CN114592458A

CN114592458A - Unmanned road pollution condition recognition and cleaning system

Info

Publication number: CN114592458A
Application number: CN202011386692.XA
Authority: CN
Inventors: 张亮; 卫罗珩; 周莹
Original assignee: Henan Xiaoshi Intelligent Technology Co ltd
Current assignee: Henan Xiaoshi Intelligent Technology Co ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2022-06-07

Abstract

The invention discloses a system and a method for recognizing and cleaning the pollution condition of an unmanned cleaning lane, wherein the system comprises 4 paths of fixed-focus video cameras, a video acquisition card, a processor, a storage module, a control module, a wireless communication module, a map module, a positioning module, a driving module, a cleaning device and a power supply module. The 4-path fixed-focus video cameras are arranged around the vehicle and slightly face the ground so as to detect the ground pollution degree. The vehicle scores according to the ground pollution degree and determines the operation track, and controls the vehicle to run according to the track, so that the intellectualization of the cleaning frequency cleaning strategy is realized, and convenience is brought to the garden cleaning work.

Description

Unmanned road pollution condition recognition and cleaning system

Technical Field

The invention relates to the field of unmanned driving, in particular to a system for recognizing and cleaning pollution conditions of an unmanned cleaning lane.

Background

With the advancement of science and technology, China is currently in the deep development stage of urbanization. The environmental sanitation work is an important ring in the urbanization development process, and the intelligentization, the science and technology and the humanization of the environmental sanitation work become more and more trends. At present, unmanned cleaning vehicles appear in various large parks of various cities, and the pressure of a sanitation system is effectively reduced. However, most of the existing unmanned sweeping vehicles adopt a carpet type sweeping method, and stop the operation after fixing and sweeping the target area for several times. The operation mode can not distinguish the areas with different pollution degrees, the areas with small pollution degrees can waste the operation time, and the areas with large pollution degrees can not be thoroughly cleaned.

Disclosure of Invention

The invention aims to provide a method for automatically identifying road pollution conditions and cleaning by an unmanned sweeper, which aims to solve the problem that the unmanned sweeper cannot distinguish cleaning intervals with different pollution degrees during cleaning.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

an unmanned road pollution condition recognition and cleaning system comprises: the device comprises a 4-path fixed-focus video camera, a video acquisition card, a processor, a storage module, a control module, a wireless communication module, a map module, a positioning module, a driving module, a cleaning device and a power supply module.

Preferably, the processor is an ARM processor;

preferably, the processor is further connected with a power module, a storage module, a control module and a video capture card;

preferably, the 4-path fixed-focus cameras are distributed in four directions of a vehicle chassis, and the horizontal field angle is more than 120 degrees;

preferably, the 4-path fixed-focus camera is provided with an independent shell, and LED light supplement equipment is arranged in the shell in an auxiliary mode. LED light supplement equipment is evenly arranged around camera

The system comprises the following steps:

step 1, the unmanned sweeper cleans the task area for the first time comprehensively.

Step 2, in the cleaning process of the unmanned sweeper, 4 paths of fixed-focus cameras are used for photographing a road environment at a sampling point according to a map module and a positioning module so as to analyze the pollution condition of the road;

and 3, analyzing the road pollution degree according to the photographed image by the processor, and giving a score.

And 4, after the first cleaning is finished, the processor calculates the cleaning condition of the current area according to the recorded sampled pollution degree score, and regenerates the track to the control module by combining the information of the map module and the positioning module.

And 5, the control module controls the unmanned sweeper to sweep the target area again along the track according to the track.

And 6, repeating the steps 2-5 until the pollution degree score of the area is reduced to be below the manual threshold value. If the cleanliness degree score is always higher than the manual threshold, the number of repetitions is at most manually set.

Compared with the prior art, the road cleaning method has the advantages that the identification process of the road cleaning degree is added, the road cleaning process is set to be a closed-loop process, the road cleaning effect is guaranteed, the road cleaning efficiency is improved, and the resource waste is avoided.

Drawings

The invention is further illustrated by the following figures and examples. The drawings in the following description are directed to merely some embodiments of the invention.

FIG. 1 is a schematic block diagram of a preferred embodiment of the present invention.

The figures identify the description.

101. Vehicle map module 102 and vehicle positioning module

103. Vehicle control module 104 and vehicle driving module

105. Vehicle cleaning device 106 and power module

107. Processor 108 and video capture card

109. Fixed-focus camera 110 and storage module

111. And a wireless communication module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the following detailed description of the embodiments is provided with reference to the accompanying drawings.

Referring to fig. 1, a specific structure of a preferred embodiment of the present invention is shown, which includes a 4-way fixed-focus video camera 109, a video capture card 108, a processor 107, a storage module 110, a control module 103, a wireless communication module 111, a map module 101, a positioning module 102, a driving module 104, a cleaning device 105, and a power module 106.

The video capture card 108, the control module 103, the wireless communication module 111, the map module 101, and the positioning module 102 are all connected to the processor 107. The four focusing cameras 109 are arranged in four directions of the front, the back, the left and the right of the vehicle, the installation direction is slightly inclined towards the ground and connected with the video acquisition card 108. The control module 103 is connected to the driving module 104 and then to the cleaning device 105.

The processor 107 is also connected to the power module 106 for providing power supply. The storage module 110 is also connected for monitoring data and log data backup.

In specific implementation, the actual working steps of the invention are as follows:

Step 2, in the cleaning process of the unmanned sweeper, according to the map module 101 and the positioning module 102, 4 paths of fixed-focus cameras 109 are used for photographing the road environment at sampling points to analyze the pollution condition of the road;

and 3, analyzing the road pollution degree according to the photographed image by the processor 107, and giving a score.

And 4, after the cleaning is finished for the first time, the processor 107 calculates the cleaning condition of the current area according to the recorded sampled pollution degree score, and regenerates the track to the control module 103 by combining the information of the map module 101 and the positioning module 102.

And 5, the control module 103 generates control information according to the track, the control information is sent to the driving module 104 to drive the vehicle to move along the track, and when the vehicle runs to a position needing cleaning, the control module 103 controls the driving module 104 to drive the cleaning equipment 105 to run.

Claims

1. The utility model provides an unmanned road pollution condition who cleans and cleaning system which characterized in that: the hardware comprises a 4-path fixed-focus video camera, a video acquisition card, a processor, a storage module, a control module, a wireless communication module, a map module, a positioning module, a driving module, cleaning equipment and a power supply module.

2. The system for recognizing and cleaning the pollution condition of the unmanned cleaning lane according to claim 1, wherein: the processor adopts an ARM processor.

3. The unmanned road cleaning system according to claim 1, wherein the system comprises: the processor is also connected with a power module, a storage module, a control module and a video acquisition card;

the system for recognizing and cleaning road pollution situation of unmanned cleaning vehicle as claimed in claim 1, wherein: the 4 paths of fixed-focus cameras are distributed in four directions of a vehicle chassis, and the horizontal field angle is more than 120 degrees;

the unmanned road cleaning system according to claim 1, wherein the system comprises: the 4-path fixed-focus camera is provided with an independent shell, and LED light supplementing equipment is arranged in the shell in an auxiliary mode.

And 4, uniformly arranging the LED light supplementing equipment around the camera.

5. An unmanned cleaning lane road pollution condition recognition and cleaning system, which is characterized in that the unmanned cleaning lane road pollution condition recognition and cleaning system of claims 1-5 is adopted, and comprises the following steps:

6. Step 2, in the cleaning process of the unmanned sweeper, 4 paths of fixed-focus cameras are used for photographing a road environment at a sampling point according to a map module and a positioning module so as to analyze the pollution condition of the road;

7. And 4, after the first cleaning is finished, the processor calculates the cleaning condition of the current area according to the recorded sampled pollution degree score, and regenerates the track to the control module by combining the information of the map module and the positioning module.

8. And 5, the control module controls the unmanned sweeper to sweep the target area again along the track according to the track.

9. And 6, repeating the steps 2-5 until the pollution degree score of the area is reduced to be below the manual threshold value.

10. If the cleanliness degree score is always higher than the manual threshold, the number of repetitions is at most manually set.