CN116050808B - Unmanned operation system and method for electric sewage suction truck - Google Patents
Unmanned operation system and method for electric sewage suction truck Download PDFInfo
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- CN116050808B CN116050808B CN202310330453.XA CN202310330453A CN116050808B CN 116050808 B CN116050808 B CN 116050808B CN 202310330453 A CN202310330453 A CN 202310330453A CN 116050808 B CN116050808 B CN 116050808B
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- 239000010865 sewage Substances 0.000 title claims abstract description 216
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000002689 soil Substances 0.000 claims abstract description 181
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 34
- 238000000926 separation method Methods 0.000 claims description 24
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 210000001503 joint Anatomy 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 13
- 238000011084 recovery Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000004064 recycling Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06315—Needs-based resource requirements planning or analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
Abstract
The invention provides an unmanned operation system and method of an electric sewage suction truck, wherein the system comprises the following components: the sewage sucking demand monitoring module is used for monitoring the sewage sucking demand of a target area in the city; the electric sewage suction truck distribution acquisition module is used for acquiring the position distribution of the electric sewage suction truck in the target area; the soil pick-up operation scheme making module is used for making a soil pick-up operation scheme of the electric soil pick-up vehicle based on soil pick-up requirements, position distribution and a preset urban area map corresponding to a target area; and the sewage suction operation control module is used for controlling the electric sewage suction truck to perform corresponding sewage suction operation based on the sewage suction operation scheme of the electric sewage suction truck. The unmanned operation system and the unmanned operation method of the electric sewage suction truck greatly reduce the labor cost and are more intelligent.
Description
Technical Field
The invention relates to the technical field of electric soil pick-up trucks, in particular to an unmanned operation system and method of an electric soil pick-up truck.
Background
At present, when the electric sewage suction truck is put into use in a city, a manager is required to determine where sewage suction demands exist in the city, and then a driver of the electric sewage suction truck is scheduled to go to a position corresponding to the sewage suction demands in the city for sewage suction operation, and all the processes need to be manually participated.
However, there are a number of general urban soil pick-up requirements, such as: the sewage that municipal administration sanitation needs to be handled, the sewage that factory floor was handled and the sewage in scenic spot needs to be handled etc. consequently, the manual work carries out operation dispatch, manual driving electric sewage suction truck to carry out the sewage suction operation and can cause the human cost very big, simultaneously, also not intelligent enough.
In view of this, a solution is needed.
Disclosure of Invention
One of the purposes of the invention is to provide an unmanned operation system of an electric sewage suction truck, the system monitors the sewage suction requirement, the electric sewage suction truck is scheduled to perform sewage suction operation, the electric sewage suction truck can be automatically driven to a position corresponding to the sewage suction requirement to perform sewage suction operation, the electric sewage suction truck does not need to be manually scheduled for operation, the electric sewage suction truck does not need to be manually driven for sewage suction operation, the labor cost is greatly reduced, and meanwhile, the intelligent sewage suction truck is more intelligent.
The unmanned operation system of the electric sewage suction truck provided by the embodiment of the invention comprises the following components:
the sewage sucking demand monitoring module is used for monitoring the sewage sucking demand of a target area in the city;
the electric sewage suction truck distribution acquisition module is used for acquiring the position distribution of the electric sewage suction truck in the target area;
The soil pick-up operation scheme making module is used for making a soil pick-up operation scheme of the electric soil pick-up vehicle based on soil pick-up requirements, position distribution and a preset urban area map corresponding to a target area;
and the sewage suction operation control module is used for controlling the electric sewage suction truck to perform corresponding sewage suction operation based on the sewage suction operation scheme of the electric sewage suction truck.
Preferably, the dirt sucking demand monitoring module monitors dirt sucking demands of a target area in the city, and executes the following operations:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in a target area;
acquiring a sewage suction requirement through a first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in a target area;
acquiring a sewage suction requirement through a second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement public reporting platform corresponding to the target area.
Preferably, the soil pick-up operation scheme making module makes a soil pick-up operation scheme of the electric soil pick-up truck based on a preset urban area map corresponding to the soil pick-up requirement, the position distribution and the target area, and performs the following operations:
based on the dirt sucking demand, respectively marking the dirt sucking demand position and the dirt sucking amount to be sucked in the urban area map;
Marking the position of the electric sewage suction truck in the urban area map based on the position distribution;
generating a job circle in the urban area map based on the job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up cars in a one-to-one association manner according to the positions of the electric soil pick-up cars to obtain a soil pick-up operation scheme of the electric soil pick-up cars;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map;
the circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value;
the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value;
the linear distance between at least one soil pick-up required position and any one electric soil pick-up car position in the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than N times of the preset suction truck capacity.
Preferably, the soil pick-up operation control module controls the electric soil pick-up truck to perform corresponding soil pick-up operation based on a soil pick-up operation scheme of the electric soil pick-up truck, and performs the following operations:
delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck;
When the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck;
determining a soil pick-up position, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, in the periphery of the electric soil pick-up car based on the peripheral image;
controlling the dirt sucking arm to go to a dirt sucking position;
acquiring an alignment image of the dirt suction arm;
based on the alignment image, controlling the dirt sucking arm to be abutted with the dirt sucking position and determining whether the abutting is completed;
after the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, recycling and controlling the dirt suction arm.
Preferably, the unmanned operation system of the electric sewage suction truck further comprises:
the operation early warning module is used for carrying out operation early warning in the moving process of the dirt sucking arm when the dirt sucking arm is controlled to go to the dirt sucking position and the dirt sucking arm is recovered and controlled;
the operation early warning module performs operation early warning in the moving process of the dirt sucking arm, and performs the following operations:
acquiring a moving track of the dirt suction arm in a future preset time;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks;
determining an orthographic projection track of a local movement track on the ground around the electric soil pick-up car;
Based on the early warning ring generation condition, projecting and generating an early warning ring with a preset first color on the ground around the electric soil pick-up car;
determining the moving position and the moving direction of a moving object close to the early warning ring based on the peripheral image;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table;
based on the first radius increase coefficient, increasing the radius of the early warning ring;
determining a direction included angle between the straight line direction from the moving position to the circle center of the early warning ring and the moving direction;
when the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table;
based on the second radius increase coefficient, increasing the radius of the early warning ring;
the early warning ring generation conditions comprise:
the early warning ring needs to comprise each orthographic projection track;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold;
the internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval;
The periphery of the early warning is provided with a preset early warning word sample which is arranged around the early warning ring.
The embodiment of the invention provides an unmanned operation method of an electric sewage suction truck, which comprises the following steps:
step S1: monitoring the dirt sucking requirement of a target area in the city;
step S2: acquiring the position distribution of the electric sewage suction truck in the target area;
step S3: based on the soil pick-up requirement, the position distribution and a preset urban area map corresponding to the target area, a soil pick-up operation scheme of the electric soil pick-up truck is formulated;
step S4: based on the sewage suction operation scheme of the electric sewage suction truck, the electric sewage suction truck is controlled to perform corresponding sewage suction operation.
Preferably, step S1: monitoring the dirt sucking requirement of a target area in a city, comprising:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in a target area;
acquiring a sewage suction requirement through a first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in a target area;
acquiring a sewage suction requirement through a second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement public reporting platform corresponding to the target area.
Preferably, step S3: based on a preset urban area map corresponding to the soil pick-up requirement, the position distribution and the target area, a soil pick-up operation scheme of the electric soil pick-up car is formulated, and the method comprises the following steps:
Based on the dirt sucking demand, respectively marking the dirt sucking demand position and the dirt sucking amount to be sucked in the urban area map;
marking the position of the electric sewage suction truck in the urban area map based on the position distribution;
generating a job circle in the urban area map based on the job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up cars in a one-to-one association manner according to the positions of the electric soil pick-up cars to obtain a soil pick-up operation scheme of the electric soil pick-up cars;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map;
the circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value;
the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value;
the linear distance between at least one soil pick-up required position and any one electric soil pick-up car position in the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than N times of the preset suction truck capacity.
Preferably, step S4: based on the dirty operation scheme of electronic soil pick-up car, control electronic soil pick-up car carries out corresponding soil pick-up operation, include:
Delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck;
when the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck;
determining a soil pick-up position, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, in the periphery of the electric soil pick-up car based on the peripheral image;
controlling the dirt sucking arm to go to a dirt sucking position;
acquiring an alignment image of the dirt suction arm;
based on the alignment image, controlling the dirt sucking arm to be abutted with the dirt sucking position and determining whether the abutting is completed;
after the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, recycling and controlling the dirt suction arm.
Preferably, the unmanned operation method of the electric soil pick-up car further comprises the following steps:
when the dirt sucking arm is controlled to go to the dirt sucking position and is recovered and controlled, the operation early warning is carried out in the moving process of the dirt sucking arm;
wherein, carry out the operation early warning in the removal in-process of dirt absorbing arm, include:
acquiring a moving track of the dirt suction arm in a future preset time;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks;
Determining an orthographic projection track of a local movement track on the ground around the electric soil pick-up car;
based on the early warning ring generation condition, projecting and generating an early warning ring with a preset first color on the ground around the electric soil pick-up car;
determining the moving position and the moving direction of a moving object close to the early warning ring based on the peripheral image;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table;
based on the first radius increase coefficient, increasing the radius of the early warning ring;
determining a direction included angle between the straight line direction from the moving position to the circle center of the early warning ring and the moving direction;
when the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table;
based on the second radius increase coefficient, increasing the radius of the early warning ring;
the early warning ring generation conditions comprise:
the early warning ring needs to comprise each orthographic projection track;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold;
the internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval;
The periphery of the early warning is provided with a preset early warning word sample which is arranged around the early warning ring.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic diagram of an unmanned operation system of an electric soil pick-up truck in an embodiment of the invention;
fig. 2 is a schematic diagram of an unmanned operation method of an electric soil pick-up vehicle in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an unmanned operation system of an electric sewage suction truck, as shown in fig. 1, comprising:
the sewage sucking demand monitoring module 1 is used for monitoring the sewage sucking demand of a target area in the city; the target area is a partial area in the city, and can be specifically defined according to actual needs;
the electric sewage suction truck distribution acquisition module 2 is used for acquiring the position distribution of the electric sewage suction truck in the target area; wherein, the real-time position of each electric sewage suction truck in the target area is arranged in the position distribution;
the soil pick-up operation scheme making module 3 is used for making a soil pick-up operation scheme of the electric soil pick-up vehicle based on soil pick-up requirements, position distribution and a preset urban area map corresponding to a target area; the urban area map is an electronic map of the target area;
and the sewage suction operation control module 4 is used for controlling the electric sewage suction truck to perform corresponding sewage suction operation based on the sewage suction operation scheme of the electric sewage suction truck.
The working principle and the beneficial effects of the technical scheme are as follows:
when the first target area in the city has a soil pick-up requirement, the soil pick-up operation scheme of the electric soil pick-up car is immediately formulated based on the soil pick-up requirement, the position distribution of the electric soil pick-up car in the target area and the city area map, and the electric soil pick-up car is controlled to perform corresponding soil pick-up operation based on the soil pick-up operation scheme of the electric soil pick-up car, so that response to the soil pick-up requirement is made. The electric sewage suction truck is an automatic driving vehicle, and pure electric power supply can be realized based on an automatic driving technology. When the system is specifically applied, the system can automatically determine the dirt sucking requirement of a target area in a city, directly schedule the electric dirt sucking vehicle to automatically drive to a position corresponding to the dirt sucking requirement for dirt sucking operation, and realize unmanned without manual participation in the whole process.
The system monitors the dirt sucking requirement, and dispatches the electric dirt sucking vehicle to suck dirt, the electric dirt sucking vehicle can automatically drive to the position corresponding to the dirt sucking requirement to suck dirt, the electric dirt sucking vehicle does not need to be manually dispatched, the electric dirt sucking vehicle does not need to be manually driven to suck dirt, the labor cost is greatly reduced, and meanwhile, the system is more intelligent.
In one embodiment, the soil pick-up requirement monitoring module 1 monitors the soil pick-up requirement of a target area in a city, and performs the following operations:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in a target area; wherein the storage point is a temporary sewage storage bin of municipal sanitation, factory building factory areas, scenic spots, communities and the like; the first communication node is a network node for interfacing the system with the stain storage communication, and the stain storage can upload the stain absorbing requirement through the network node, specifically, for example: when the self-test of the stain storage capacity is about to be insufficient, the existing sewage quantity and the stain storage position are reported as the sewage sucking requirement;
acquiring a sewage suction requirement through a first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in a target area; the second communication node is a network node for interfacing communication such as a mobile phone used by a system and a sanitation worker, and when the sanitation worker works on an urban road, the sanitation worker may find a place where sewage treatment needs to be performed, report the place, specifically, for example: sanitation workers find that a sewage pipeline breaks, sewage at the position of the sewage pipeline overflows and piles up, the sewage needs to be treated, and visual sewage quantity and the position are reported as sewage sucking requirements;
Acquiring a sewage suction requirement through a second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement public reporting platform corresponding to the target area. The public reporting platform for the sewage sucking requirement is a network platform for the public to report the sewage sucking requirement, and can be realized based on a WeChat applet and the like, specifically, for example: people find that a sewage pipeline in a community breaks, sewage treatment is needed, and visual sewage quantity and the position are reported as sewage sucking requirements.
The working principle and the beneficial effects of the technical scheme are as follows:
three ways are introduced to monitor the dirt sucking demands of a target area in the city, so that the comprehensiveness of the dirt sucking demand monitoring is improved, and the applicability of the system is improved.
In one embodiment, the soil pick-up operation scheme making module 3 makes a soil pick-up operation scheme of the electric soil pick-up truck based on the soil pick-up requirement, the position distribution and a preset city region map corresponding to the target region, and performs the following operations:
based on the dirt sucking demand, respectively marking the dirt sucking demand position and the dirt sucking amount to be sucked in the urban area map; the position of the sewage sucking requirement is a position where sewage sucking treatment is needed, the amount of sewage to be sucked is the amount of sewage needed to be sucked, and the sewage sucking requirement is calculated according to the unit of capacity, for example: lifting and the like;
Marking the position of the electric sewage suction truck in the urban area map based on the position distribution; generally, the electric sewage suction truck waits for a task to be allocated at a sewage discharge point, the task to be allocated is executed, and after the task to be allocated is executed, the electric sewage suction truck returns to the sewage discharge point to discharge sewage for carrying sewage suction operation;
generating a job circle in the urban area map based on the job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up cars in a one-to-one association manner according to the positions of the electric soil pick-up cars to obtain a soil pick-up operation scheme of the electric soil pick-up cars; wherein, the operation ring is associated with which electric sewage suction truck is allocated to, which indicates that the electric sewage suction truck is most suitable for carrying out sewage suction operation on the operation ring;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map; when the condition is met, the electric sewage suction truck moves to a driving route from the beginning to the end (from a sewage discharge point to any sewage suction demand position, and then moves to the next sewage suction demand position nearby and finally returns to a sewage discharge position) for sewage suction operation in the operation ring, so that the electric sewage suction truck can be approximately elliptical, the repeated driving route of the electric sewage suction truck when the sewage suction operation is performed is reduced to the greatest extent, the complexity of the operation route of the electric sewage suction truck is reduced, the electric power consumption of the electric sewage suction truck can be effectively saved, the charging pile is arranged in the sewage discharge point, and the situation that enough electric power can be returned to the sewage discharge point for charging when the electric power shortage occurs in the middle of the operation of the sewage suction truck can be avoided;
The circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value; the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value; when the two conditions are met, the area of a triangle formed by connecting the three soil pick-up demand positions is limited, the electric soil pick-up vehicle does not need to transfer between soil pick-up demand positions with a large distance interval, and the scheduling rationality of the electric soil pick-up vehicle is improved;
the linear distance between at least one soil pick-up required position and any one electric soil pick-up car position in the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold; when the condition is met, the nearby electric sewage suction truck can immediately go to each operation ring, so that the efficiency of dispatching the electric sewage suction truck to perform sewage suction operation is improved;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than N times of the preset suction truck capacity. Wherein N is a positive integer, 1, 2, etc.; the capacity of the sewage suction truck is the sewage loadable capacity of the electric sewage suction truck, and is calculated in the unit of capacity; when the condition is met, the electric sewage suction truck can make N circles of sewage in the operation circle completely treated; in order to avoid the error of the sewage quantity to be treated by visual inspection, the capacity of the sewage suction truck is much smaller than the actual sewage quantity capable of being carried by the electric sewage suction truck.
The working principle and the beneficial effects of the technical scheme are as follows:
when making electronic soil pick-up car soil pick-up operation scheme, introduce the operation circle, promoted the rationality and the formulation efficiency of electronic soil pick-up car soil pick-up operation scheme preparation for when carrying out dispatch control to electronic soil pick-up car based on electronic soil pick-up car soil pick-up operation scheme, electronic soil pick-up car can more efficient completion soil pick-up operation.
In one embodiment, the soil pick-up job control module 4 controls the electric soil pick-up truck to perform a corresponding soil pick-up job based on the soil pick-up job scheme of the electric soil pick-up truck, including:
delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck; the system is used for delivering a soil sucking operation scheme of the electric soil sucking vehicle to the network node, the soil sucking vehicle at a point can receive and find a working ring belonging to the system, the current position of the system is used for planning the shortest route of one-to-one soil sucking operation for each soil sucking requirement position in the working ring, and automatic driving is started to go on the basis of the shortest route;
when the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck; the peripheral image can be obtained by shooting a panoramic camera and the like arranged at the upper end of the electric sewage suction truck;
Determining a soil pick-up position, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, in the periphery of the electric soil pick-up car based on the peripheral image; the sewage suction position is a water outlet of the sewage temporary storage bin, a sewage outlet where sewage is positioned, and the like;
controlling the dirt sucking arm to go to a dirt sucking position; the dirt sucking arm is hung by a mechanical arm and goes to a dirt sucking moving position;
acquiring an alignment image of the dirt suction arm; the alignment image is obtained by a waterproof camera arranged beside the water inlet end of the dirt absorbing arm, namely the tail end, and the lens direction of the waterproof camera is aligned to the direction of the water inlet end of the dirt absorbing arm;
based on the alignment image, controlling the dirt sucking arm to be abutted with the dirt sucking position and determining whether the abutting is completed; specifically, for example: the water inlet end of the sewage suction arm is connected with the water outlet of the sewage temporary storage bin, and then the butt joint is finished, for example: the water inlet end of the sewage suction arm enters the sewage completely through a sewer port where the sewage is positioned, and then the butt joint is completed;
after the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, recycling and controlling the dirt suction arm. And during recovery control, the dirt suction arm is hung back to be attached to the vehicle body of the electric dirt suction vehicle through the mechanical arm.
The working principle and the beneficial effects of the technical scheme are as follows:
When the electric sewage suction truck reaches the side of the sewage suction demand position, the electric sewage suction truck is controlled to be automatically in butt joint with the sewage suction position to start sewage suction, and recovery control is performed after the sewage suction is finished, so that unmanned operation is realized.
In one embodiment, the unmanned operation system of the electric soil pick-up car further comprises:
the operation early warning module is used for carrying out operation early warning in the moving process of the dirt sucking arm when the dirt sucking arm is controlled to go to the dirt sucking position and the dirt sucking arm is recovered and controlled;
the operation early warning module performs operation early warning in the moving process of the dirt sucking arm, and performs the following operations:
acquiring a moving track of the dirt suction arm in a future preset time; in the process of controlling the movement of the dirt absorbing arm, planning a future movement track of the dirt absorbing arm, and acquiring the movement track of the dirt absorbing arm in a future preset time based on the average movement speed of the dirt absorbing arm;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks; the moving track is a track of the whole dirt sucking arm to move, is three-dimensional, and determines that the local moving track of one division point is linear;
determining an orthographic projection track of a local movement track on the ground around the electric soil pick-up car; the local moving track is in mid-air and orthographic projected to the ground to form an orthographic projection track;
Based on the early warning ring generation condition, projecting and generating an early warning ring with a preset first color on the ground around the electric soil pick-up car; presetting the first color as green and the like; projection generation may be based on projection devices;
determining the moving position and the moving direction of a moving object close to the early warning ring based on the peripheral image; wherein the moving objects are pedestrians, vehicles and the like;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table; the first radius increase coefficient table is provided with first radius increase coefficients corresponding to the shortest distances between different moving positions and the early warning ring, the smaller the shortest distance is, the closer the approaching person is to the early warning ring, the larger the early warning range is required to be increased, and the larger the first radius increase coefficient is;
based on the first radius increase coefficient, increasing the radius of the early warning ring; when the radius of the early warning ring is increased based on the first radius increase coefficient, multiplying the current radius of the early warning ring by the first radius increase coefficient to obtain a new radius, and using the new radius as the radius of the expanded early warning ring;
determining a direction included angle between the straight line direction from the moving position to the circle center of the early warning ring and the moving direction;
When the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table; the second radius increase coefficient table is provided with second radius increase coefficients corresponding to included angles in different directions, and the smaller the included angle in the direction is, the shorter the shortest distance between the moving position close to the person and the early warning ring is, the larger the maximum speed (the more nearly straight is close to the center of a circle), the larger the early warning range is required to be increased;
based on the second radius increase coefficient, increasing the radius of the early warning ring; when the radius of the early warning ring is increased based on the second radius increase coefficient, multiplying the current radius of the early warning ring by the second radius increase coefficient to obtain a new radius, and using the new radius as the radius of the expanded early warning ring;
the early warning ring generation conditions comprise:
the early warning ring needs to comprise each orthographic projection track; when the condition is met, the approach personnel can be warned that any orthographic projection track is not approached;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold; when the condition is met, a certain safety distance can be reserved between the ring edge and the orthographic projection track representing the danger;
The internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval; when the condition is met, the orthographic projection track can be prevented from falling into 1/4 circle of the early warning ring, and the compactness and rationality of early warning circle generation are improved;
the periphery of the early warning is provided with a preset early warning word sample which is arranged around the early warning ring. Specifically, the early warning word is, for example: "dirt suction operation is in progress, do not approach".
The working principle and the beneficial effects of the technical scheme are as follows:
generally, when the dirt sucking arm of the electric dirt sucking vehicle performs automatic dirt sucking operation, the future moving condition of the dirt sucking arm is unknown due to the fact that pedestrians, vehicles and the like pass through, if the electric dirt sucking vehicle is carelessly close to the electric dirt sucking vehicle, the electric dirt sucking vehicle possibly collides with the dirt sucking arm, and in addition, when the dirt sucking arm automatically performs dirt sucking operation, the electric dirt sucking vehicle is possibly novel for passers-by, the electric dirt sucking vehicle can be seen to a certain extent, and the possibility that the dirt sucking arm collides with the pedestrians, the vehicles and the like is further improved. Generally, when the traditional electric sewage suction truck is used for carrying out sewage suction operation, the sewage suction arms are all controlled to move by the self-walking of a driver of the sewage suction truck, and when someone approaches, oral reminding is carried out. According to the embodiment of the invention, the early warning ring is introduced in the moving process of the dirt sucking arm of the electric dirt sucking vehicle to prompt a dangerous area of the dirt sucking arm, so that pedestrians, vehicles and the like passing by are prevented from entering the early warning, the safety of the operation of the dirt sucking arm is improved, and the applicability of unmanned operation of the electric dirt sucking vehicle is improved. In addition, the early warning circle generation conditions are introduced, so that the rationality of the projection generation of the early warning circle is improved. And secondly, the radius of the early warning ring is adaptively adjusted based on the first radius increase coefficient and the second radius increase coefficient, and when passersby and vehicles are closer, fine early warning is performed based on the moving position and the moving direction of the passersby and vehicles, so that the safety is further improved.
The embodiment of the invention provides an unmanned operation method of an electric sewage suction truck, which is shown in fig. 2 and comprises the following steps:
step S1: monitoring the dirt sucking requirement of a target area in the city;
step S2: acquiring the position distribution of the electric sewage suction truck in the target area;
step S3: based on the soil pick-up requirement, the position distribution and a preset urban area map corresponding to the target area, a soil pick-up operation scheme of the electric soil pick-up truck is formulated;
step S4: based on the sewage suction operation scheme of the electric sewage suction truck, the electric sewage suction truck is controlled to perform corresponding sewage suction operation.
In one embodiment, step S1: monitoring the dirt sucking requirement of a target area in a city, comprising:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in a target area;
acquiring a sewage suction requirement through a first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in a target area;
acquiring a sewage suction requirement through a second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement public reporting platform corresponding to the target area.
In one embodiment, step S3: based on a preset urban area map corresponding to the soil pick-up requirement, the position distribution and the target area, a soil pick-up operation scheme of the electric soil pick-up car is formulated, and the method comprises the following steps:
Based on the dirt sucking demand, respectively marking the dirt sucking demand position and the dirt sucking amount to be sucked in the urban area map;
marking the position of the electric sewage suction truck in the urban area map based on the position distribution;
generating a job circle in the urban area map based on the job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up cars in a one-to-one association manner according to the positions of the electric soil pick-up cars to obtain a soil pick-up operation scheme of the electric soil pick-up cars;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map;
the circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value;
the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value;
the linear distance between at least one soil pick-up required position and any one electric soil pick-up car position in the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than N times of the preset suction truck capacity.
In one embodiment, step S4: based on the dirty operation scheme of electronic soil pick-up car, control electronic soil pick-up car carries out corresponding soil pick-up operation, include:
Delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck;
when the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck;
determining a soil pick-up position, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, in the periphery of the electric soil pick-up car based on the peripheral image;
controlling the dirt sucking arm to go to a dirt sucking position;
acquiring an alignment image of the dirt suction arm;
based on the alignment image, controlling the dirt sucking arm to be abutted with the dirt sucking position and determining whether the abutting is completed;
after the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, recycling and controlling the dirt suction arm.
In one embodiment, the unmanned operation method of the electric soil pick-up car further comprises the following steps:
when the dirt sucking arm is controlled to go to the dirt sucking position and is recovered and controlled, the operation early warning is carried out in the moving process of the dirt sucking arm;
wherein, carry out the operation early warning in the removal in-process of dirt absorbing arm, include:
acquiring a moving track of the dirt suction arm in a future preset time;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks;
Determining an orthographic projection track of a local movement track on the ground around the electric soil pick-up car;
based on the early warning ring generation condition, projecting and generating an early warning ring with a preset first color on the ground around the electric soil pick-up car;
determining the moving position and the moving direction of a moving object close to the early warning ring based on the peripheral image;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table;
based on the first radius increase coefficient, increasing the radius of the early warning ring;
determining a direction included angle between the straight line direction from the moving position to the circle center of the early warning ring and the moving direction;
when the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table;
based on the second radius increase coefficient, increasing the radius of the early warning ring;
the early warning ring generation conditions comprise:
the early warning ring needs to comprise each orthographic projection track;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold;
the internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval;
The periphery of the early warning is provided with a preset early warning word sample which is arranged around the early warning ring.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. An unmanned operating system of an electric soil pick-up car, comprising:
the sewage sucking demand monitoring module is used for monitoring the sewage sucking demand of a target area in the city;
the electric sewage suction truck distribution acquisition module is used for acquiring the position distribution of the electric sewage suction truck in the target area;
the soil pick-up operation scheme making module is used for making a soil pick-up operation scheme of the electric soil pick-up vehicle based on the soil pick-up requirement, the position distribution and a preset urban area map corresponding to the target area;
the sewage suction operation control module is used for controlling the electric sewage suction truck to perform corresponding sewage suction operation based on the sewage suction operation scheme of the electric sewage suction truck;
the soil pick-up operation scheme making module makes a soil pick-up operation scheme of the electric soil pick-up truck based on the soil pick-up requirement, the position distribution and a preset urban area map corresponding to the target area, and performs the following operations:
Based on the dirt sucking demand, respectively marking a dirt sucking demand position and a dirt sucking amount to be sucked in the urban area map;
marking the position of the electric sewage suction truck in the urban area map based on the position distribution;
generating a job circle in the urban area map based on a job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up car in a one-to-one association manner according to the positions of the electric soil pick-up car so as to obtain a soil pick-up operation scheme of the electric soil pick-up car;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map;
the circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value;
the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value;
the linear distance between at least one soil pick-up required position and any one of the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than a preset suction truck capacity of N times.
2. The unmanned operation system of the electric sewage suction truck according to claim 1, wherein the sewage suction demand monitoring module monitors the sewage suction demand of a target area in a city, and performs the following operations:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in the target area;
acquiring the dirt sucking requirement through the first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in the target area;
acquiring the dirt sucking requirement through the second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement people reporting platform corresponding to the target area.
3. The unmanned operation system of claim 1, wherein the soil pick-up operation control module controls the electric soil pick-up vehicle to perform a corresponding soil pick-up operation based on the soil pick-up operation scheme of the electric soil pick-up vehicle, and performs the following operations:
delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck;
when the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck;
Determining a soil pick-up position in the periphery of the electric soil pick-up car, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, based on the peripheral image;
controlling the dirt sucking arm to go to the dirt sucking position;
acquiring an alignment image of the dirt suction arm;
controlling the dirt sucking arm to be abutted with the dirt sucking position based on the alignment image, and determining whether the abutting is completed;
after the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, carrying out recovery control on the dirt suction arm.
4. The unmanned operating system of an electric soil pick-up vehicle according to claim 3, further comprising:
the operation early warning module is used for carrying out operation early warning in the moving process of the dirt sucking arm when the dirt sucking arm is controlled to go to the dirt sucking position and the dirt sucking arm is recovered and controlled;
the operation early warning module performs operation early warning in the moving process of the dirt sucking arm, and performs the following operations:
acquiring a movement track of the dirt suction arm within a preset time in the future;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks;
Determining an orthographic projection track of the local movement track on the ground around the electric soil pick-up car;
based on the early warning ring generation condition, projecting an early warning ring with a preset first color on the ground around the electric soil pick-up car;
determining the moving position and the moving direction of the moving object close to the early warning ring based on the peripheral image;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table;
increasing the radius of the early warning ring based on the first radius increase coefficient;
determining a direction included angle between the linear direction from the moving position to the center of the circle of the early warning ring and the moving direction;
when the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table;
increasing the radius of the early warning ring based on the second radius increase coefficient;
wherein, the early warning circle generation condition includes:
the early warning ring needs to comprise each orthographic projection track;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold;
The internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval;
and the periphery of the early warning is provided with a preset early warning word which is arranged around the early warning ring.
5. An unmanned operation method of an electric sewage suction truck is characterized by comprising the following steps:
step S1: monitoring the dirt sucking requirement of a target area in the city;
step S2: acquiring the position distribution of the electric sewage suction truck in the target area;
step S3: based on the dirt sucking requirement, the position distribution and a preset urban area map corresponding to the target area, a dirt sucking operation scheme of the electric dirt sucking vehicle is formulated;
step S4: based on the sewage suction operation scheme of the electric sewage suction truck, controlling the electric sewage suction truck to perform corresponding sewage suction operation;
the step S3: based on the dirt sucking demand, the position distribution and a preset urban area map corresponding to the target area, a dirt sucking operation scheme of the electric dirt sucking vehicle is formulated, and the method comprises the following steps:
based on the dirt sucking demand, respectively marking a dirt sucking demand position and a dirt sucking amount to be sucked in the urban area map;
marking the position of the electric sewage suction truck in the urban area map based on the position distribution;
Generating a job circle in the urban area map based on a job circle generation condition;
distributing the operation rings to the corresponding electric soil pick-up car in a one-to-one association manner according to the positions of the electric soil pick-up car so as to obtain a soil pick-up operation scheme of the electric soil pick-up car;
wherein the job loop generation conditions include:
the operation circle is a triangle circumcircle formed by connecting three dirt sucking demand positions in the urban area map;
the circle area of the circumscribing circle is smaller than or equal to a preset circle area threshold value;
the linear distance between every two of the three dirt sucking demand positions is smaller than or equal to a preset first linear distance threshold value;
the linear distance between at least one soil pick-up required position and any one of the three soil pick-up required positions is smaller than or equal to a preset second linear distance threshold;
the sum of the to-be-suctioned amounts of the three suction demand positions is smaller than a preset suction truck capacity of N times.
6. The unmanned operation method of the electric sewage suction truck according to claim 5, wherein the step S1: monitoring the dirt sucking requirement of a target area in a city, comprising:
acquiring preset first communication nodes corresponding to a plurality of stain storage areas in the target area;
Acquiring the dirt sucking requirement through the first communication node;
and/or the number of the groups of groups,
acquiring preset second communication nodes corresponding to a plurality of sanitation workers in the target area;
acquiring the dirt sucking requirement through the second communication node;
and/or the number of the groups of groups,
and acquiring the dirt sucking requirement from a preset dirt sucking requirement people reporting platform corresponding to the target area.
7. The unmanned operation method of the electric sewage suction truck according to claim 5, wherein the step S4: based on the electric soil pick-up car soil pick-up operation scheme, control electric soil pick-up car carries out corresponding soil pick-up operation, include:
delivering the sewage suction operation scheme of the electric sewage suction truck to a preset third communication node corresponding to the electric sewage suction truck;
when the electric sewage suction truck reaches any sewage suction demand position, acquiring a peripheral image of the electric sewage suction truck;
determining a soil pick-up position in the periphery of the electric soil pick-up car, which is to be in butt joint with a soil pick-up arm of the electric soil pick-up car, based on the peripheral image;
controlling the dirt sucking arm to go to the dirt sucking position;
acquiring an alignment image of the dirt suction arm;
controlling the dirt sucking arm to be abutted with the dirt sucking position based on the alignment image, and determining whether the abutting is completed;
After the butt joint is finished, the dirt sucking arm is controlled to start dirt sucking;
and after the dirt suction is finished, carrying out recovery control on the dirt suction arm.
8. The unmanned operation method of the electric sewage suction truck according to claim 7, further comprising:
when the dirt sucking arm is controlled to go to the dirt sucking position and the dirt sucking arm is recovered and controlled, performing operation early warning in the moving process of the dirt sucking arm;
wherein, carry out the operation early warning in the removal in-process of dirt absorbing arm, include:
acquiring a movement track of the dirt suction arm within a preset time in the future;
determining a plurality of separation points on the dirt sucking arm, wherein the separation points are mutually separated by a preset separation distance;
determining a local movement track corresponding to any separation point from the movement tracks;
determining an orthographic projection track of the local movement track on the ground around the electric soil pick-up car;
based on the early warning ring generation condition, projecting an early warning ring with a preset first color on the ground around the electric soil pick-up car;
determining the moving position and the moving direction of the moving object close to the early warning ring based on the peripheral image;
determining a first radius increase coefficient corresponding to the shortest distance between the moving position and the early warning ring from a preset first radius increase coefficient table;
Increasing the radius of the early warning ring based on the first radius increase coefficient;
determining a direction included angle between the linear direction from the moving position to the center of the circle of the early warning ring and the moving direction;
when the direction included angle is smaller than or equal to a preset direction included angle threshold value, determining a second radius increase coefficient corresponding to the direction included angle from a preset second radius increase coefficient table;
increasing the radius of the early warning ring based on the second radius increase coefficient;
wherein, the early warning circle generation condition includes:
the early warning ring needs to comprise each orthographic projection track;
the shortest linear distance between the edge of the early warning ring and the track starting point of any orthographic projection track is required to be larger than or equal to a preset third distance threshold;
the internal angle formed by two connecting lines respectively connecting the circle center of the early warning ring and the track starting point of any orthographic projection track is required to fall in a preset angle interval;
and the periphery of the early warning is provided with a preset early warning word which is arranged around the early warning ring.
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Denomination of invention: An unmanned operation system and method for an electric suction vehicle Granted publication date: 20231031 Pledgee: Bank of Nanjing Co.,Ltd. Yancheng branch Pledgor: Zhongke Shangsheng New Energy Vehicle Co.,Ltd. Registration number: Y2024980012590 |