Control method, control device, control system and sweeping vehicle for road edge cleaning

A cleaning device and control method technology, applied in road cleaning, cleaning methods, construction, etc., can solve problems such as collisions, cleaning devices deviating from the cleaning area, and no better solution, so as to improve work efficiency, reduce work difficulty, The effect of collision avoidance

Active Publication Date: 2014-04-02
ZOOMLION ENVIRONMENTAL IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can keep the vehicle cleaning in the working area when the vehicle is driving at a low speed (<10Km / h), and the cleaning device will not deviate from the cleaning area; but if the driving speed exceeds 10Km / h, the operator cannot clearly observe from the mirror The position of the sweeping plate, because the speed of the vehicle is too fast, the operator has to turn his head to observe the position of the sweeping plate. When the operator adjusts the direction of the vehicle, he will follow a large S-shaped trajectory, and the cleaning device will deviate from the cleaning area or collide with the curb
[0003] On the one hand, the existing curb cleaning methods affect the effect and speed of curb cleaning, on the other hand, they are too dependent on the operator's operating level, which increases the operator's operational difficulty and work intensity
There is currently no good solution to this technical problem

Method used

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  • Control method, control device, control system and sweeping vehicle for road edge cleaning
  • Control method, control device, control system and sweeping vehicle for road edge cleaning
  • Control method, control device, control system and sweeping vehicle for road edge cleaning

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] Embodiment 1, the curb detection device may be an image acquisition device installed on the side of the cleaning device, and the curb detection device may be used for real-time detection of images including the curb. After the control device receives the image including the curb, the edge detection method can be used to obtain the straight lines of all the edges in the image (the specific processing method can use the light intensity to identify the edge in the image, and of course other methods can also be used. Existing edge detection processing methods). Then use the prior information of the curb to determine the straight line of the curb in the straight line of the edge, wherein the prior information of the curb specifically includes the actual distance on both sides of the curb, the slope range of the straight line of the curb relative to the cleaning device, etc. , the specific prior information of the curb can be obtained according to the summary of the experimen...

Embodiment 2

[0021] Embodiment 2, the curb detection device can be a laser sensor or other length sensor, installed on the side of the cleaning device, and can preset a certain radiation angle range (the radiation angle range needs to cover the curb), used to obtain the All linear distance information from the curb detection device to the ground surface including the curb. Such as Figure 4 As shown, b0 to bn are straight lines from the curb detection device to the ground surface including the curb within the radiation range. It can be seen from the figure that starting from a straight line perpendicular to the ground surface, the straight-line distance from the curb detection device to the ground surface gradually increases until it meets the side of the curb, and the distance from the curb detection device to the ground surface The straight-line distance gradually decreases, and then the straight-line distance increases again after ending on the curb along the side. According to the ch...

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Abstract

The invention discloses a control method, a control device, a control system and a sweeping vehicle for road edge cleaning. The control method comprises the following steps: obtaining the distance between a sweeping device and a road edge in real time according to the information of the road edge; when the distance between the sweeping device and the road edge exceeds a preset range, sending out a control command so as to adjust the position of the sweeping device, so that the distance between the sweeping device and the road edge is always in the preset range so as to ensure that the sweeping of the road edge is efficiently completed, avoid collision with the road edge, reduce the working difficulty of operators and improve the work efficiency.

Description

technical field [0001] The invention relates to the field of environmental sanitation machinery control, in particular to a curb cleaning control method, a control system and a cleaning vehicle thereof. Background technique [0002] At present, road sweepers or sweepers at home and abroad mainly rely on the operator to observe the position of the sweeping plate through the mirror when cleaning the curb to adjust the driving direction so that the equipment can be kept in the working area for cleaning. This method can keep the vehicle cleaning in the working area when the vehicle is driving at a low speed (<10Km / h), and the cleaning device will not deviate from the cleaning area; but if the driving speed exceeds 10Km / h, the operator cannot clearly observe from the mirror The position of the sweeping plate, because the speed of the vehicle is too fast, the operator has to turn his head to observe the position of the sweeping plate. When the operator adjusts the direction of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E01H1/02
Inventor 易尧苏伟李珍龙亮邓炼
Owner ZOOMLION ENVIRONMENTAL IND CO LTD
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