Utility model content
The purpose of this utility model be to provide a kind of road sweeper to overcome or at least alleviate in the above-mentioned defect of prior art at least one.
For achieving the above object, the utility model provides a kind of road sweeper, described road sweeper comprises information detector, control setup and executive device, wherein: described information detector is located on road sweeper vehicle body to detect the position of road sweeper vehicle body and environmental information and to export, the mouth of described information detector is electrically connected the input end of described control setup, and the mouth of described control setup is electrically connected described executive device; Described control setup stores default global path, and for the position that receives road sweeper vehicle body and environmental information and control the braking in road sweeper vehicle body driving process by described executive device and turn to.
Further, described information detector comprises camera head, registration device and radar, wherein: described camera head is arranged on the front portion of road sweeper vehicle body, for detecting the view data of road sweeper vehicle front predeterminable area; Described location dress is arranged on the rear portion of road sweeper vehicle body, for detecting the location information of road sweeper vehicle body; Multiple described radar is arranged, for detecting the obstacle information around road sweeper vehicle body in predeterminable area along the sidewall circumference of road sweeper vehicle body.
Further, described registration device comprises GPS movement station and difference block, wherein: described GPS movement station is located at the rear portion of the longitudinal axis of road sweeper vehicle body, the mouth of described GPS movement station is all connected with the input end of described difference block with the mouth of GPS base station, and the mouth of described difference block difference block is connected with the input end of described control setup.
Further, described camera head and be CAN communication mode between described radar and described control setup is serial port between described registration device and described control setup.
Further, described road sweeper also comprises vehicle-mounted monitoring apparatus, and the input end of described vehicle-mounted monitoring apparatus is electrically connected with described control setup, to monitor position and the environmental information of road sweeper vehicle body.
Further, between described vehicle-mounted monitoring apparatus and described control setup be wireless communication mode.
Further, described executive device comprises electric power steering apparatus and energy brake equipment, wherein: the mouth of described control setup is electrically connected the control end of described energy brake equipment and described electric power steering apparatus, to be controlled the braking of road sweeper vehicle body by described energy brake equipment and to control turning to of road sweeper vehicle body by described electric power steering apparatus.
Further, described energy brake equipment comprises the mechanism controlling exhaust valve travel.
Further, it is CAN communication mode between described electric power steering apparatus and described control setup, establish D/A converting circuit between described energy brake equipment and described control setup, convert the impulse singla controlling described energy brake equipment with the voltage signal exported by described control setup to.
Further, described control setup comprises central process unit, video processing front end and video processing rear end, wherein: the collection terminal of described video processing front end is electrically connected the mouth of described information detector, and mouth is electrically connected the input end of described central process unit, the view data collected is the second form from the first format conversion and exports to described central process unit; The collection terminal of described video processing rear end is electrically connected the mouth of described central process unit, converts the second pattern to and export with the view data exported by described central process unit from first mode.
After the technical scheme that application the utility model provides, road sweeper can be unattended, frees from this repeated labor in cleaning ground to make people.
Detailed description of the invention
In the accompanying drawings, use same or similar label to represent same or similar element or there is element that is identical or similar functions.Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail.
In description of the present utility model; term " orientation or the position relationship of the instruction such as " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as the restriction to the utility model protection domain.
As shown in Figure 1, the road sweeper that present embodiment provides comprises information detector 1, control setup 2 and executive device 3, wherein: information detector 1 is located on road sweeper vehicle body to detect the position of road sweeper vehicle body and environmental information and to export.The input end of the mouth electrical connection control setup 2 of information detector 1, the mouth electrical connection executive device 3 of control setup 2.Control setup 2 also combines for the position and environmental information receiving road sweeper vehicle body the global path preset, and is controlled travelling brake amount and the direction of road sweeper vehicle body by executive device 3.Control setup 2 stores default global path, and default global path is the starting point and terminal of determining running route, identical with presetting method of the prior art.Control setup 2 is for receiving position and the environmental information of road sweeper vehicle body and controlling the braking in road sweeper vehicle body driving process by executive device 3 and turn to.
In view of the running route of road sweeper is relatively fixing, moving velocity is relatively slow, mode of operation is single, present embodiment is for freeing people from this repeated labor, and utilize position and the environmental information of information detector 1 perception road sweeper vehicle body, the track that planning one can travel for road sweeper on the basis of the global path preset, to control travelling brake amount and the direction of road sweeper vehicle body.
Information detector 1 comprises camera head 11, registration device 12 and radar 13, wherein:
Camera head 11 is arranged on the front portion of road sweeper vehicle body, for detecting the view data of road sweeper vehicle front predeterminable area, view data comprises the information such as lane mark, vehicle and pedestrian, and this view data may be used for the detection solving lane mark tracking and traffic on straight way.Camera head 11 can be such as camera, and normally select the midway location being arranged on road sweeper body forward structure, the visual field can cover 8 meters, left and right, the region that front is 40 meters.For low speed road sweeper, this region is completely enough.Camera is mainly for detection of the lane mark of predeterminable area on road sweeper vehicle body institute travel, and lane mark can be dotted line or solid line, white line or yellow line.With being CAN communication mode between camera and control setup 2, so that the view data of predeterminable area on the road sweeper detected vehicle body institute travel is flowed to control setup 2.
Shown in composition graphs 2, registration device 12 is arranged on the rear portion of road sweeper vehicle body, for detecting the location information of road sweeper vehicle body.In present embodiment, registration device 12 adopts a point navigation sensor, and it can provide local map, and utilizes differential navigation to cook up global path, solves from initial point Path Selection to terminal.Particularly, registration device 12 comprises GPS movement station 121 and difference block 122, wherein: GPS movement station 121 is located at the rear portion of the longitudinal axis of road sweeper vehicle body, the mouth of GPS movement station 121 is all connected with the input end of difference block 122 with the mouth of base station, and the mouth of difference block difference block 122 is connected with the input end of control setup 2.During use, a GPS is placed on base station and observes, according to the precision coordinate that base station is known, calculate the distance correction of base station to satellite, and in real time these data are sent by base station.GPS movement station 121, while carrying out GPS observation, also receives the correction that base station sends, and corrects its positioning result, thus improves positioning precision.Be serial port between the difference block 122 of registration device 12 and control setup 2, thus registration device 12 is flowed to control setup 2 by serial port.Difference block 122 can adopt corresponding difference channel to realize.
Multiple radar 13 is arranged along the sidewall circumference of road sweeper vehicle body, for detecting the obstacle information around road sweeper vehicle body in predeterminable area, for the barrier of keeping away of road sweeper provides (such as: in surrounding 5 meters) obstacle environment information in short range, can be used for keeping away barrier.Radar 13 adopts ultrasonic radar, is CAN communication mode between itself and control setup 2.
As shown in Figure 3, described road sweeper also comprises vehicle-mounted monitoring apparatus 4, and vehicle-mounted monitoring apparatus 4 can be located on road sweeper vehicle body, also can be upper computer, and input end is electrically connected with control setup 2, to monitor position and the environmental information of road sweeper vehicle body.It is wireless communication mode between vehicle-mounted monitoring apparatus 4 and control setup 2, wireless network on such as car or 3g/4g module export the current location information of car, and the realtime graphic that on car, camera head 11 gathers, operating personal can see the running state of road sweeper in real time, facilitates user to grasp the state of road sweeper in real time.
Again consult Fig. 1; executive device 3 comprises motor, electric power steering apparatus (EPS; ElectricPowerSteering) 31 and energy brake equipment (EVB; ExhaustValueBrake) 32; wherein: electric power steering apparatus 31 directly provides power steering by electric boosted machine; the belt pulley eliminating the necessary power steering oil pump of hydraulic power steering system, flexible pipe, hydraulic oil, belt conveyor and be loaded on driving engine, both saved energy, again protection of the environment.Energy brake equipment 32 controls the braking of road sweeper vehicle body by the mode of energy brake, and the principle of energy brake does not repeat them here.Preferably, energy brake equipment 32 can on the basis of existing structure, and set up the mechanism's (not shown) controlling exhaust valve travel, this mechanism directly can purchase from market and obtain.Present embodiment is by utilizing exhaust valve in braking procedure by phenomenon that pressure wave is opened automatically, increase the mechanism of a set of control exhaust valve travel, in Jake brake process, stay open a space to improve the brake efficiency of driving engine to realize exhaust valve.
The mouth electrical connection energy brake equipment 32 of control setup 2 and the control end of electric power steering apparatus 31, the moving velocity obtaining road sweeper vehicle body is flowed to energy brake equipment 32 by control setup 2, controls the braking in road sweeper vehicle body driving process by energy brake equipment 32; Meanwhile, the travel direction obtaining road sweeper vehicle body is flowed to electric power steering apparatus 31 by control setup 2, controls turning in road sweeper vehicle body driving process by electric power steering apparatus 31.Be CAN communication mode between electric power steering apparatus 31 and control setup 2, between energy brake equipment 32 and control setup 2, establish D/A converting circuit, convert the impulse singla controlling energy brake equipment 32 with the voltage signal exported by control setup 2 to.
As shown in Figure 4, control setup 2 comprises central process unit 21, central process unit 21 can select Texas Instruments TI (TexasInstruments, TI) DSP (DigitalSignalProcessor of company, digital signal processor), embedded image process chip is Texas Instruments (TexasInstruments, TI) digital signal processor (DigitalSignalProcessor, DSP) TMS320DM6437 (DM6437), adopt C64x+ kernel, most high primary frequency 600Mhz, under most high primary frequency, the supreme command speed of DM6437 can reach 4800MIPS.This chip support extends out the DDR2 of 32 bits, and the NOR/NANDFlash of 8 bits.During use, first central process unit 21 gathers the data of camera head 11 and radar 13 by CAN transmission, by the data of RS232 serial acquisition registration device 12, and process respectively various sensor information.For the data gathered from camera head 11, need to carry out pretreatment to view data, then carry out Lane detection, provide left-lane line and right lane line, and rasterizing coding is carried out to the left-lane line recognized and right lane line.For the data carrying out self locating device 12 collection, need to resolve special packet, obtain real-time longitude and latitude and course angle information.Then searching route be converted into grating map in the off-line map be collected in advance, finally carries out rasterizing coding.For the data from radar 13, need to resolve the obstacle data in investigative range, then extract effective target, and rasterizing coding is carried out to effective target.After having gathered three kinds of data, plan the path of road sweeper vehicle body, final output speed and angle information are to executive device 3.
For simplifying digital image processing system development difficulty, two configurable peripheral hardwares are integrated with: video processing front end 22 (VideoProcessingFront-End in DM6437, and video processing rear end (VideoProcessingBack-End VPFE), VPBE) 23, wherein:
The mouth of the collection terminal electrical connection information detector 1 of video processing front end 22, and the input end of mouth electrical connection central process unit 21, to be the second form by the view data collected from the first format conversion and to export to central process unit 21.Video processing front end 22 can gather the signal from video decoding chip or digital camera, and view data is converted to YUV422 formatted output.Video processing front end 22 also comprises the hardware supported of image histogram calculating and image scaling, can carry out AWB and gain-adjusted to image.Thus, " the first form " is RGB (RedGreenBlue) form, and " the second form " is YUV422 form.
The mouth of the collection terminal electrical connection central process unit 21 of video processing rear end 23, converts the second pattern with the view data exported by central process unit 21 to from first mode and exports.Video processing rear end 23 comprises video encoder and OSD (OnScreenDisplay) engine, wherein: after the video that originally data volume is very large becomes via video encoder encodes the video that quantity is very little, then passes to OSD and shows.OSD engine supports 4 independently layer display and superpositions, can export the analog video of NTSC/PAL standard according to configuration video processing rear end 23 or meet the digital video of BT.656.DM6437 peripheral hardware is very abundant, has special audio interface, supports the signalling methodss such as CAN, UART and I2C.Thus, " first mode " is grayscale mode, and the video of " the second pattern " is the analog video of NTSC/PAL standard or meets the digital video of BT.656.
Finally it is to be noted: above embodiment only in order to the technical solution of the utility model to be described, is not intended to limit.Those of ordinary skill in the art is to be understood that: can modify to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; These amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.