Intelligent road sweeper and a road pollutant identification method and a control method thereof

An intelligent road and road cleaning technology, applied in the field of sanitation machinery, can solve the problems of missing valid data, poor recognition of garbage and other pollutants, no image tone and brightness processing, etc., to achieve high cleaning quality, good safety and reliability sexual effect

Active Publication Date: 2018-12-18
CHANGAN UNIV
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Problems solved by technology

The problem existing in the existing identification methods of garbage and other pollutants is: simply using the gray value information of the image, without processing the informa

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  • Intelligent road sweeper and a road pollutant identification method and a control method thereof
  • Intelligent road sweeper and a road pollutant identification method and a control method thereof
  • Intelligent road sweeper and a road pollutant identification method and a control method thereof

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[0051] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0052] reference figure 1 , An intelligent road sweeping vehicle of the present invention includes: a road sweeping vehicle body, a laser radar 1, a camera 2, an encoder 3, a dust concentration detector 5, an inertial sensor 6, a GPS7 system and a processing controller.

[0053] Lidar 1: Installed on the roof of a road sweeper, it is used to scan the environment information around the vehicle with 360° rotation to obtain point cloud data of surrounding objects, especially to obtain the shape of the front and rear vehicles and pedestrians of the road sweeper Information about the size, moving speed and distance from the vehicle, identifying the curbs on both sides of the road and the distance between the road sweeper and the curb. The camera 2 forms a binocular camera form: it is installed on the top around the vehicle, and two cameras 2 in each direct...

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Abstract

The invention discloses an intelligent road sweeper and a road pollutant identification method and a control method thereof. The road sweeper comprises a road sweeper body, a laser radar, a camera, anencoder, a dust concentration detector, an inertial sensor, a GPS system and a processing controller. A method for identify road pollutants include acquiring RGB images of clean road surface and roadfacilities to be cleaned, convert that acquired RGB images into HSV space, and obtaining a BP neural network model capable of identifying the clean road surface and road facilities; The real-time image information of the road to be cleaned is input to the BP neural network model to identify the pollutants. The method for identifying pollutants such as garbage in the present invention utilizes theHSV feature of a road image, which has a larger information amount of the gray value of the image than that of a single image, and has a better effect for identifying pollutants such as garbage.

Description

technical field [0001] The invention belongs to the technical field of sanitation machinery, and in particular relates to an intelligent road sweeper and its identification method and control method for road pollutants. Background technique [0002] Road sweeper is playing an increasingly important role as a commonly used sanitation equipment, but the current road sweeping operation is still based on the road sweeper that requires driving control. The existing garbage and other pollutant recognition technologies of road sweepers mostly use image recognition methods, and the existing image recognition and image feature extraction are mostly based on the pixel gray value, gray gradient and edge shape features of the image. Through the template matching method, that is, by comparing the real-time collected road image with the preset standard clean road image template, the pollutant areas such as garbage are extracted. The problem existing in the existing identification methods...

Claims

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Application Information

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IPC IPC(8): E01H1/08
CPCE01H1/0827
Inventor 韩毅谷梦路苏彦奇赵新梅
Owner CHANGAN UNIV
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