EP3908700A1 - Procédé pour faire fonctionner un véhicule de nettoyage - Google Patents

Procédé pour faire fonctionner un véhicule de nettoyage

Info

Publication number
EP3908700A1
EP3908700A1 EP19836478.8A EP19836478A EP3908700A1 EP 3908700 A1 EP3908700 A1 EP 3908700A1 EP 19836478 A EP19836478 A EP 19836478A EP 3908700 A1 EP3908700 A1 EP 3908700A1
Authority
EP
European Patent Office
Prior art keywords
cleaning
vehicle
cleaning vehicle
sensor
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19836478.8A
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3908700A1 publication Critical patent/EP3908700A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
    • E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
    • E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
    • E01H1/056—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having horizontal axes
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt

Definitions

  • the invention relates to a method for operating a cleaning vehicle, in particular an automatically operated sweeper, a control device, a computer program and a machine-readable storage medium.
  • the fine adjustment of the cleaning device takes place in such a way that a side vehicle edge is cleaned optimally by cleaning tools of the cleaning device.
  • Cleaning devices can be aligned by the actuator.
  • the actuator can be driven hydraulically, pneumatically or electrically.
  • the cleaning tools can also be driven hydraulically, pneumatically or electrically.
  • the cleaning tools can be positioned as a unit or individually.
  • Cleaning vehicle provided a control of the cleaning device that is independent of the vehicle or at least regionally dependent. A rough positioning of the cleaning device by controlling or aligning the cleaning vehicle and a fine or
  • Lateral guidance of the cleaning vehicle can be reduced.
  • deviations of the road edge from the calculated trajectory can be compensated for by adjusting or adapting the position of the cleaning device.
  • a portion of the positioning of the at least one cleaning tool can be transverse to the direction of travel of the vehicle
  • the measurement data for determining the position of the cleaning area are determined by the at least one sensor and / or by at least one environment sensor of the cleaning vehicle.
  • the cleaning vehicle can identify an environment sensor system in order to perceive the road that can be driven on, other road users, dynamic and static objects, pedestrians, traffic rules and the like.
  • the cleaning vehicle can have radar sensors, LIDAR sensors, camera sensors, GPS sensors and the like.
  • the cleaning vehicle can thus automatically drive a calculated trajectory.
  • the environment sensor system of the cleaning vehicle can be used to detect a road edge and to carry out a corresponding positioning or alignment of the cleaning device.
  • Fig. 2 is a schematic representation of a cleaning vehicle for
  • Lane edge 2 can be determined.
  • a cleaning area 9 is determined with the aid of the measurement data from the sensor 8.
  • the cleaning area 9 represents an area represents, which is cleaned by the cleaning tool 6 in the course of the trajectory T.
  • FIG. 3 shows a further schematic illustration of a cleaning vehicle 1 to illustrate the method on a curb 3 as an uneven road boundary 3 according to one embodiment.
  • the cleaning vehicle 1 has a cleaning device 4 with two

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner un véhicule de nettoyage, notamment une balayeuse mécanique pouvant fonctionner de manière automatisée, par un contrôleur. Une trajectoire est calculée et des instructions de commande pour un guidage longitudinal et un guidage transversal du véhicule de nettoyage lors du parcours de la trajectoire calculée sont générées, des données de mesure sont reçues de la part d'au moins un capteur en vue de déterminer une zone de nettoyage, et au moins un actionneur destiné à positionner un dispositif de nettoyage du véhicule de nettoyage pour le nettoyage de la zone de nettoyage est actionné dans la direction longitudinale et/ou dans la direction transversale par rapport à une direction de déplacement du véhicule de nettoyage sur la base des données de mesure reçues. L'invention concerne en outre, un contrôleur, un programme informatique ainsi qu'un support de stockage lisible par machine.
EP19836478.8A 2019-01-08 2019-12-17 Procédé pour faire fonctionner un véhicule de nettoyage Withdrawn EP3908700A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019200144.0A DE102019200144A1 (de) 2019-01-08 2019-01-08 Verfahren zum Betreiben eines Reinigungsfahrzeugs
PCT/EP2019/085635 WO2020144011A1 (fr) 2019-01-08 2019-12-17 Procédé pour faire fonctionner un véhicule de nettoyage

Publications (1)

Publication Number Publication Date
EP3908700A1 true EP3908700A1 (fr) 2021-11-17

Family

ID=69165316

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19836478.8A Withdrawn EP3908700A1 (fr) 2019-01-08 2019-12-17 Procédé pour faire fonctionner un véhicule de nettoyage

Country Status (5)

Country Link
US (1) US11982061B2 (fr)
EP (1) EP3908700A1 (fr)
CN (1) CN113544332A (fr)
DE (1) DE102019200144A1 (fr)
WO (1) WO2020144011A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2024447B1 (en) * 2019-12-13 2021-09-01 Ravo B V Cleaning machine for a road or pavement or gutter
CN115123407A (zh) * 2021-03-24 2022-09-30 吴湛 无人驾驶流动公共服务车
NL2030143B1 (en) 2021-12-15 2023-06-27 Ravo B V Cleaning machine with improved curb follow system
NL2030142B1 (en) 2021-12-15 2023-06-27 Ravo B V Cleaning machine with suction power control

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100516370C (zh) 2007-07-16 2009-07-22 福建龙马环卫装备股份有限公司 环卫车路面及路肩石刷洗装置
DE202011001005U1 (de) 2011-04-28 2011-08-26 Andreas Grochowiak Wassergetriebenes Reinigungsfahrzeug
CN103696381B (zh) 2013-12-20 2016-02-03 长沙中联重科环卫机械有限公司 一种路缘清扫控制方法、控制装置、控制系统及其清扫车
GB2534265B (en) 2014-08-11 2020-10-07 James Webber Simon Animal excrement collection
DE102015120221A1 (de) 2015-11-23 2017-05-24 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungssystem und Verfahren zum Reinigen einer Bodenfläche
CN105544440A (zh) 2016-01-25 2016-05-04 上海市金山区青少年活动中心 具有测距功能的自动道路清扫车
CN105862635B (zh) 2016-04-12 2017-08-25 山东国兴智能科技有限公司 适用于高速公路的伸缩式全自动清扫机器人及工作方法
CN207062858U (zh) 2017-06-26 2018-03-02 陕汽大同专用汽车有限公司 市政清扫车用清扫机构
CN109594515A (zh) 2017-09-11 2019-04-09 宁夏天绿健知识产权运营有限公司 一种加热型雾化输出式智能除雪方法
CN107366248B (zh) 2017-09-11 2018-06-22 钱才英 一种道路上使用的小型绿化带台阶电动清洁车
CN107948501A (zh) * 2017-10-30 2018-04-20 深圳市易成自动驾驶技术有限公司 自动环视方法、装置及计算机可读存储介质
CN108803599B (zh) * 2018-05-31 2022-09-02 北京智行者科技有限公司 一种基于工作模式的清扫工作方法

Also Published As

Publication number Publication date
US11982061B2 (en) 2024-05-14
US20220112672A1 (en) 2022-04-14
CN113544332A (zh) 2021-10-22
DE102019200144A1 (de) 2020-07-09
WO2020144011A1 (fr) 2020-07-16

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