Road autonomous cleaning control system and method based on laser and vision

Abstract

The invention discloses a road autonomous cleaning control system and method based on laser and vision and belongs to the technical field of control systems. The road autonomous cleaning control system comprises a bottom layer control system, a laser and vision navigation and positioning system, a wireless data transmission base station network and a man-machine interaction platform, wherein the bottom layer control system and the laser and vision navigation and positioning system are connected to realize data protocol conversion, the bottom layer control system and the laser and vision navigation and positioning system are in data communication with the man-machine interaction platform via the wireless data transmission base station network, and autonomous route planning as well as navigation and positioning can be realized when a motor sweeper runs in an unmanned manner; in an autonomous control mode, the motor sweeper can be controlled to complete road cleaning work without worker involvement, labor intensity of environmental sanitation workers in cities can be lowered, carbon dioxide emission and environment pollution in the cities can be lowered, and energy structure optimization can be realized.

Description

technical field [0001] The invention relates to a laser and vision-based autonomous road cleaning control system and control method, belonging to the technical field of intelligent sanitation machinery. Background technique [0002] At present, whether it is indoor or urban street sanitation, sweeping vehicles basically require manual operation. With the development of the city scale and the continuous increase of labor costs, the demand for intelligent unmanned autonomous driving sweeping vehicles is increasing. How to realize autonomous cleaning? The control system is particularly critical. At present, in terms of fully automatic driverless control systems, domestic companies and institutions have conducted research, usually using three methods: (1) Based on 3G / 4G or GPRS network, through the terminal The equipment plans the path and monitors the equipment status in real time; (2) image recognition technology based on machine vision; (3) laying guide rails and magnetic rai...

AI Technical Summary

Problems solved by technology

Although there are related control technologies in the field of unmanned driving, the technology in the unmanned cleaning control system is still immature and has not been popularized and applied in the existing technology

[0003] For example, the authorized publication number is: CN204644936U discloses an unmanned automatic commercial washing / sweeping machine, which has certain deficiencies in control technology. Send it to the navigation module. The navigation module sends a stop command to the control module according to the specific situation, and requires manual intervention again to re-plan the route. It is time-consuming and cannot be completely unmanned in the whole process. It is not suitable for cleaning on large roads.

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