatic driving controller transmits a vehicle position signal according to the combined inertial navigation, a passenger position signal transmitted by the vehicle-mounted unit controller and the current speedThe time t required by the arrival of the vehicle speed is calculated to be 150s in a planning mode, and a time signal is sent to the air conditioner controller; the air conditioner controller sends an air quality measuring command to an air quality sensor, and the air quality n =300 [ mu ] g/m in the vehicle measured by the air quality sensor3And transmitting the information to the air conditioner controller; air conditioner controller pair n and n0Is judged as n > n0According to tmax=（n-n0）/VminCalculating the maximum time t required for removing odormaxIs 884s according to tmin=（n-n0）/VmaxCalculating the maximum time t required for removing odorminIs 26.5s, judged as tmin＜t＜tmaxWhen the air conditioner controller controls the air conditioner to (n-n)0）/t=（300-35）/150=1.77μg/m3The rate of decontamination is deodorizing.
In one embodiment, the purge rate is achieved by controlling the blower duty cycle, where m = (V/V)max）×100%=（1.77/10）×100%=17.7%。
In one embodiment, a target air mass n is preset0=35μg/m3In this embodiment, the air-conditioning system for a vehicle has an air-cleaning rate of 0.3 to 10 μ g/m3(ii) a The vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller; the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system; the automatic driving controller calculates the required arrival time t to be 30s according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller; the air conditioner controller sends an air quality measuring command to an air quality sensor, and the air quality in the vehicle measured by the air quality sensor is n =400 mug/m3And transmitting the information to the air conditioner controller; air conditioner controller pair n and n0Is judged as n > n0According to tmax=（n-n0）/VminCalculating the maximum time t required for removing odormax1217s, according to tmin=（n-n0）/VmaxCalculating the maximum time t required for removing odorminIs 36.5s, and t is judged to be less than or equal to tminWhen the air conditioner controller controls the air conditioner to perform a maximum cleaning rate of 10 mu g/m3And (4) deodorizing.
In one embodiment, the purge rate is achieved by controlling the blower duty cycle, where m = (V/V)max）×100%=（10/10）×100%=100%。
In one embodiment, a target air mass n is preset0=35μg/m3In this embodiment, the air-conditioning system for a vehicle has an air-cleaning rate of 0.3 to 10 μ g/m3(ii) a The vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller; the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system; the automatic driving controller calculates the required arrival time t to be 30s according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller; the air conditioner controller sends an air quality measuring command to an air quality sensor, and the air quality n =30 [ mu ] g/m in the vehicle measured by the air quality sensor3And transmitting the information to the air conditioner controller; air conditioner controller pair n and n0Is judged as n < n0At this time, the air conditioner is not turned on.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An unmanned vehicle odor elimination system based on GPS positioning, comprising:
the system comprises a vehicle-mounted unit (OBU) controller, wherein a wireless communication module for receiving a vehicle calling instruction is arranged in the OBU controller;
the air quality sensor is used for detecting the quality of air in the vehicle;
the air conditioner is used for adjusting the quality of air in the vehicle and comprises an air conditioner controller used for controlling the operation of the air conditioner and receiving the data transmitted by the air quality sensor, and the air conditioner controller comprises a data processing module;
the automatic control driver comprises a vehicle automatic driving control module and a measuring module used for calculating the time required by driving to a taxi calling point;
the combined inertial navigation receives GPS signals to realize vehicle positioning;
the vehicle-mounted unit controller and the automatic driving controller are respectively connected with the air conditioner through CAN lines, the air quality sensor is electrically connected with the air conditioner, and the combined inertial navigation device is electrically connected with the automatic control driver.
2. The GPS-based location driverless vehicle odor elimination system of claim 1, wherein said air conditioner further comprises a blower, an internal and external circulation motor, said blower, said internal and external circulation motor being electrically connected to said air conditioner controller, respectively.
3. A GPS-location based unmanned vehicle odor elimination system as defined in claim 2, wherein the air conditioning controller further comprises a control module for adjusting a duty cycle of the blower.
4. A GPS-based location based odour-combating method for an unmanned vehicle, the method employing a system as claimed in any one of claims 1-3, the method comprising the steps of:
1) the vehicle-mounted unit controller receives a taxi calling instruction and then sends a signal to the automatic driving controller;
2) the automatic driving controller sends a vehicle positioning instruction to the combined inertial navigation system and receives a vehicle position signal transmitted by the combined inertial navigation system;
3) the automatic driving controller calculates the time t required by arrival according to the vehicle position signal transmitted by the combined inertial navigation, the passenger position signal transmitted by the vehicle-mounted unit controller, the current vehicle speed and the vehicle speed plan, and sends the time signal to the air-conditioning controller;
4) the air conditioner controller sends an air quality measuring instruction to the air quality sensor and receives the air quality transmitted by the air quality sensor;
5) the air conditioner controller obtains the air quality n and a preset target air quality n according to the obtained air quality n0And calculating the required air conditioner purification rate according to the arrival time and controlling the air conditioner to purify the air.
5. A GPS-based method for deodorizing an unmanned vehicle according to claim 4, wherein the air quality is the PM2.5 content of air.
6. A GPS-based drone vehicle odor elimination method as claimed in claim 5, wherein said predetermined target air mass n0≤35μg/m3。
7. A GPS-based drone vehicle odour removal method as claimed in any one of claims 4 to 6, wherein the control of the air conditioner includes:
5.1) judging the obtained air quality n and the preset target air quality n0The relationship between;
5.2) when n is less than or equal to n0When the air conditioner is started, the air conditioner is not started;
when n > n0When, the formula t is adoptedmax=（n-n0）/VminCalculating to obtain the maximum time t required by air purificationmaxBy the formula tmin=（n-n0）/VmaxCalculating to obtain the minimum time t required by air purificationminIn which V isminThe minimum purification rate of the air conditioner is in units of mu g/s and VmaxThe unit is the maximum purification rate of the air conditioner and is mu g/s; judging the time t needed for arriving the station and the maximum time tmaxThe minimum time tminBetweenAnd performing the following steps:
5.2.1) when tmaxWhen t is less than t, the air conditioner is not started temporarily, and the automatic driving controller continuously monitors and calculates the time required by arrival until tmaxWhen = t, the air conditioner controller controls the air conditioner to purify at the minimum purification rate;
5.2.2) when tmin＜t≤tmaxThe air conditioner controller is according to model V = (n-n)0) Adjusting the air conditioner purification rate V;
5.2.3) when t is less than or equal to tminAnd when the air conditioner is in use, the air conditioner controller controls the air conditioner to purify at the maximum purification rate.
8. A GPS-based unmanned vehicle odor elimination method as defined in claim 7, wherein a purge rate of said air conditioner is achieved by controlling a blower duty cycle, said duty cycle m = (V/V)max）×100%。
9. The method of claim 7, wherein the air conditioning air purification rate is 0.3-10 μ g/m3。
10. The method for deodorizing a GPS-based unmanned vehicle according to any one of claims 4 to 6, wherein the air conditioner controller adjusts an operation mode of the inside-outside circulation motor to an outside circulation mode when the air conditioner performs air purification.
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