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

A control system and control method technology, applied in control/adjustment system, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve problems such as time-consuming, not popularized and applied, and unmanned intervention

Inactive Publication Date: 2016-07-13
济宁中科智能科技有限公司 +1
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  • Application Information

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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 h

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

Examples

Experimental program
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Example Embodiment

[0051] Example 1:

[0052] Such as figure 1 As shown, the laser and vision-based autonomous road cleaning control system of the present invention includes a bottom-level control system, a laser and vision navigation and positioning system, a wireless data transmission base station network, and a human-computer interaction platform. The bottom-level control system and the laser and vision The navigation and positioning system is connected to realize data protocol conversion, and the underlying control system and the laser and visual navigation and positioning system realize data communication through the wireless data transmission base station network and the human-computer interaction platform.

[0053] To further illustrate the above embodiment 1, the underlying control system includes a power management system, a motion control system, an ultrasonic automatic obstacle avoidance system, and a cleaning control system. The above-mentioned systems communicate data through the CAN bus....

Example Embodiment

[0057] Example 2:

[0058] A laser and vision-based autonomous road cleaning control method includes the following steps:

[0059] S1: The underlying control system and the laser and visual navigation and positioning system cooperate to control the corresponding sweeper to drive and clean in the normal driving mode. According to the road conditions, the data of the laser scanning ranging radar is collected to realize the driving mode along the road and the stone; the data is collected by the camera Realize the driving mode along the marked line; collect the information of the camera and GPS positioning module to realize the U-turn mode.

[0060] S2: According to needs, external personnel can realize movement and cleaning actions through the remote control in manual control mode, and perform path planning and autonomous navigation through laser and visual navigation positioning system in autonomous control mode to realize unmanned driving and automatic cleaning. The remote monitoring...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02E01H1/00
CPCG05D1/0246E01H1/00G05D1/0255G05D1/0257G05D1/0278
Inventor 李卫民孟庆志任传德闫怀仁刘国庆
Owner 济宁中科智能科技有限公司
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