CN206537207U - A kind of unmanned sprinkling truck - Google Patents
A kind of unmanned sprinkling truck Download PDFInfo
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- CN206537207U CN206537207U CN201720147257.9U CN201720147257U CN206537207U CN 206537207 U CN206537207 U CN 206537207U CN 201720147257 U CN201720147257 U CN 201720147257U CN 206537207 U CN206537207 U CN 206537207U
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- sprinkling truck
- unmanned
- watering
- steering
- control system
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Abstract
The utility model belongs to special vehicle technical field, and specifically a kind of unmanned sprinkling truck and watering method, the sprinkling truck include sprinkling truck body and is installed on the Unmanned Systems of sprinkling truck body interior；Sprinkling truck body includes sprinkling truck driving system and automatic water system；Unmanned Systems include multiple perceptual positioning systems and control system；The input of described control system is connected with perceptual positioning system, and output end is connected with sprinkling truck driving system and automatic water system；Described perceptual positioning system is arranged on unmanned sprinkling truck body.Unmanned Systems are set up on the existing sprinkling truck body of the utility model, unmanned sprinkling truck is travelled along predetermined paths and sprinkled water according to preset program, human pilot is freed from the uninteresting heavy driving of renaturation, and the watering demand distribution map in whole block or whole city, and then the watering route to multiple unmanned sprinkling trucks and the progress Dynamic Programming of watering amount are formed using abundant perceptual positioning system.
Description
Technical field
The utility model belongs to special vehicle technical field, specifically a kind of unmanned sprinkling truck.
Background technology
At present, sprinkling truck is mainly used in the sprinkler irrigation of afforestation, high-speed isolated band plant irrigation, Street surface cleaning, road
Side landscape etc. is sprayed.Human pilot is at least needed to drive sprinkling truck sprinkling irrigation in real work, use cost is higher, wastes people
Power.The travel route on sprinkling truck is relatively more fixed, it is necessary to which human pilot drives sprinkling truck along route sprinkling irrigation watering, to driving
This repeated driving behavior is very uninteresting for personnel.
The content of the invention
Human pilot can be solved releasing by the utility model there is provided a kind of simple in construction from the uninteresting heavy driving of renaturation
Come, while reducing the unmanned sprinkling truck of human cost.
Technical solutions of the utility model are described with reference to the drawings as follows：
A kind of unmanned sprinkling truck, the sprinkling truck includes sprinkling truck body 20 and is installed on inside sprinkling truck body 20
Unmanned Systems 10；Described sprinkling truck body 20 includes sprinkling truck driving system 30 and automatic water system 40；Described
Unmanned Systems 10 include multiple perceptual positioning systems 110 and control system 120；The input of described control system 120
It is connected with perceptual positioning system 110, output end is connected with sprinkling truck driving system 30 and automatic water system 40；Described perception
Alignment system 110 is arranged on unmanned sprinkling truck body 20.
Described sprinkling truck driving system 30 includes four-wheel steering system 310；Described four-wheel steering system 310 includes connecing
Receive the steering controller 312 of the steering controling signal of bus 320；Signal is passed to front-wheel steer by described steering controller 312
Controller 313 and rear-axle steering controller 317.
Described four-wheel steering system 310 includes being installed on the standby steering wheel 311 in driver's cabin or in Remote room.
Described automatic water system 40 includes automatic water system controller 410, moisture storage capacity and monitors sensor and automatic
Priming apparatus；Described automatic water system controller 410 receive the spray control signal that bus 320 transmits, GES with
And steering angle signal；Described moisture storage capacity monitoring sensor is arranged on inside water tank, sends the signal to control system 120
In；Described control system 120 is connected with automatic watering apparatus；Described automatic watering apparatus and the water filling device of filling up area are certainly
Dynamic connection.
Described perceptual positioning system 110 also includes road moisture sensor and the road being installed on road infrastructure
Both sides vegetation state monitoring apparatus；Described road moisture sensor is connected with control system 120；Described control system 120
Receive the vegetation status signal that the transmission of vegetation state monitoring apparatus comes.
Alternatively, above-mentioned control system or controller can use automobile-used ECU of the prior art, it would however also be possible to employ
Other computing units such as GPU or FPGA.
The beneficial effects of the utility model are：
1st, the utility model sets up Unmanned Systems on existing sprinkling truck body, it is possessed unmanned function,
Unmanned sprinkling truck is travelled along predetermined paths and sprinkled water according to preset program, can be uninteresting from renaturation by human pilot
Freed in the driving of weight, while reducing human cost.
2nd, the utility model employ the symmetrical car body of four-wheel steering system steering it is more flexible, operate it is more flexible, have
Beneficial to the watering operation of narrow regions.
3rd, the utility model forms the watering demand in whole block or whole city using abundant perceptual positioning system
Distribution map, and then the watering route to multiple unmanned sprinkling trucks and the progress Dynamic Programming of watering amount.
Brief description of the drawings
Fig. 1 is the unmanned a kind of structural representation of embodiment in sprinkling truck of the present utility model；
The system that Fig. 2 is Unmanned Systems in the utility model constitutes block schematic illustration；
Fig. 3 is a kind of embodiment schematic diagram of sprinkling truck driving system in the utility model；
Fig. 4 is unmanned sprinkler method flow diagram of the present utility model.
In figure：10th, Unmanned Systems；20th, sprinkling truck body；30th, sprinkling truck driving system；40th, automatic water system；
110th, perceptual positioning system；120th, control system；310th, four-wheel steering system；311st, standby steering wheel；312nd, steering controller；
313rd, front-wheel steer controller；314th, front-wheel steer motor；315th, front-wheel director；316th, front-wheel；317th, rear-axle steering is controlled
Device；320th, bus；41st, automatic water system controller.
Embodiment
Embodiment one
Refering to Fig. 1, Fig. 2, a kind of unmanned sprinkling truck, the sprinkling truck includes sprinkling truck body 20 and is installed on sprinkling truck
Unmanned Systems 10 inside body 20；Described sprinkling truck body 20 includes sprinkling truck driving system 30 and Self-watering is filled
Put 40；Described Unmanned Systems 10 include multiple perceptual positioning systems 110 and control system 120；Described control system
120 input is connected with perceptual positioning system 110, output end and sprinkling truck driving system 30 and the phase of automatic water system 40
Even；Described perceptual positioning system 110 is arranged on unmanned sprinkling truck body 20, for gathering unmanned sprinkling truck
The information such as position, surrounding road condition environment, and the information collected is input to control system 120, control system 120 enters row information
Handle and vehicle driving system 30 and automatic water system 40 in output control information to sprinkling truck, unmanned sprinkling truck is held
The corresponding automatic running of row and Self-watering task.
Described perceptual positioning system 110 also includes road moisture sensor and the road being installed on road infrastructure
Both sides vegetation state monitoring apparatus；Road moisture in certain area, vegetation institute water requirement etc. are monitored in real time, and formed
The watering demand distribution map in the region；Multiple such perceptual positioning systems 110 can form whole block or whole city
Watering demand distribution map, and then watering route to multiple unmanned sprinkling trucks and watering amount carry out Dynamic Programming.It is described
Road moisture sensor be connected with control system 120；Described control system 120 receives the transmission of vegetation state monitoring apparatus
The vegetation status signal come, and the watering amount according to needed for being calculated vegetation status signal.
Refering to Fig. 3, described sprinkling truck driving system 30 includes four-wheel steering system 310；Described four-wheel steering system
310 include steering controller 312, and steering controller 312 receives the steering controling signal of bus 320, and before the signal is transferred to
Steering controller 313 and rear-axle steering controller 317 are taken turns, front-wheel steer controller 313 and rear-axle steering controller 317 are controlled respectively
Front-wheel steer motor 314 and rear-axle steering motor processed, front-wheel steer motor 314 and rear-axle steering motor respectively with front-wheel director
315 are connected to drive front-wheel 316 and trailing wheel while being turned to rear-axle steering device, reduce radius of turn.The utility model
The steering for employing the symmetrical car body of four-wheel steering system is more flexible, and operation is more flexible, is conducive to the watering of narrow regions to make
Industry.
Refering to Fig. 3, described four-wheel steering system 310 includes being installed on the standby side in driver's cabin or in Remote room
To disk 311, under special operation condition, it is necessary to driver intervene steering operation when, by standby steering wheel 311 control front-wheel 316 or
Trailing wheel is turned to.
Refering to Fig. 1, Fig. 3, described automatic water system 40 includes automatic water system controller 410, moisture storage capacity and monitored
Sensor and automatic watering apparatus；Described automatic water system controller 410 receives the spray control letter that bus 320 is transmitted
Number, GES and steering angle signal, and then control watering device to discharge different watering amounts；Described moisture storage capacity monitoring
Sensor is arranged on inside water tank, the surplus water in monitoring water tank, and transmitting the signal in control system 120 in real time, is controlled
System 120 processed judges whether that returning to filling up area is added water by calculating surplus water and watering amount needed for region to be sprinkled water；Work as control
When system 120 processed needs to be added water by calculating unmanned sprinkling truck, the control sprinkling truck running gear of control system 120
System 30 drives into filling up area, and described automatic watering apparatus and the water filling device of filling up area are connected, added water automatically.
Described unmanned sprinkling truck is not provided with driver's cabin, maximally utilizes the volume of sprinkling truck body 20, carrying is more
Big yield, reduces number of water, improves operational efficiency.
Alternatively, above-mentioned control system or controller can use automobile-used ECU of the prior art, it would however also be possible to employ
Other computing units such as GPU or FPGA.
Refering to Fig. 4, a kind of watering method based on above-mentioned unmanned sprinkling truck comprises the following steps：
401st, start, Initialize installation is carried out to unmanned sprinkling truck, set and treat watering point position；
402nd, by watering amount needed for this truck position of perceptual positioning system detectio, road or vegetation, a position is put according to waiting to sprinkle water
Put the Dynamic Programming distribution map to form watering route；
403rd, control system 120 carries out path planning according to above-mentioned distribution map to unmanned sprinkling truck driving system；
404th, unmanned sprinkling truck driving system is travelled to position to be sprinkled water according to programme path；
405th, automatic water system is sprinkled water according to the control signal of control system；
406th, perceptual positioning system detectio judges whether the watering of this place completesIf completing, into step 407, if not completing,
Return to step 405；
407th, unmanned sprinkling truck is according to whether there is next place's watering task, it is determined whether terminate watering operation, if not
Complete, then return to step 402, if completing, into step 408；
408th, watering operation, unmanned sprinkling truck auto-returned storehouse or other stops are terminated.
In addition, during watering, unmanned sprinkling truck carries out automatic watering according to itself moisture storage capacity.
The utility model sets up Unmanned Systems on existing sprinkling truck body, it is possessed unmanned function, nothing
People drives sprinkling truck and travels and sprinkled water according to preset program along predetermined paths, and human pilot is driven from renaturation is uninteresting heavy
Freed in sailing, while reducing human cost.And form whole block or whole city using abundant perceptual positioning system
The watering demand distribution map in city, and then the watering route to multiple unmanned sprinkling trucks and the progress Dynamic Programming of watering amount.
Claims (5)
1. a kind of unmanned sprinkling truck, it is characterised in that the sprinkling truck includes sprinkling truck body (20) and is installed on sprinkling truck
The internal Unmanned Systems (10) of body (20)；Described sprinkling truck body (20) is including sprinkling truck driving system (30) and certainly
Dynamic watering device (40)；Described Unmanned Systems (10) include multiple perceptual positioning systems (110) and control system
(120)；The input of described control system (120) is connected with perceptual positioning system (110), output end and sprinkling truck running gear
System (30) is connected with automatic water system (40)；Described perceptual positioning system (110) is arranged on unmanned sprinkling truck body
(20) on.
2. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described sprinkling truck driving system
(30) four-wheel steering system (310) is included；Described four-wheel steering system (310) includes receiving bus (320) course changing control letter
Number steering controller (312)；Described steering controller (312) by signal pass to front-wheel steer controller (313) and after
Take turns steering controller (317).
3. a kind of unmanned sprinkling truck according to claim 2, it is characterised in that described four-wheel steering system
(310) include being installed on the standby steering wheel (311) in driver's cabin or in Remote room.
4. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described automatic water system (40)
Including automatic water system controller (410), moisture storage capacity monitoring sensor and automatic watering apparatus；Described automatic water system
Controller (410) receives spray control signal, GES and the steering angle signal of bus (320) transmission；Described storage
Water quantity monitoring sensor is arranged on inside water tank, is sent the signal in control system (120)；Described control system (120)
It is connected with automatic watering apparatus；Described automatic watering apparatus and the water filling device of filling up area are connected automatically.
5. a kind of unmanned sprinkling truck according to claim 1, it is characterised in that described perceptual positioning system
(110) the road moisture sensor and both sides of the road vegetation state monitoring apparatus being installed on road infrastructure are also included；Institute
The road moisture sensor stated is connected with control system (120)；Described control system (120) receives vegetation state monitoring apparatus
The vegetation status signal that transmission comes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720147257.9U CN206537207U (en) | 2017-02-20 | 2017-02-20 | A kind of unmanned sprinkling truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720147257.9U CN206537207U (en) | 2017-02-20 | 2017-02-20 | A kind of unmanned sprinkling truck |
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| CN206537207U true CN206537207U (en) | 2017-10-03 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740406A (en) * | 2017-02-20 | 2017-05-31 | 驭势（上海）汽车科技有限公司 | A kind of unmanned sprinkling truck and watering method |
| CN107942867A (en) * | 2017-12-01 | 2018-04-20 | 浙江天地人科技有限公司 | A kind of urban afforestation intelligent management system |
| CN109137808A (en) * | 2018-09-04 | 2019-01-04 | 广州市花林景观工程有限公司 | A kind of intelligent water sprinkling device |
| CN109267528A (en) * | 2018-10-24 | 2019-01-25 | 王海将 | A kind of novel to maintain equipment of municipal road construction |
| CN110318362A (en) * | 2019-07-25 | 2019-10-11 | 李伯宸 | City cleaning systems and smart city system |
| CN111231817A (en) * | 2020-03-05 | 2020-06-05 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle spray control method and unmanned vehicle |
| CN113585143A (en) * | 2020-04-30 | 2021-11-02 | 丰田自动车株式会社 | Information processing apparatus, control apparatus, vehicle, and water application method |
-
2017
- 2017-02-20 CN CN201720147257.9U patent/CN206537207U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740406A (en) * | 2017-02-20 | 2017-05-31 | 驭势（上海）汽车科技有限公司 | A kind of unmanned sprinkling truck and watering method |
| CN107942867A (en) * | 2017-12-01 | 2018-04-20 | 浙江天地人科技有限公司 | A kind of urban afforestation intelligent management system |
| CN109137808A (en) * | 2018-09-04 | 2019-01-04 | 广州市花林景观工程有限公司 | A kind of intelligent water sprinkling device |
| CN109267528A (en) * | 2018-10-24 | 2019-01-25 | 王海将 | A kind of novel to maintain equipment of municipal road construction |
| CN110318362A (en) * | 2019-07-25 | 2019-10-11 | 李伯宸 | City cleaning systems and smart city system |
| CN111231817A (en) * | 2020-03-05 | 2020-06-05 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle spray control method and unmanned vehicle |
| CN111231817B (en) * | 2020-03-05 | 2022-03-04 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle spray control method and unmanned vehicle |
| CN113585143A (en) * | 2020-04-30 | 2021-11-02 | 丰田自动车株式会社 | Information processing apparatus, control apparatus, vehicle, and water application method |
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