Unmanned sanitation vehicle road surface sensing system and working method thereof

Abstract

The invention belongs to the technical field of vehicle suspensions, and particularly relates to equipment for sensing a road surface based on the vibration state of a vehicle suspension, in particular to a road surface sensing system for an unmanned sanitation vehicle and a working method of the road surface sensing system for the unmanned sanitation vehicle. The road surface state is indirectly perceived by detecting light intensity attenuation caused by bending of the optical fiber due to vibration of the suspension, part of high-frequency vibration noise is isolated, the method is extremely sensitive to posture change of the suspension, characteristic light intensity attenuation signals caused by pressing different obstacles can be effectively captured, meanwhile, the detection precision cannot be affected by severe weather, and the detection accuracy is improved. And the sensing requirements of the vehicle on the road surface state in different environments are met.

Description

Technical Field

[0001] This invention belongs to the field of vehicle suspension technology, specifically relating to a device for sensing road surface based on vehicle suspension vibration state, and more particularly to an unmanned sanitation vehicle road surface sensing system and its working method. Background Technology

[0002] In sanitation operations, vehicles are constantly exposed to extreme environments characterized by high dust levels, strong vibrations, severe electromagnetic interference, and complex and variable road conditions. Traditional road sensing methods relying on mechanical switches, accelerometers, or cameras generally suffer from short lifespans, high false alarm rates, and poor reliability in these scenarios. For example, the high-speed rotation of the sweeping discs and the high-load operation of the blower generate strong vibrations, causing accelerometer data to be completely lost; cameras are almost inoperable in rainy, foggy, or dusty weather; and mechanical switches are easily jammed by debris or malfunction due to prolonged vibration. These problems directly prevent vehicles from accurately judging road conditions, forcing them to rely on the driver's experience to manually adjust the sweeping disc pressure, blower speed, and vehicle speed, resulting in low operational efficiency, high equipment wear and tear, and poor safety.

[0003] Therefore, how to meet the vehicle's need to perceive road conditions in different environments is a technical solution that urgently needs to be solved.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0005] This disclosure provides at least one embodiment of an unmanned sanitation vehicle road perception system and its working method.

[0006] In a first aspect, embodiments of this disclosure provide a road perception system for an unmanned sanitation vehicle, comprising: The OTDR device is installed on the suspension of the driverless sanitation vehicle and is used to detect the light intensity attenuation information when each moving point of the vehicle suspension vibrates. The host computer communicates with the OTDR device. The host computer is configured to determine the type of obstacle based on light intensity attenuation information; The OTDR device includes an OTDR optical time domain reflectometer and optical fiber; One end of the optical fiber is connected to the OTDR optical time domain reflectometer and is wrapped around the vehicle suspension of the driverless sanitation vehicle, while the other end is set on the top of the driver's cab of the driverless sanitation vehicle. When the vehicle suspension vibrates, the optical fiber located at the point of motion will also bend. At this time, the intensity of the light received by the OTDR optical time domain reflectometer will be attenuated, generating light intensity attenuation information, thereby quickly determining the type of obstacle.

[0007] In one optional implementation, the optical fibers are arranged in the following manner: Spiral and curved arrangements; For heaves with a downward swing amplitude greater than the first preset value, a spiral arrangement is used; For swing amplitudes greater than the second preset value, a curved arrangement is adopted.

[0008] In one alternative embodiment, the optical fiber is provided with an armored sheath on the outside and steel wires are provided inside the optical fiber.

[0009] In one optional implementation, the host computer is configured to determine the type of obstacle based on light intensity attenuation information, i.e.: The OTDR device was adjusted to obtain the position of each moving point of the vehicle suspension; The type of obstacle corresponding to the light intensity attenuation value of each activity point is determined based on the set light intensity attenuation range.

[0010] In one optional implementation, the commissioning of the OTDR device includes: The OTDR (Optical Time Domain Reflectometer) emits a beam; The optical fiber at each movement point of the vehicle suspension is bent. The host computer monitors the light intensity of the reflected and scattered beams and calculates the attenuation value in real time until the light intensity of the reflected and scattered beams is within the preset range. The relative positions of each bending point are marked on the OTDR optical time domain reflectometer, and the light intensity information of the beam after passing through the optical fiber in a stable state is obtained.

[0011] In one alternative embodiment, the intensity attenuation of the reflected beam is in the range of -25dB to -35dB. The intensity attenuation of the scattered beam ranges from -50dB to -65dB.

[0012] In one optional implementation, the obstacle type is determined based on a set light intensity attenuation range; For level one obstacles, the light intensity attenuation ranges from 1dB to 3dB. For level 2 obstacles, the light intensity attenuation ranges from 3dB to 5dB. For level 3 obstacles, the light intensity attenuation ranges from 4dB to 10dB.

[0013] Secondly, this disclosure also provides a working method for using the unmanned sanitation vehicle road perception system as described above, the working method comprising: An OTDR (Optical Time Domain Reflectometer) emits a beam of light into an optical fiber; The host computer receives the light intensity attenuation information sent by the OTDR optical time domain reflectometer; The host computer determines the type of obstacle based on the light intensity attenuation information.

[0014] In one optional implementation, the step of the host computer determining the type of obstacle based on light intensity attenuation information includes: Debug the OTDR device; The type of obstacle is determined based on the set light intensity attenuation range.

[0015] In one optional implementation, the optical fibers are arranged in the following manner: Spiral and curved arrangements; In the upper-swing vehicle suspension, the optical fibers are arranged in a spiral pattern. In a downswing vehicle suspension, optical fibers are arranged in a bent configuration.

[0016] The beneficial effects of this invention are that the unmanned sanitation vehicle road perception system and its working method indirectly perceive the road condition by laying optical fibers on the vehicle suspension and detecting the light intensity attenuation caused by the bending of the optical fibers due to suspension vibration. This not only isolates some high-frequency vibration noise, but also is extremely sensitive to changes in suspension attitude, effectively capturing the characteristic light intensity attenuation signals caused by driving over different obstacles. At the same time, the detection accuracy is not affected by bad weather, thus meeting the vehicle's perception needs for road conditions in different environments.

[0017] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the road perception system for an unmanned sanitation vehicle provided in this embodiment of the disclosure; Figure 2A schematic diagram showing the OTDR device provided in this embodiment of the disclosure placed on a vehicle suspension; Figure 3 This is a schematic diagram of the fiber optic spiral arrangement provided in an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the fiber optic protrusion arrangement provided in an embodiment of the present disclosure; Figure 5 A flowchart illustrating the working method of the unmanned sanitation vehicle road perception system provided in this embodiment of the disclosure; Figure 6 Time-domain waveform diagram provided for an embodiment of this disclosure when the obstacle is a stone; Figure 7 The time-domain waveform diagram without excitation provided in the embodiments of this disclosure; Figure 8 The time-domain waveform diagram provided for an embodiment of this disclosure when the obstacle is a pothole.

[0021] In the diagram: 100, OTDR (Optical Time Domain Reflectometer); 200, Fiber Optic optic cable. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0024] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0025] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0026] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise expressly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0027] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0028] Research has revealed that sanitation vehicles constantly face extreme environments characterized by high dust levels, strong vibrations, severe electromagnetic interference, and complex and variable road conditions. Traditional road perception methods relying on mechanical switches, accelerometers, or cameras generally suffer from short lifespans, high false alarm rates, and poor reliability in these scenarios. For example, the high-speed rotation of the sweeping discs and the high-load operation of the blower generate strong vibrations, completely obscuring accelerometer data; cameras are almost inoperable in rainy, foggy, or dusty weather; and mechanical switches are easily jammed by debris or malfunction due to prolonged vibration. These problems directly prevent vehicles from accurately assessing road conditions, forcing them to rely on driver experience to manually adjust sweeping disc pressure, blower speed, and vehicle speed, resulting in low operational efficiency, high equipment wear and tear, and poor safety.

[0029] Based on the above research, this disclosure provides an unmanned sanitation vehicle road surface perception system and its working method. By deploying optical fiber 200 on the vehicle suspension, the system indirectly perceives the road surface condition by detecting the light intensity attenuation caused by the bending of the optical fiber 200 due to suspension vibration. This not only isolates some high-frequency vibration noise, but also is extremely sensitive to changes in suspension attitude. It can effectively capture the characteristic light intensity attenuation signal caused by driving over different obstacles. At the same time, the detection accuracy is not affected by bad weather, thus meeting the vehicle's perception needs for road surface condition in different environments.

[0030] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as the inventor's contribution to this disclosure.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] Please see Figure 1 At least one embodiment provides a road perception system for an unmanned sanitation vehicle, including: an OTDR (optical time-domain reflectometer) device, which is mounted on the vehicle suspension of the unmanned sanitation vehicle (e.g., Figure 2 As shown, the device is used to detect light intensity attenuation information when each moving point of the vehicle suspension vibrates; a host computer is connected to the OTDR device; the host computer is configured to determine the type of obstacle based on the light intensity attenuation information; wherein, the OTDR device includes an OTDR optical time domain reflectometer 100 and an optical fiber 200; one end of the optical fiber 200 is connected to the OTDR optical time domain reflectometer 100 and is arranged on the vehicle suspension of the unmanned sanitation vehicle, and the other end is set on the top of the driver's cab of the unmanned sanitation vehicle. When the vehicle suspension vibrates, the optical fiber located at the moving point will also bend accordingly. At this time, the intensity of the light received by the OTDR optical time domain reflectometer will be attenuated, generating light intensity attenuation information, thereby quickly determining the type of obstacle.

[0034] By deploying optical fiber 200 on the vehicle suspension, the road surface condition is indirectly sensed by detecting the light intensity attenuation caused by the bending of the optical fiber 200 due to suspension vibration. This not only isolates some high-frequency vibration noise, but also is extremely sensitive to changes in suspension attitude. It can effectively capture the characteristic light intensity attenuation signal caused by driving over different obstacles. At the same time, the detection accuracy is not affected by bad weather, thus meeting the vehicle's need to perceive the road surface condition in different environments.

[0035] It should be noted that the other end of the fiber optic cable 200 is located on the top of the driver's cab of the unmanned sanitation vehicle for temperature calibration and reference vibration calibration, thereby making the subsequent detection of light intensity attenuation of the beam more accurate.

[0036] The arrangement of the optical fiber 200 includes: a spiral arrangement (e.g., Figure 3 (as shown) and curved arrangements (such as) Figure 4 (As shown); in an upper-swing vehicle suspension, the optical fiber is arranged in a spiral pattern; in a lower-swing vehicle suspension, the optical fiber is arranged in a bent pattern.

[0037] The following section explains the upper-swing vehicle suspension and the lower-swing vehicle suspension: With the vehicle unloaded and parked on a level and flat road surface, the static position of the working end of the component is taken as the reference plane. A functional swing in which the core working section of the component swings upward from the static position and the single displacement is ≥0.5mm is considered an effective upward swing. A functional swing in which the core working section of the component swings downward from the static position and the single displacement is ≥0.5mm is considered an effective downward swing.

[0038] If the number of effective upward swings of a vehicle suspension per unit time is greater than the number of effective downward swings, then the vehicle suspension is an upward swing type vehicle suspension. If the number of effective upward swings of a vehicle suspension per unit time is less than or equal to the number of effective downward swings, then the vehicle suspension is a downward swing type vehicle suspension.

[0039] When the fiber optic cable 200 is wound around the vehicle suspension, the arrangement method is selected according to the upward and downward swing amplitudes, which can more sensitively and accurately capture the light intensity changes caused by specific vibration patterns induced by road obstacles, thus improving the accuracy of detection.

[0040] It should be noted that the optical fiber 200 is externally armored and internally contains steel wires. The armored sheath and internal steel wires greatly enhance the mechanical strength of the optical fiber 200 and also facilitate the shaping of the subsequent optical fiber 200 layout.

[0041] It should be noted that the host computer is configured to determine the type of obstacle based on light intensity attenuation information, that is: to debug the OTDR device and obtain the position of each active point of the vehicle suspension; and to determine the type of obstacle corresponding to the light intensity attenuation value of each active point according to the set light intensity attenuation range.

[0042] The OTDR device is debugged as follows: the OTDR optical time domain reflectometer 100 emits a light beam; the optical fiber at each moving point of the vehicle suspension is bent; the host computer monitors the light intensity of the reflected and scattered beams, and calculates the attenuation value in real time until the light intensity of the reflected and scattered beams is within a preset range; the relative positions of each bending position are marked on the OTDR optical time domain reflectometer 100, and the light intensity information of the beam after passing through the optical fiber 200 in a stable state is obtained (e.g., ...). Figure 7 (As shown).

[0043] By acquiring the steady-state light intensity and marking its location, a reliable comparison benchmark is provided for subsequent real-time monitoring. This enables the host computer to clearly distinguish between normal driving attenuation and abnormal attenuation caused by obstacles, greatly improving the sensitivity and accuracy of obstacle detection.

[0044] Meanwhile, since the OTDR optical time domain reflectometer can acquire the vibration of each moving point of the vehicle suspension in real time, when the vehicle suspension passes an obstacle, all moving points vibrate uniformly. At this time, the OTDR optical time domain reflectometer will receive the light intensity attenuation of each moving point at the same frequency. By judging the moving point with the largest light intensity attenuation range, the vibration location is determined. By selecting the largest light intensity attenuation range, the type of obstacle passed is determined.

[0045] The intensity attenuation of the reflected beam ranges from -25dB to -35dB, while the intensity attenuation of the scattered beam ranges from -50dB to -65dB. The reflected beam is a Fresnel reflection, and the scattered beam is a Rayleigh scattering beam. By limiting the attenuation ranges of the reflected and scattered beams, the sensitivity of the OTDR device is adjusted, ensuring that the OTDR device is in optimal working condition after calibration. This avoids inherent errors introduced by improper calibration, thereby improving the accuracy of subsequent obstacle analysis.

[0046] Please see Figure 6 The obstacle type is determined based on the set light intensity attenuation range; Level 1 obstacles have a light intensity attenuation range of 1dB to 3dB; Level 2 obstacles have a light intensity attenuation range of 3dB to 5dB; Level 3 obstacles have a light intensity attenuation range of 4dB to 10dB, and more obstacles can be calibrated into corresponding road obstacle types based on light attenuation.

[0047] The first-level obstacles are objects such as leaves, which cause slight vibrations when the vehicle suspension passes over them; the second-level obstacles are stones (excitation images such as...). Figure 6 Objects such as those shown in the image cause a severe impact when the vehicle's suspension passes over them; level three obstacles are potholes (excitation image as shown in the image). Figure 8 As shown in the image, the vehicle suspension generates reciprocating impacts when passing over these surfaces.

[0048] Please see Figure 5 This disclosure also provides a working method for using the unmanned sanitation vehicle road perception system as described above, the working method including: S110: OTDR optical time domain reflectometer 100 emits a beam to optical fiber 200; S120: The host computer receives the light intensity attenuation information sent by the OTDR optical time domain reflectometer 100; S130: The host computer determines the type of obstacle based on the light intensity attenuation information.

[0049] Specifically, step S130 includes: adjusting the OTDR device; and determining the type of obstacle based on the set light intensity attenuation range.

[0050] In summary, this invention provides a road surface perception system and its working method for an unmanned sanitation vehicle. By deploying an optical fiber 200 on the vehicle suspension, the system indirectly perceives the road surface condition by detecting the light intensity attenuation caused by the bending of the optical fiber 200 due to suspension vibration. This not only isolates some high-frequency vibration noise but also is extremely sensitive to changes in suspension attitude, effectively capturing the characteristic light intensity attenuation signals caused by driving over different obstacles. Furthermore, the detection accuracy is not affected by adverse weather conditions, thus meeting the vehicle's road surface condition perception needs under different environments.

[0051] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0052] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as a second element, component, region, layer, or segment.

[0053] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0054] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0055] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A road perception system for an unmanned sanitation vehicle, characterized in that, include: The OTDR device is installed on the suspension of the driverless sanitation vehicle and is used to detect the light intensity attenuation information when each moving point of the vehicle suspension vibrates. The host computer communicates with the OTDR device. The host computer is configured to determine the type of obstacle based on light intensity attenuation information; The OTDR device includes an OTDR optical time domain reflectometer and optical fiber; One end of the optical fiber is connected to the OTDR optical time domain reflectometer and is wrapped around the vehicle suspension of the driverless sanitation vehicle, while the other end is set on the top of the driver's cab of the driverless sanitation vehicle. When the vehicle suspension vibrates, the optical fiber located at the point of motion will also bend. At this time, the intensity of the light received by the OTDR optical time domain reflectometer will be attenuated, generating light intensity attenuation information, thereby quickly determining the type of obstacle.

2. The unmanned sanitation vehicle road perception system as described in claim 1, characterized in that, The arrangement of the optical fibers includes: Spiral and curved arrangements; In the upper-swing vehicle suspension, the optical fibers are arranged in a spiral pattern. In a downswing vehicle suspension, optical fibers are arranged in a bent configuration.

3. The unmanned sanitation vehicle road perception system as described in claim 2, characterized in that, The optical fiber is equipped with an armored sheath on the outside and steel wires inside.

4. The unmanned sanitation vehicle road perception system as described in claim 1, characterized in that, The host computer is configured to determine the type of obstacle based on light intensity attenuation information, that is: The OTDR device was adjusted to obtain the position of each moving point of the vehicle suspension; The type of obstacle corresponding to the light intensity attenuation value of each activity point is determined based on the set light intensity attenuation range.

5. The unmanned sanitation vehicle road perception system as described in claim 4, characterized in that, The process of debugging the OTDR device is as follows: The OTDR (Optical Time Domain Reflectometer) emits a beam; The optical fiber at each movement point of the vehicle suspension is bent. The host computer monitors the light intensity of the reflected and scattered beams and calculates the attenuation value in real time until the light intensity of the reflected and scattered beams is within the preset range. The relative positions of each bending point are marked on the OTDR optical time domain reflectometer, and the light intensity information of the beam after passing through the optical fiber in a stable state is obtained.

6. The unmanned sanitation vehicle road perception system as described in claim 5, characterized in that, The intensity attenuation value of the reflected beam is in the range of -25dB to -35dB. The intensity attenuation of the scattered beam ranges from -50dB to -65dB.

7. The unmanned sanitation vehicle road perception system as described in claim 5, characterized in that, The type of obstacle is determined based on the set light intensity attenuation range; For level one obstacles, the light intensity attenuation ranges from 1dB to 3dB. For level 2 obstacles, the light intensity attenuation ranges from 3dB to 5dB. For level 3 obstacles, the light intensity attenuation ranges from 4dB to 10dB.

8. A method for operating an unmanned sanitation vehicle road perception system as described in any one of claims 1-7, characterized in that, The working method includes: An OTDR (Optical Time Domain Reflectometer) emits a beam of light into an optical fiber; The host computer receives the light intensity attenuation information sent by the OTDR optical time domain reflectometer; The host computer determines the type of obstacle based on the light intensity attenuation information.

9. The working method of the unmanned sanitation vehicle road perception system as described in claim 8, characterized in that, The steps for the host computer to determine the type of obstacle based on light intensity attenuation information include: The OTDR device was adjusted to obtain the position of each moving point of the vehicle suspension; The type of obstacle corresponding to the light intensity attenuation value of each activity point is determined based on the set light intensity attenuation range.

10. The working method of the unmanned sanitation vehicle road perception system as described in claim 8, characterized in that, The arrangement of the optical fibers includes: Spiral and curved arrangements; In the upper-swing vehicle suspension, the optical fibers are arranged in a spiral pattern. In a downswing vehicle suspension, optical fibers are arranged in a bent configuration.

Images