WO2020077707A1

WO2020077707A1 - Automatic control method for operations of road operating vehicle and road operating vehicle

Info

Publication number: WO2020077707A1
Application number: PCT/CN2018/114541
Authority: WO
Inventors: 程磊; 单龙; 许海川; 孙进; 刁鑫; 宋洁
Original assignee: 徐州徐工环境技术有限公司
Priority date: 2018-10-16
Filing date: 2018-11-08
Publication date: 2020-04-23
Also published as: AU2018445563A1; CN109407606A; PH12021550860A1; AU2018445563B2

Abstract

An automatic control method for operations of a road operating vehicle and the road operating vehicle applying said automatic control method. The automatic control method for operations of the road operating vehicle comprises: obtaining feature data of a road to be operated on; using feature data of a plurality of road templates of a road template database and the feature data of the road to be operated on so as to determine a matching road template, and retrieving a set of control parameters or control instructions corresponding to the matching road template of the road template database; according to the retrieved set of control parameters or control instructions, automatically controlling an operating mechanism of a road operating vehicle to adjust working parameters and/or working steps of the operating mechanism. The application of the described method may automatically select the working parameters and/or working steps of the operating mechanism for different road conditions, and improve the level of automatic control.

Description

Operation automatic control method of road operation vehicle and road operation vehicle

Related application

This application is based on a Chinese patent application with an application number of 201811201192.7, an application date of October 16, 2018, and an invention titled "Road Operation Vehicle Automatic Control Method and Road Operation Vehicle", and claims its priority. The disclosure content of the Chinese patent application is hereby incorporated into this application as a whole.

Technical field

The present disclosure relates to a special vehicle, in particular to an automatic operation control method of a road operation vehicle and a road operation vehicle.

Background technique

Road operation vehicles are mainly used for road facility operations, such as cleaning facilities on roads and sweeping road surfaces. At present, some road operation vehicles, such as road sweeper control systems, can realize one-key operation of the selected mode. The driver manually operates the buttons and sends instructions to realize automatic control of the sweeping vehicle's cleaning operation mechanism. When the conditions change, the operating parameters of the sweeper also need to be manually adjusted according to the road conditions, and the level of automatic control is limited.

Summary of the invention

According to an aspect of some embodiments of the present disclosure, an automatic operation control method of a road working vehicle is disclosed, which can automatically select at least one of the working parameters and working steps of the working mechanism for different road conditions To improve the level of automatic control. At the same time, a road working vehicle capable of applying the automatic control method is disclosed.

The present disclosure provides an automatic operation control method of a road operation vehicle, including:

Obtain the characteristic data of the road to be operated;

Compare the feature data of multiple template roads of the template road database with the feature data of the road to be operated to determine a matching template road, and retrieve a set of the template road database corresponding to the matched template road Control parameters or control instructions;

The working mechanism of the road working vehicle is automatically controlled according to the retrieved set of control parameters or control instructions to adjust at least one of the working parameters and working steps of the working mechanism.

In some embodiments, when matching the feature data of the plurality of template roads in the template road database with the feature data of the road to be operated, a matching template road is determined by using fuzzy matching.

In some embodiments, comparing the feature data of the template road of the template road database with the feature data of the road to be operated to determine a matching template road includes:

Compare the feature data of each template road with the corresponding feature data of the road to be operated, if the difference or ratio of a feature data of a template road and the corresponding feature data of the road to be operated is preset Within the interval, it is determined that the feature data of the template road matches the corresponding feature data of the road to be operated;

The template road with the largest number of matching feature data of the roads to be operated among the plurality of template roads is determined as the matching template road.

In some embodiments, the job automatic control method further includes:

Obtain the characteristic data of the road after the operation;

Compare the characteristic data of the road after the operation with the corresponding characteristic data of the road to be operated, and judge whether the operation is qualified according to the comparison result.

In some embodiments, the job automatic control method further includes: updating control parameters or control instructions corresponding to the matched template road according to the comparison result.

In some embodiments, the automatic job control method further includes: adjusting at least one of the working parameters and working steps of the working mechanism according to the comparison result.

In some embodiments, establishing the template road database includes:

Obtain the characteristic data of multiple template roads;

Each template road is assigned a control parameter or control instruction according to the characteristic data of the template road.

In some embodiments,

Acquiring and processing the characteristic data of the road to be operated by collecting and processing the image of the road to be operated; and / or,

The feature data of the template road is obtained by collecting and processing the image of the template road.

In some embodiments, an image of the road to be operated or an image of the template road is collected by a binocular camera.

In some embodiments, the road operation vehicle is a road sweeping vehicle, and the operation mechanism is a cleaning operation mechanism.

In some embodiments, the feature data of the road to be operated or the feature data of the template road includes at least one of road type, road smoothness, road sign, garbage type, garbage distribution, pedestrian position, and garbage particle size Species.

In some embodiments, the operating parameters include at least one of traveling speed, dust level, air volume, sweep speed, and water pressure.

The disclosure also discloses a road operation vehicle, including:

An operation mechanism for performing the operation of the road operation vehicle;

A first feature data acquiring device, configured to acquire feature data of the road to be operated;

A memory for storing a template road database, the template road database including characteristic data of multiple template roads and multiple sets of control parameters or multiple sets of control instructions corresponding to the multiple template roads; and

A controller is signally connected to the operation mechanism, the first feature data acquisition device, and the memory, and the controller is configured to: compare the feature data of a plurality of template roads of the template road database with the to-be-operated Characteristic data of the road to determine the matching template road, and retrieve a set of control parameters or control instructions corresponding to the matched template road, and automatically control the operating mechanism according to the retrieved set of control parameters or control instructions To adjust at least one of the working parameters and working steps of the working mechanism.

In some embodiments, the first feature data acquisition device includes:

A first camera, used to obtain an image of the road to be operated; and

The first image processor is in signal connection with the first camera and the controller, and is used to process the image of the road to be operated to obtain characteristic data of the road to be operated.

In some embodiments, the road working vehicle further includes a second characteristic data acquiring device for acquiring characteristic data of the road after the operation, and the controller is also signally connected to the second characteristic data acquiring device and configured The method is to compare the characteristic data of the road after the operation with the corresponding characteristic data of the road to be operated, and judge whether the operation is qualified according to the comparison result.

In some embodiments, the second feature data acquisition device includes:

The second camera is used to obtain the image of the road after the operation; and

The second image processor is signally connected to the second camera and the controller, and is used to process the image of the post-work road to obtain feature data of the post-work road.

Based on the automatic operation control method of the road operation vehicle provided by the present disclosure, by acquiring the characteristic data of the road to be operated and matching with the characteristic data of the template road in the template road database, the operating mechanism corresponding to the matching template road can be automatically selected Control parameters or control commands to control the operating mechanism, which helps to improve the level of automatic control of road vehicles during operation.

Other features and advantages of the present disclosure will become clear through the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings.

BRIEF DESCRIPTION

The drawings described herein are used to provide a further understanding of the present disclosure and form a part of the present application. The exemplary embodiments and descriptions of the present disclosure are used to explain the present disclosure and do not constitute an undue limitation on the present disclosure. In the drawings:

FIG. 1 is a schematic structural diagram of an operation control system of a road operation vehicle according to an embodiment of the present disclosure;

FIG. 2 is an exemplary flowchart of a method for establishing a template road database of a method for automatically controlling operation of a road working vehicle according to another embodiment of the present disclosure;

3 is an exemplary flowchart of an automatic control process of the automatic operation control method of the road work vehicle of the embodiment shown in FIG. 2.

detailed description

The technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all the embodiments. The following description of at least one exemplary embodiment is actually merely illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

Unless specifically stated otherwise, the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and equipment known to those of ordinary skill in the related art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorized description. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, there is no need to discuss it further in subsequent drawings.

An automatic operation control method of a road working vehicle according to an embodiment of the present disclosure includes acquiring feature data of a road to be operated; comparing feature data of a plurality of template roads of a template road database with feature data of a road to be operated to determine a matching template road, And retrieve a set of control parameters or control instructions corresponding to the matched template road in the template road database; automatically control the operating mechanism of the road working vehicle according to the retrieved set of control parameters or control instructions to adjust the operating parameters and work of the operating mechanism At least one of the steps.

Applying the automatic operation control method of the road working vehicle provided in this embodiment, by acquiring the characteristic data of the road to be operated and matching with the characteristic data of the template road in the template road database, the corresponding road of the template road in the template road database can be used. The control parameters or control instructions automatically control and adjust at least one of the working parameters and working steps of the working mechanism of the road to be operated for the current operation, which helps to improve the level of automatic control of the operation of the road working vehicle.

The road to be operated in this embodiment refers to the road to be operated when the road working vehicle works, and the template road refers to the need to establish a template road database and to reference the road to be operated while the road working vehicle is working. Given some representative operating environment roads.

The characteristic data of the road to be worked or the characteristic data of the template road are data that can reflect the working environment of the road. For example, when the road working vehicle is a road cleaning vehicle for cleaning the road surface, the characteristic data may include reflecting the type of road and the road leveling Data such as degree, road signs, types of garbage, garbage distribution, pedestrian location, or particle size of garbage.

As shown in FIG. 1, during the establishment of the database, the feature data of multiple template roads is acquired and stored in the template road database in the memory 2, for example, and then the feature data for the template road can be based on existing operational experience or through Use the existing operation model to match the control parameters or control instructions suitable for the template road, and then store the control parameters or control instructions corresponding to the template road into the template road database to wait for the use when the road operation vehicle is working .

When working on a road work vehicle, first obtain the characteristic data of the road to be worked, and then send the controller road characteristic data and the template road in the template road database to the controller 1 by, for example, sending to the controller 1 of the road work vehicle control system The feature data is compared to find a template road whose feature data matches the feature data of the road to be operated. After finding the matching template road, the control parameters or control instructions of the matching template road are retrieved from the template road database to control the operating mechanism of the current operation, so that the operating mechanism can be automatically adjusted for different roads to be adjusted. At least one of the working parameters and working steps.

When the road working vehicle is a road sweeping vehicle, the working parameters of the working mechanism may be at least one of traveling speed, dust level, air volume, sweeping speed, and water pressure.

As shown in FIG. 1, feature data can be acquired by a feature data acquisition device, and feature data of a road to be worked can be acquired by a first feature acquisition device. The first feature acquisition device may be set as a first vision system, including a first camera 3 and a first image processor 4, the first camera 3 captures a video of the road to be worked while the road working vehicle is working, and passes the first image processor 4 Process the video image to obtain the characteristic data of the road to be operated. In some embodiments, the characteristic data of the road to be operated can also be obtained by means of ultrasonic detection and satellite remote sensing.

When establishing the database, the feature data of the template road can be obtained in the same way as described above, and can also be directly obtained based on the existing work experience data.

Optionally, the first camera 3 may include a binocular camera. When the binocular camera takes video of the road to be tested or the template road to take feature data, the three-dimensional positioning of the road feature is more accurate, and the obtained feature data is also more accurate.

In this embodiment, data transfer between the controller, the memory, the image processor, and the camera can be transferred through the CAN (Controller Area Network) bus.

In some embodiments, when matching the feature data of the plurality of template roads in the template road database with the feature data of the road to be operated, a matching template road is determined by fuzzy matching.

For example, comparing the feature data of the template road of the template road database with the feature data of the road to be operated to determine a matching template road may include:

Compare the feature data of each template road with the corresponding feature data of the road to be operated, if the difference or ratio of a feature data of a template road and the corresponding feature data of the road to be operated is within a preset interval Determine that the feature data of the template road matches the corresponding feature data of the road to be operated;

The template road with the largest number of matching feature data of the roads to be operated among the multiple template roads is determined as the matching template road.

The fuzzy processing when matching the feature data makes the application of the template road database wider, and at the same time, it can speed up the operation of the system while ensuring that a certain degree of control parameters or control commands are found for the road to be operated.

In some embodiments, the automatic operation control method further includes acquiring characteristic data of the road after the operation; comparing the characteristic data of the road after the operation with the corresponding characteristic data of the road to be operated, and judging whether the operation is qualified according to the comparison result.

Obtain the characteristic data of the part of the road that has been operated, and then compare the characteristic data of the road after the operation of the part of the road with the corresponding characteristic data of the road to be operated before the operation, and the operation quality and effect can be evaluated according to the comparison result.

As shown in FIG. 1, the feature data of the road after the operation can be obtained by using the second feature acquisition device, and a second vision system can be set, including a second camera 5 and a second image processor 6, the second camera 5 works on the road vehicle At the time, the video of the road after the collection operation is taken, and the video image is processed by the second image processor 5 to obtain the characteristic data of the road to be operated.

In some embodiments, the automatic control method further includes: updating control parameters or control instructions corresponding to the template roads in the matched template road database according to the comparison result. After working with the control parameters or control instructions corresponding to the matched template road, the control parameters or control instructions of the matching template in the template road database can be updated according to the comparison results before and after the operation, thereby optimizing the template road database.

In some embodiments, the automatic operation control method further includes: adjusting at least one of the working parameters and working steps of the working mechanism according to the above comparison result. When using the control parameters or control instructions corresponding to the matching template road to perform operations, after obtaining the comparison results of the roads before and after the operation, timely adjust at least one of the working parameters and working steps of the working mechanism of the current operation to form feedback The mechanism helps to improve the quality of operations during operations.

In some embodiments, building the template road database includes:

Obtain the characteristic data of multiple template roads;

In some embodiments, the feature data of the road to be operated is acquired by collecting and processing the image of the road to be operated; and / or the feature data of the template road is acquired by collecting and processing the image of the template road.

In some embodiments, the image of the road to be worked or the image of the template road is collected by a binocular camera.

An embodiment of the present disclosure also discloses a road working vehicle, including: a working mechanism for performing the work of the road working vehicle; a first characteristic data acquiring device for acquiring characteristic data of the road to be operated; a memory 2 for storing a template Road database, template road database includes feature data of multiple template roads and multiple sets of control parameters or control commands corresponding to multiple template roads; and controller 1, signal connection with operating mechanism, feature data acquisition device and memory 2 to control The device 1 is configured to compare the feature data of a plurality of template roads of the template road database with the feature data of the road to be operated to determine a matching template road, and retrieve a set of control parameters corresponding to the matching template road or The control instruction forms the control instruction to automatically control the working mechanism according to the aforementioned set of control parameters to adjust at least one of the working parameters and working steps of the working mechanism.

As shown in FIG. 1, in some embodiments, the first feature data acquisition device includes: a first camera 3 for acquiring an image of a road to be operated; and a first image processor 4 with the first camera 3 and controller 1 Signal connection, used to process the image of the road to be worked to obtain the characteristic data of the road to be worked.

In some embodiments, the road working vehicle further includes a second characteristic data acquiring device for acquiring characteristic data of the road after the operation, and the controller is signal-connected to the second characteristic data acquiring device and is configured to compare the characteristic data of the road after the operation According to the characteristic data of the corresponding road to be operated, the operation is qualified according to the comparison result.

As shown in FIG. 1, in some embodiments, the second characteristic data acquisition device includes: a second camera 5 for acquiring an image of the road after the job; and a second image processor 6, and the second camera 5 and the controller 1 signal connection, used to process the image of the road after the operation to obtain the characteristic data of the road after the operation.

In the following, a specific embodiment is used to illustrate the road work vehicle automatic control method and the principle of the road work vehicle of the present disclosure.

In this embodiment, the road working vehicle is a road cleaning vehicle, and the operating mechanism is a cleaning operation mechanism of the road cleaning vehicle. The road to be operated in this embodiment is the road surface to be cleaned, the template road is the template road surface, and the template road database is the template road surface database. FIG. 2 is the process of creating the template pavement database of this embodiment. First collect some video of the template pavement with different cleaning environments through the binocular camera, then extract the video frame of the video, use the image processor to process the video frame and extract the data, and then use the extracted data to calculate the feature data of the template pavement Then, the controller matches the appropriate control parameters for each template pavement based on the existing empirical data model for each template pavement feature data and stores it in the memory to form a template pavement database.

FIG. 3 is a flowchart of the automatic control process of the road sweeping vehicle during the cleaning operation of this embodiment. In this embodiment, during the cleaning operation, the road sweeper first uses the first camera 3 to capture the video of the road surface to be cleaned, and then uses the first image processor 4 to perform data processing to obtain the feature data of the road surface to be cleaned and store it in the memory 2 in. The controller 1 retrieves the feature data of the template pavement one by one from the template pavement database to compare it with the feature data of the pavement to be cleaned, and finds the matching template pavement by fuzzy matching. The controller 1 finds the matching template pavement and retrieves it Control parameters or control instructions of the template pavement. Then, according to the retrieved control parameters or control instructions, at least one of the working parameters and working steps of the cleaning operation mechanism and the specific steps and chronological order for controlling the operation of the cleaning operation mechanism are set to perform the cleaning operation. The working parameters of the cleaning operation mechanism include the speed of the auxiliary engine, the amount of water sprayed, and the speed of the brush.

After the road surface is to be cleaned, the second camera 5 collects the video of the road surface after cleaning, and then uses the second image processor 6 to obtain the characteristic data of the road surface after cleaning, and the controller 1 will correspond to the road surface after cleaning The characteristic data of the road surface to be cleaned is taken out and compared with the characteristic data after cleaning, and the cleaning quality is evaluated according to the comparison result. For the cleaning result in the comparison result is not ideal, the working parameters and working steps of the cleaning operation mechanism of the current operation At least one of them is adjusted, and the control parameters or control commands of the template pavement matching the segment of pavement stored in the template pavement database are optimized and updated.

In some embodiments, the controller and the image processor described above may be implemented as a general-purpose processor, a programmable logic controller (Programmable Logic Controller, PLC for short), and digital signals for performing the functions described in the present disclosure Processor (Digital Signal Processor, abbreviation: DSP), application specific integrated circuit (Application Specific Integrated Circuit, abbreviation: ASIC), field-programmable gate array (Field-Programmable Gate Array, abbreviation: FPGA) or other programmable logic devices, discrete Gates or transistor logic devices, discrete hardware components, or any suitable combination thereof.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure but not to limit it; although the present disclosure has been described in detail with reference to the preferred embodiments, persons of ordinary skill in the art should understand that: The disclosed specific embodiments are modified or equivalently replaced with some technical features; without departing from the spirit of the technical solutions of the present disclosure, they should be covered by the technical solutions claimed by the present disclosure.

Claims

An operation automatic control method of a road operation vehicle, which includes:

Obtain the characteristic data of the road to be operated;

Compare the feature data of multiple template roads of the template road database with the feature data of the road to be operated to determine a matching template road, and retrieve a set of the template road database corresponding to the matched template road Control parameters or control instructions; and

The working mechanism of the road working vehicle is automatically controlled according to the retrieved set of control parameters or control instructions to adjust at least one of the working parameters and working steps of the working mechanism.
The automatic operation control method according to claim 1, wherein when matching the feature data of the plurality of template roads in the template road database with the feature data of the road to be operated, the matching template road is determined by fuzzy matching .
The job automatic control method according to claim 1, wherein comparing the feature data of the template road of the template road database with the feature data of the road to be operated to determine a matching template road includes:

Compare the feature data of each template road with the corresponding feature data of the road to be operated, if the difference or ratio of a feature data of a template road and the corresponding feature data of the road to be operated is preset Within the interval, it is determined that the feature data of the template road matches the corresponding feature data of the road to be operated; and

The template road with the largest number of matching feature data of the roads to be operated among the plurality of template roads is determined as the matching template road.
The job automatic control method according to claim 1, wherein the job automatic control method further comprises:

Obtain the characteristic data of the road after the operation; and

Compare the characteristic data of the road after the operation with the corresponding characteristic data of the road to be operated, and judge whether the operation is qualified according to the comparison result.
The job automatic control method according to claim 4, wherein the job automatic control method further comprises: updating control parameters or control instructions corresponding to the matched template road according to the comparison result.
The job automatic control method according to claim 4, wherein the job automatic control method further comprises: adjusting at least one of a working parameter and a working step of the working mechanism according to the comparison result.
The job automatic control method according to claim 1, wherein the establishment of the template road database includes:

Obtain the characteristic data of multiple template roads; and

Each template road is assigned a control parameter or control instruction according to the characteristic data of the template road.
The job automatic control method according to claim 1, wherein:

Acquiring and processing the characteristic data of the road to be operated by collecting and processing the image of the road to be operated; and / or,

The feature data of the template road is obtained by collecting and processing the image of the template road.
The automatic operation control method according to claim 8, wherein the image of the road to be operated or the template road is collected by a binocular camera.
The operation automatic control method according to any one of claims 1 to 9, wherein the road operation vehicle is a road cleaning vehicle, and the operation mechanism is a cleaning operation mechanism.
The automatic operation control method according to claim 10, wherein the characteristic data of the road to be operated or the characteristic data of the template road include road type, road smoothness, road sign, garbage type, garbage distribution, pedestrian position and At least one of the particle sizes of garbage.
The automatic operation control method according to claim 10, wherein the operating parameter includes at least one of traveling speed, dust level, air volume, sweep speed, and water pressure.
A road operation vehicle, including:

An operation mechanism for performing the operation of the road operation vehicle;

A first feature data acquiring device, configured to acquire feature data of the road to be operated;

A memory for storing a template road database, the template road database including characteristic data of multiple template roads and multiple sets of control parameters or multiple sets of control instructions corresponding to the multiple template roads; and

A controller, which is in signal connection with the operation mechanism, the first feature data acquisition device and the memory, the controller is configured to: compare the feature data of a plurality of template roads of the template road database with the to-be-operated Characteristic data of the road to determine the matching template road, and retrieve a set of control parameters or control instructions corresponding to the matched template road, and automatically control the operating mechanism according to the retrieved set of control parameters or control instructions To adjust at least one of the working parameters and working steps of the working mechanism.
The road working vehicle according to claim 13, wherein the first characteristic data acquiring device includes:

A first camera, used to obtain an image of the road to be operated; and

The first image processor is in signal connection with the first camera and the controller, and is used to process the image of the road to be operated to obtain characteristic data of the road to be operated.
The road working vehicle according to claim 13, wherein the road working vehicle further includes second characteristic data acquiring means for acquiring characteristic data of the road after the operation, and the controller further acquires the second characteristic data The device is signal-connected and is configured to compare the characteristic data of the road after the operation with the corresponding characteristic data of the road to be operated, and judge whether the operation is qualified according to the comparison result.
The road working vehicle according to claim 15, wherein the second characteristic data acquiring means includes:

The second camera is used to obtain the image of the road after the operation; and

The second image processor is signally connected to the second camera and the controller, and is used to process the image of the post-work road to obtain feature data of the post-work road.