Green belt sweeping and collection vehicle sweeping control methods, devices, electronic equipment and media
By calculating the maximum deviation distance and using a self-following system, combined with the design of a positioning device and a blower, the problems of low efficiency and high labor intensity in green belt garbage collection were solved, achieving efficient and complete garbage collection and reducing operating costs.
Patent Information
- Application Number
- CN202211267843.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-17
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2042-10-17
AI Technical Summary
The existing methods for collecting garbage in green belts are inefficient and labor-intensive. In particular, due to the influence of outdoor wind, garbage is difficult to fall into the collection bins completely at once, requiring multiple rework sessions. In addition, operators need to frequently adjust the position of the collection vehicle, resulting in a low degree of automation.
By calculating the maximum deviation distance and the position of the operators, the garbage collection area is determined using a positioning device, and the self-following system is activated to make the collection port of the sweeping and collection vehicle move with the operators, ensuring that the garbage completely enters the collection port. Combined with the blower design and negative pressure suction device, efficient collection is achieved.
It improved the quality and efficiency of garbage sweeping operations, reduced the labor intensity of operators, ensured that no garbage was missed when entering the collection bin, reduced energy consumption and operating costs, and avoided rework and repetitive operations.
Smart Images
Figure CN115506291B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of sanitation equipment technology, and in particular, to a cleaning control method for a green belt sweeping and collection vehicle. Background Technology
[0002] Garbage in green belts is the most common and most difficult type of garbage to deal with in sanitation operations. The method of dealing with it is mostly that workers use bamboo rakes to scoop the garbage out from the densely planted bushes, and then use dustpans to collect and bag it.
[0003] To address this issue, the industry has adopted a method of using blowers to sweep trash from green belts to designated locations, such as fixed or mobile collection boxes, and then transporting the trash away. This method has the following problems: During sweeping operations, due to the frequent natural winds outdoors, especially crosswinds, fallen leaves, weeds, and other trash often cannot fall completely into the collection boxes in one go, requiring multiple rework sessions. This significantly reduces the efficiency and quality of the sweeping operation. Furthermore, since the operators' positions are not fixed and they frequently need to move along different locations within the green belt, when the collection boxes are far from the operators' work area, the boxes need to be manually moved to align with the operators' current work area to ensure that the swept trash falls quickly and accurately into the collection boxes without any omissions. This method is not only inefficient but also labor-intensive and lacks automation. Summary of the Invention
[0004] This application provides a cleaning control method for a green belt sweeping and collection vehicle, which aims to solve the technical problems of high labor intensity and low efficiency in the existing garbage collection process in green belts.
[0005] The technical solution adopted in this invention is as follows:
[0006] A method for controlling the cleaning of a green belt sweeping and collection vehicle includes the following steps:
[0007] The maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle is determined based on the width of the green belt, the local maximum wind speed, and the working wind speed of the blower.
[0008] The maximum deviation distance and the positioning device worn by the worker determine the current garbage collection area along the length of the green belt.
[0009] If the real-time location of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle will be activated so that the collection port of the green belt sweeping and collection vehicle moves with the operator and completely covers the garbage collection area, thereby achieving garbage collection.
[0010] Furthermore, the process of determining the calibrated maximum wind speed in the local area includes the following steps:
[0011] Obtain historical data on the maximum outdoor wind speed in the local area;
[0012] If the historical maximum outdoor wind speed data is greater than the dangerous wind speed threshold for outdoor operations, then the dangerous wind speed threshold shall be used as the calibrated maximum wind speed; otherwise, the current historical maximum outdoor wind speed data shall be used as the calibrated maximum wind speed.
[0013] Furthermore, the maximum deviation distance is calculated according to the following formula:
[0014] L = S1 * (L1 / S2)
[0015] Where L is the maximum deviation distance, S1 is the maximum natural wind speed that allows outdoor high-altitude operations and is a crosswind, L1 is the distance between the green belt and the green belt sweeping and collection vehicle, and S2 is the minimum wind speed required for blower operation.
[0016] Furthermore, determining the current garbage collection area along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker specifically includes the following steps:
[0017] The coordinates (X1, Y1) of the workers are obtained by the positioning device worn by the workers. The coordinate system of these coordinates is parallel to the ground, the X-axis is parallel to the length of the green belt, and the Y-axis is perpendicular to the length of the green belt.
[0018] Based on the coordinates (X1, Y1) of the worker, the maximum deviation distance L, and the distance L1 between the green belt and the green belt cleaning and collection vehicle, the coordinates of the two ends of the current worker's garbage collection area are (X1+L, Y1+L1) and (X1-L, Y1+L1) respectively.
[0019] The current garbage collection area is determined by the coordinates at both ends of the garbage collection area along the length of the green belt.
[0020] Furthermore, the real-time position of the collection port of the green belt sweeping and collecting vehicle is obtained through positioning devices installed at both ends of the collection port of the green belt sweeping and collecting vehicle.
[0021] Furthermore, the positioning device is any one of an acoustic distance sensor, an infrared distance sensor, a laser distance sensor, or a radar distance sensor.
[0022] Furthermore, if the real-time position of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle is activated to make the collection port of the green belt sweeping and collection vehicle move with the operator and completely cover the garbage collection area, so as to achieve garbage collection. Specifically, this includes the following steps:
[0023] The real-time relative positional relationship between the staff and the two ends of the collection port of the green belt sweeping and collection vehicle is calculated based on the distance between each pair of positioning devices and the cosine theorem.
[0024] The coordinates of the worker during the operation are projected onto the collection port of the green belt sweeping and collecting vehicle based on the real-time relative positional relationship between the worker and the two ends of the collection port of the green belt sweeping and collecting vehicle.
[0025] When the distance between the projection point and the corresponding end of the collection port of the sweeping and collecting vehicle is less than the maximum deviation distance, the self-following system of the sweeping and collecting vehicle is activated so that the collection port of the sweeping and collecting vehicle moves along the length of the green belt with the operator until the real-time position of the collection port of the sweeping and collecting vehicle completely covers the garbage collection area, so as to achieve garbage collection.
[0026] Another aspect of this application provides a cleaning control device for a green belt sweeping and collection vehicle, comprising:
[0027] The maximum deviation distance calculation module is used to determine the maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle when the blower blows up garbage, based on the width of the green belt, the local maximum calibrated wind speed, and the working wind speed of the blower.
[0028] The garbage collection area determination module is used to determine the garbage collection area of the current worker along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker.
[0029] The self-following control module is used to activate the self-following system of the green belt sweeping and collecting vehicle if the real-time position of the collection port of the green belt sweeping and collecting vehicle does not completely cover the garbage collection area, so as to make the collection port of the green belt sweeping and collecting vehicle move with the operator and completely cover the garbage collection area, thereby realizing garbage collection.
[0030] In another aspect, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the green belt sweeping and collection vehicle sweeping control method.
[0031] In another aspect, this application provides a storage medium including a stored program that, when the program is executed, controls the device containing the storage medium to perform the steps of the green belt sweeping and collection vehicle sweeping control method.
[0032] Compared with the prior art, this application has the following advantages:
[0033] This application provides a cleaning control method, device, electronic equipment, and medium for a green belt sweeping and collection vehicle. The control method first determines the maximum deviation distance when blowing up garbage based on the width of the green belt, the local maximum calibrated wind speed, and the working wind speed of the blower. Then, based on the maximum deviation distance and the position coordinates of the workers and the two ends of the collection port, it obtains the real-time positions of the garbage collection area and the collection port along the length of the green belt. Finally, based on the real-time positions and the coverage of the garbage collection area, it controls the self-following system of the green belt sweeping and collection vehicle to make the collection port of the green belt sweeping and collection vehicle move with the workers and completely cover the garbage collection area, thereby achieving garbage collection. This application, on the one hand, fully considers the impact of outdoor wind speed on the work area and the work effect during the sweeping operation. It comprehensively considers the width of the green belt, the local maximum wind speed, the working wind speed of the blower, the position of the workers, and the position of the collection port to determine the real-time positional relationship between the garbage collection area and the collection port. This ensures that even under the influence of outdoor wind speed, the garbage collection area of the workers remains completely within the real-time position of the collection port. This guarantees that, under the current outdoor wind speed, the workers can still accurately blow all the garbage into the collection port of the green belt sweeping and collection vehicle using the blower, preventing the garbage from being blown outside the green belt sweeping and collection vehicle due to outdoor wind speed, avoiding rework and repetitive operations, thereby improving the quality and efficiency of the garbage sweeping operation. On the other hand, during the operation, this application can, based on the real-time position of the collection port and the real-time position of the garbage collection area of the workers, determine the real-time positional relationship between the garbage collection area and the collection port. The dynamic self-following system dynamically adjusts the current position of the green belt sweeping and collection vehicle along the length of the green belt in real time, ensuring that the vehicle and the workers move in tandem. This allows the real-time position of the collection port to automatically and completely cover the workers' waste collection area during operation. Because the real-time position of the collection port and the workers' waste collection area always maintain a preset relative position, no matter where the workers move in the green belt during operation, the swept waste can be smoothly and completely collected from the collection port into the collection chamber, achieving high-quality and high-efficiency waste collection. At the same time, the self-following method greatly reduces the labor intensity of the workers, avoiding frequent manual adjustments to the position of the green belt sweeping and collection vehicle along the length of the green belt, and improving overall operational efficiency.
[0034] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description
[0035] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:
[0036] Figure 1 This is a schematic diagram of the cleaning control method of the green belt cleaning and collection vehicle according to a preferred embodiment of this application.
[0037] Figure 2 This is a structural diagram of the green belt sweeping and collection vehicle according to a preferred embodiment of this application, with only the rear door open.
[0038] Figure 3 This is a schematic diagram of the green belt sweeping and collection vehicle according to a preferred embodiment of this application, with both the rear and side doors open.
[0039] Figure 4 This is a flowchart illustrating a sub-step of step S1 in a preferred embodiment of this application.
[0040] Figure 5 This is a flowchart illustrating a sub-step of step S2 in a preferred embodiment of this application.
[0041] Figure 6 This is a flowchart illustrating a sub-step of step S3 in a preferred embodiment of this application.
[0042] Figure 7 This is a schematic diagram of the self-following principle of the green belt sweeping and collection vehicle according to a preferred embodiment of this application.
[0043] Figure 8 This is a schematic diagram of the cleaning control device module of the green belt cleaning and collection vehicle according to a preferred embodiment of this application.
[0044] Figure 9 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application.
[0045] Figure 10 This is an internal structural diagram of a computer device according to a preferred embodiment of this application.
[0046] In the diagram: 1. Rear hatch; 2. Side hatch; 3. Air blower bay and battery charging device; 4. Return baffle; 5. Airflow exhaust device; 6. Concealed water spray device; 7. Water pipe; 8. Water tank and water pump; 9. Electrical control device. Detailed Implementation
[0047] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0048] Reference Figure 1 A preferred embodiment of the present invention provides a cleaning control method for a green belt cleaning and collection vehicle, wherein the green belt cleaning and collection vehicle is parked along the length of the green belt, and the lower edge of its collection port is in contact with and flush with the curb stone at the edge of the green belt along its length, including the following steps:
[0049] S1. Determine the maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle when the blower blows up garbage, based on the width of the green belt, the local maximum wind speed, and the working wind speed of the blower.
[0050] S2. Determine the garbage collection area of the current worker along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker.
[0051] S3. If the real-time position of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle is activated so that the collection port of the green belt sweeping and collection vehicle moves with the operator and completely covers the garbage collection area, so as to achieve garbage collection.
[0052] like Figure 2 and Figure 3 As shown, the green belt sweeping and collection vehicle in this embodiment includes a walking chassis, a self-following system, a garbage collection superstructure detachably mounted on the walking chassis, and the electronic equipment. The garbage collection superstructure includes a collection compartment for containing garbage. The rear side of the collection compartment is provided with an openable and closable rear door 1, and the left and right sides are provided with openable and closable side doors 2. The front side of the collection compartment is provided with a blower compartment and a battery charging device 3. The collection compartment is provided with a water tank and a water pump 8. The inner wall of the collection compartment is provided with a water spraying device 6 connected to the water tank and the water pump 8 through a water pipe 7, and the water mist spraying direction is towards the green belt. A return flow baffle 4 is provided in the center along the length of the collection compartment.
[0053] The garbage collection device includes a collection bin for containing garbage. The rear of the collection bin is provided with an openable and closable rear door 1, and the left and right sides are provided with openable and closable side doors 2. The front of the collection bin is provided with a blower compartment and a battery charging device 3. The collection bin is provided with a water tank and a water pump 8. The inner wall of the collection bin is provided with a water spraying device 6 connected to the water tank and the water pump 8 through a water pipe 7, and the water mist spraying direction is towards the green belt. A return flow baffle 4 is provided in the center along the length of the collection bin. This embodiment can directly collect garbage without transfer, reducing the labor intensity of operators. The inner wall of the collection compartment is equipped with a water spray device 6 connected to a water tank and a water pump 8 via a water pipe 7, with the water mist sprayed towards the green belt, thereby reducing the risk of respiratory infections from dust. The water tank and water pump 8 have a control switch located in the driver's cab of the chassis, allowing the driver to select and activate the water spray device 6 on the left and / or right side of the collection device for operation. This embodiment directly collects garbage into the inner cavity of the collection compartment, eliminating the need to sweep garbage onto the driveway and then collect it onto other garbage trucks for transfer, thus eliminating the safety hazards of personnel working on the driveway. This invention collects garbage from green belts before it hits the ground, preventing garbage transfer or omission. Compared to collecting garbage from the road surface to collection containers, this embodiment consumes less energy and significantly reduces operating costs. By eliminating the step of collecting garbage from the ground, this embodiment reduces a technical process, providing a more streamlined and energy-efficient solution. The hairdryer holder and battery charging device 3 of this application are located on the chassis facing the driver's cab. The hairdryer and battery are fixed to the side of the hairdryer holder and battery charging device 3 by locking buckles. The hairdryer and battery are fixed without overlapping, allowing for timely charging of the hairdryer and solving the problem of short battery life in hairdryer technology.
[0054] The cleaning control method of the green belt sweeping and collection vehicle also includes an airflow outlet device 5. The airflow outlet device 5 is set at the top of the cavity of the collection chamber and located on both sides of the return baffle 4. The function of the airflow outlet device 5 is to block the garbage and eliminate the wind force, reduce and eliminate the wind force in the cavity of the collection chamber, and prevent the garbage entering the cavity from running around randomly.
[0055] Both the rear hatch 1 and the side hatch 2 are curved surfaces. In this embodiment, the curved surface design is used to reflect wind force, which is conducive to the concentration of garbage in the middle of the collection compartment.
[0056] The cleaning control method of the green belt sweeping and collection vehicle also includes an electronic control device 9. The battery charging device in the blower compartment and battery charging device 3 is connected to a power source for charging through the electronic control device 9. The electronic control device 9 is equipped with several corresponding types of interfaces to facilitate connection with relevant power sources, such as the power source of the chassis, for charging.
[0057] The return baffle 4 is a porous metal strip structure, installed along the length of the top center line of the inner wall of the collection chamber. The return baffle 4 allows air to pass through and eliminates the wind force, so that the garbage falls into the collection chamber as it is blocked by the return baffle 4. At the same time, the return baffle 4, combined with the airflow outlet device 5, can greatly prevent the generation of vortices in the cavity of the collection chamber, which would cause the garbage to fly around.
[0058] Sealing components are provided at the joints between the rear hatch 1, the side hatch 2, and the collection compartment. Both the rear hatch 1 and the side hatch 2 are equipped with hydraulic rods that open and maintain their position after the hatches are opened. Specifically, in this embodiment, the rear hatch 1 is a double-door structure, including a left-opening door and a right-opening door. The mating parts of the left and right doors are grooved, with soft rubber padding inside the grooves. The left and right doors are connected to the top of the device via hydraulic rods. When the rear hatch 1 is not in operation, the hydraulic rods retract. The side hatch 2 is a single-door structure, with one side hatch 2 on each side in this embodiment. The bottom of each side hatch 2 is grooved, with soft rubber padding inside the grooves. A deformable soft rubber strip is installed on the lower edge of the bottom cavity of the hatch. After the rear hatch 1 and the side hatch 2 are closed, the sealing components effectively isolate the cavity from the outside, preventing waste leakage and secondary pollution.
[0059] A baffle is provided on the side hatch 2. When the side hatch 2 is closed, the baffle covers and hides the nozzle of the water spray device 6. When the side hatch 2 is open, the baffle moves away to expose the nozzle of the water spray device 6. In this embodiment, the baffle installed on the side hatch 2 can block the nozzle of the water spray device 6 when the side hatch 2 is closed, preventing debris in the collection chamber from clogging the nozzle and affecting water spraying. At the same time, when the side hatch 2 is open, the baffle moves away to expose the nozzle of the water spray device 6, ensuring that the nozzle of the water spray device 6 can spray water smoothly to the outside and prevent dust from spreading.
[0060] The height of the bottom plate of the collection compartment of the garbage collection device matches the height of the curbstone. In this embodiment, the height of the bottom plate of the collection compartment is 150mm, which is used to connect with the height of the curbstone around the green belt. The bottom outer side of the side door 2 is equipped with soft rubber that can deform to fit the curbstone and avoid gaps that could lead to garbage leakage.
[0061] In addition, the chassis is equipped with a lifting device for adjusting the ground clearance of the bottom plate of the collection compartment of the garbage collection device. In this embodiment, the ground clearance of the bottom plate of the collection compartment of the green belt sweeping and collection vehicle can be easily adjusted by lifting, thereby meeting the needs of working conditions with different curb heights.
[0062] The chassis is also equipped with a hydraulic rod on the frame that is connected to the front end of the garbage collection superstructure. When it is necessary to unload the garbage, the driver opens the hydraulic rod on the frame. The hydraulic rod on the frame extends to raise and fix the garbage collection superstructure to the side of the cab. The garbage collection superstructure tilts as a whole to complete the unloading of the garbage.
[0063] In the above embodiments, in addition to using a blower to blow the garbage into the collection bin of the garbage collection device, a negative pressure suction device can also be set up to collect the garbage from the green belt into the collection bin of the garbage collection device by using negative pressure suction.
[0064] The control method provided in this embodiment first determines the maximum deviation distance when blowing up garbage based on the width of the green belt, the local maximum calibrated wind speed, and the working wind speed of the blower. Then, based on the maximum deviation distance and the position coordinates of the workers and the two ends of the collection port, it obtains the real-time positions of the garbage collection area and the collection port of the workers along the length of the green belt. Finally, based on the real-time positions and the coverage of the garbage collection area, it controls the self-following system of the green belt sweeping and collecting vehicle to make the collection port of the green belt sweeping and collecting vehicle move with the workers and completely cover the garbage collection area, so as to achieve garbage collection. It is understandable that this embodiment fully considers the impact of outdoor wind speed on the work area and work effect during the sweeping operation. It comprehensively considers the width of the green belt, the local maximum wind speed, the working wind speed of the blower, the position of the workers, and the position of the collection port to determine the real-time positional relationship between the garbage collection area and the collection port. This ensures that even under the influence of outdoor wind speed, the garbage collection area of the workers is still completely within the real-time position range of the collection port. This guarantees that even under the current outdoor wind speed, the workers can still accurately blow all the garbage into the collection port of the green belt sweeping and collection vehicle using the blower, preventing the garbage from being blown outside the green belt sweeping and collection vehicle due to outdoor wind speed, avoiding rework and repeated operations, thereby improving the quality and efficiency of the garbage sweeping operation. Furthermore, during the operation, this application can determine the real-time position relationship between the collection port and the workers' garbage collection based on the real-time position of the collection port and the position of the collection port. The system dynamically adjusts the position of the green belt sweeping and collection vehicle along the length of the green belt in real time, ensuring that the vehicle and the workers move in tandem. This allows the real-time position of the collection port to automatically and completely cover the workers' waste collection area during operation. Because the real-time position of the collection port and the workers' waste collection area always maintain a preset relative position, the swept waste can be smoothly and completely collected from the collection port into the collection chamber, regardless of where the workers move within the green belt, achieving high-quality and high-efficiency waste collection. Simultaneously, the self-following mechanism significantly reduces the workload of the workers, avoiding frequent manual adjustments to the vehicle's position along the green belt and improving overall operational efficiency.
[0065] like Figure 4 As shown, in a preferred embodiment of this application, the process of determining the calibrated maximum wind speed of the local area includes the following steps:
[0066] S101. Obtain historical data on the maximum outdoor wind speed in the local area;
[0067] S102. If the historical data of the maximum outdoor wind speed is greater than the dangerous wind speed threshold for outdoor operations, then the dangerous wind speed threshold shall be used as the calibrated maximum wind speed; otherwise, the current historical data of the maximum outdoor wind speed shall be used as the calibrated maximum wind speed.
[0068] In this embodiment, the calibrated maximum wind speed is determined in two ways based on the relationship between the historical data of the maximum outdoor wind speed and the dangerous wind speed threshold for outdoor operations. If the relationship is greater than the threshold, the dangerous wind speed threshold is used as the calibrated maximum wind speed; otherwise, the historical data of the maximum outdoor wind speed is used directly. This method ensures that the calibrated maximum wind speed is always within the safe wind speed range for outdoor operations. When the historical data of the maximum outdoor wind speed exceeds the dangerous wind speed threshold, it is no longer suitable to carry out outdoor purging operations. Therefore, in this embodiment, the dangerous wind speed threshold is actually used as the upper limit when setting the calibrated maximum wind speed. Only when the historical data of the maximum outdoor wind speed is a safe wind speed lower than the dangerous wind speed threshold does the subsequent calculation process have practical engineering significance. Otherwise, outdoor purging operations must be stopped, and there is no need for further control.
[0069] Specifically, the maximum deviation distance is calculated according to the following formula:
[0070] L = S1 * (L1 / S2)
[0071] Where L is the maximum deviation distance, S1 is the maximum natural wind speed that allows outdoor high-altitude operations and is a crosswind, L1 is the distance between the green belt and the green belt sweeping and collection vehicle, and S2 is the minimum wind speed required for blower operation.
[0072] According to relevant national regulations:
[0073] 1. Outdoor high-altitude operations shall be suspended in winds of level 5 or above (8.0-10.7 m / s).
[0074] 2. Standard dimensions for curb stones: 990*150*150 (unit: mm);
[0075] 3. The minimum wind force of the industrial blower is level 9, and the wind speed at 1.5m from the outlet is 22m / s;
[0076] According to the requirements of the aforementioned countries, the impact of the natural environment on the operation is as follows:
[0077] ① The maximum natural wind speed S1 for outdoor high-altitude operations is 10.7 m / s and it must be a crosswind;
[0078] ②The minimum wind speed S2 of the hair dryer is 22m / s;
[0079] ③ The standard width of the national standard curbstone is 0.15m. Considering that vegetation cannot completely cover the green belt, the distance coefficient between the green belt and the green belt sweeping and collection vehicle is taken as 2, that is, the distance L1 between the green belt and the green belt sweeping and collection vehicle is 0.3m.
[0080] ④ Under the above conditions, the maximum deviation distance L can be obtained from the above formula as 0.15m.
[0081] like Figure 5 As shown, in a preferred embodiment of this application, determining the current garbage collection area along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker specifically includes the following steps:
[0082] S21. Obtain the coordinates (X1, Y1) of the operator through the positioning device worn by the operator. The coordinate system of the coordinates is parallel to the ground, the X-axis is parallel to the length of the green belt, and the Y-axis is perpendicular to the length of the green belt.
[0083] S22. Based on the coordinates (X1, Y1) of the worker, the maximum deviation distance L, and the distance L1 between the green belt and the green belt cleaning and collection vehicle, the coordinates of the two ends of the current worker's garbage collection area are (X1+L, Y1+L1) and (X1-L, Y1+L1) respectively.
[0084] S23. Determine the current staff member's garbage collection area along the length of the green belt based on the coordinates of both ends of the garbage collection area.
[0085] In this embodiment, when determining the garbage collection area of the staff along the length of the green belt, the maximum deviation distance L caused by outdoor wind speed is fully considered to affect the current garbage collection area of the staff. This makes the determination of the current garbage collection area of the staff more accurate and closer to the actual working conditions. To a certain extent, it promotes that all garbage can fly into the collection port accurately during sweeping, so as to achieve high-quality and efficient garbage collection.
[0086] Specifically, the real-time position of the collection port of the green belt sweeping and collecting vehicle is obtained by positioning devices set at both ends of the collection port of the green belt sweeping and collecting vehicle. The positioning device is any one of an acoustic distance sensor, an infrared distance sensor, a laser distance sensor, or a radar distance sensor. Those skilled in the art can make the appropriate selection according to actual working conditions, budget, etc.
[0087] like Figure 6As shown, in a preferred embodiment of this application, if the real-time position of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle is activated so that the collection port of the green belt sweeping and collection vehicle moves with the operator and completely covers the garbage collection area, thereby achieving garbage collection. Specifically, this includes the following steps:
[0088] S31. The real-time relative positional relationship between the staff and the two ends of the collection port of the green belt sweeping and collection vehicle is calculated based on the distance between each pair of positioning devices and the law of cosines.
[0089] S32. Based on the real-time relative positional relationship between the worker and the two ends of the collection port of the green belt sweeping and collecting vehicle, calculate the projection point of the worker's coordinates on the collection port of the green belt sweeping and collecting vehicle during the operation.
[0090] S33. When the distance between the projection point and the corresponding end of the collection port of the sweeping and collecting vehicle is less than the maximum deviation distance, the self-following system of the sweeping and collecting vehicle is activated so that the collection port of the sweeping and collecting vehicle moves along the length of the green belt with the operator until the real-time position of the collection port of the sweeping and collecting vehicle completely covers the garbage collection area, so as to achieve garbage collection.
[0091] The green belt sweeping and collection vehicle operates in two modes: self-following mode and manual mode. When selecting self-following mode, as follows: Figure 7 As shown, distance sensor B, fixed to the front end of the collection compartment of the green belt sweeping and collection vehicle, distance sensor C, fixed to the rear end of the collection compartment, and distance sensor D worn by the operator measure the distances BD and CD, respectively. Based on the law of cosines, the relative positional relationship between the operator and the green belt sweeping and collection vehicle can be calculated, including distances and angles between connecting lines. When the coordinate of distance sensor D deviates from the position of the perpendicular bisector of distance sensors B and C, the movement state of the green belt sweeping and collection vehicle is determined based on the calculated deviation value, thus enabling self-following. The specific process is as follows:
[0092] The distance sensor B and distance sensor C are each installed at both ends of the collection compartment of the green belt sweeping and collection vehicle, and the distance between B and C is I and is known.
[0093] Based on the above calculations, the maximum allowable deviation distance L for purging operations under wind-driven conditions is 0.15m.
[0094] When the projection point of the movement trajectory of the distance sensor D worn by the operator on segment BC is d or d1 (that is, when the coordinate extension of the distance sensor D during its movement reaches the vertical point d or d1 of segment BC), the distance between the projection point d or d1 and the left or right end of the collection port of the green belt sweeping and collecting vehicle is equal to the maximum deviation distance L, which is the distance L between end B and the vertical point d.Bd For example, according to the definition of trigonometric functions, L can be calculated. Bd =cos∠B×L BD Similarly, the distance L between point C and the perpendicular point d1 Cd1 It can also be calculated based on the definition of trigonometric functions. If the operator continues to move, and the distance between the projection point d or d1 and the collection port B or C of the green belt sweeping and collecting vehicle begins to be less than the maximum deviation distance L, it indicates that the real-time position of the collection port of the green belt sweeping and collecting vehicle will soon not be able to completely cover the garbage collection area. At this time, the self-following system of the sweeping and collecting vehicle is activated. The self-following electromagnetic clutch of the self-following system is engaged, the DC motor power is input, and the green belt sweeping and collecting vehicle runs, moving along the length of the green belt with the operator until the real-time position of the collection port of the sweeping and collecting vehicle completely covers the garbage collection area again, thereby achieving self-following and ensuring garbage collection. In other words, when the operator moves within the range between positions D and D1, the collection port of the green belt sweeping and collection vehicle will remain stationary and will not move accordingly with the operator. When the operator moves beyond the range between positions D and D1, the self-following system will be activated to make the collection port of the sweeping and collection vehicle move along the length of the green belt with the operator until the real-time position of the collection port of the sweeping and collection vehicle completely covers the garbage collection area, so as to achieve garbage collection.
[0095] When switching to manual mode, distance sensor D is turned off, the self-following electromagnetic clutch of the self-following system is disengaged, the operator enters the cab, turns off the self-following mode, and the green belt sweeping and collection vehicle is controlled from the cab.
[0096] like Figure 8 As shown, another preferred embodiment of this application provides a cleaning control device for a green belt sweeping and collection vehicle, comprising:
[0097] The maximum deviation distance calculation module is used to determine the maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle when the blower blows up garbage, based on the width of the green belt, the local maximum calibrated wind speed, and the working wind speed of the blower.
[0098] The garbage collection area determination module is used to determine the garbage collection area of the current worker along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker.
[0099] The self-following control module is used to activate the self-following system of the green belt sweeping and collecting vehicle if the real-time position of the collection port of the green belt sweeping and collecting vehicle does not completely cover the garbage collection area, so as to make the collection port of the green belt sweeping and collecting vehicle move with the operator and completely cover the garbage collection area, thereby realizing garbage collection.
[0100] like Figure 9 As shown, another preferred embodiment of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the green belt sweeping and collection vehicle sweeping control method.
[0101] Another preferred embodiment of this application provides a storage medium including a stored program that, when the program is executed, controls the device where the storage medium is located to perform the steps of the green belt sweeping and collection vehicle sweeping control method.
[0102] like Figure 10 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 10 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the green belt sweeping and collection vehicle cleaning control method in the above embodiment.
[0103] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0104] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.
[0105] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.
[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.
[0107] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, causing the instructions stored in the computer-readable storage medium to produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0110] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A method for controlling the cleaning of a green belt sweeping and collection vehicle, characterized in that, Including the following steps: The maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle is determined based on the width of the green belt, the local maximum wind speed, and the working wind speed of the blower. The maximum deviation distance and the positioning device worn by the worker determine the current garbage collection area along the length of the green belt. If the real-time position of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle will be activated so that the collection port of the green belt sweeping and collection vehicle moves with the operator and completely covers the garbage collection area, so as to achieve garbage collection. The process of determining the calibrated maximum wind speed in the local area includes the following steps: Obtain historical data on the maximum outdoor wind speed in the local area; If the historical maximum outdoor wind speed data is greater than the dangerous wind speed threshold for outdoor operations, then the dangerous wind speed threshold shall be used as the calibrated maximum wind speed; otherwise, the current historical maximum outdoor wind speed data shall be used as the calibrated maximum wind speed. The maximum deviation distance is calculated according to the following formula: L = S1 * (L1 / S2) Where L is the maximum deviation distance, S1 is the maximum natural wind speed that allows outdoor high-altitude operations and is a crosswind, L1 is the distance between the green belt and the green belt sweeping and collection vehicle, and S2 is the minimum wind speed required for blower operation. The step of determining the current garbage collection area along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker includes the following steps: The coordinates (X1, Y1) of the workers are obtained by the positioning device worn by the workers. The coordinate system of these coordinates is parallel to the ground, the X-axis is parallel to the length of the green belt, and the Y-axis is perpendicular to the length of the green belt. Based on the coordinates (X1, Y1) of the worker, the maximum deviation distance L, and the distance L1 between the green belt and the green belt cleaning and collection vehicle, the coordinates of the two ends of the current worker's garbage collection area are (X1+L, Y1+L1) and (X1-L, Y1+L1) respectively. The current garbage collection area is determined by the coordinates of both ends of the garbage collection area along the length of the green belt.
2. The cleaning control method for the green belt sweeping and collection vehicle according to claim 1, characterized in that, The real-time location of the collection port of the green belt sweeping and collecting vehicle is obtained through positioning devices installed at both ends of the collection port.
3. The cleaning control method for the green belt sweeping and collection vehicle according to claim 2, characterized in that, The positioning device is any one of an acoustic distance sensor, an infrared distance sensor, a laser distance sensor, or a radar distance sensor.
4. The cleaning control method for the green belt sweeping and collection vehicle according to claim 1, characterized in that, If the real-time position of the collection port of the green belt sweeping and collection vehicle does not completely cover the garbage collection area, the self-following system of the green belt sweeping and collection vehicle is activated to move the collection port of the green belt sweeping and collection vehicle with the operator and completely cover the garbage collection area, so as to achieve garbage collection. The specific steps include: The real-time relative positional relationship between the staff and the two ends of the collection port of the green belt sweeping and collection vehicle is calculated based on the distance between each pair of positioning devices and the cosine theorem. The coordinates of the worker during the operation are projected onto the collection port of the green belt sweeping and collecting vehicle based on the real-time relative positional relationship between the worker and the two ends of the collection port of the green belt sweeping and collecting vehicle. When the distance between the projection point and the corresponding end of the collection port of the sweeping and collecting vehicle is less than the maximum deviation distance, the self-following system of the sweeping and collecting vehicle is activated so that the collection port of the sweeping and collecting vehicle moves along the length of the green belt with the operator until the real-time position of the collection port of the sweeping and collecting vehicle completely covers the garbage collection area, so as to achieve garbage collection.
5. A cleaning control device for a green belt sweeping and collection vehicle, employing the cleaning control method for a green belt sweeping and collection vehicle as described in any one of claims 1 to 4, characterized in that, include: The maximum deviation distance calculation module is used to determine the maximum deviation distance along the length of the edge of the green belt connected to the collection port of the green belt sweeping and collecting vehicle when the blower blows up garbage, based on the width of the green belt, the local maximum calibrated wind speed, and the working wind speed of the blower. The garbage collection area determination module is used to determine the garbage collection area of the current worker along the length of the green belt based on the maximum deviation distance and the positioning device worn by the worker. The self-following control module is used to activate the self-following system of the green belt sweeping and collecting vehicle if the real-time position of the collection port of the green belt sweeping and collecting vehicle does not completely cover the garbage collection area, so as to make the collection port of the green belt sweeping and collecting vehicle move with the operator and completely cover the garbage collection area, thereby realizing garbage collection.
6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the green belt sweeping and collection vehicle sweeping control method as described in any one of claims 1 to 4.
7. A storage medium comprising a stored program that, when the program is executed, controls a device containing the storage medium to perform the steps of the green belt sweeping and collection vehicle sweeping control method as described in any one of claims 1 to 4.