A control method, device and equipment of a sanitation vehicle and a storage medium

Abstract

The application discloses a control method, device and equipment of a sanitation vehicle and a storage medium. In the process of driving the sanitation vehicle, whether there is an elongated obstacle on the ground in the driving direction of the sanitation vehicle is monitored in real time. If the monitoring is successful, a point cloud image of the elongated obstacle is acquired to determine the object type to which the elongated obstacle belongs. A target operation mode corresponding to the object type is determined, and the current operation mode of the sanitation vehicle is acquired. If the two modes are different, the current operation mode of the sanitation vehicle is converted into the target operation mode, so that the sanitation vehicle operates according to the target operation mode and continues to drive. The scheme can monitor the elongated obstacle on the road surface, determine the object type of the elongated obstacle, set different operation modes according to different object types, and make the sanitation vehicle change the operation mode in advance according to the situation, so that the elongated obstacle does not hinder the operation or driving of the sanitation vehicle, and hidden dangers are eliminated.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a control method, device, equipment, and storage medium for sanitation vehicles. Background Technology

[0002] With societal progress, the concept of environmental protection has gradually gained widespread acceptance. To maintain the living environment and ensure the hygiene and safety of public areas, the use of sanitation vehicles has greatly increased. Sanitation vehicles can be frequently seen on both urban roads and rural paths, typically performing sanitation operations while on the move. For sanitation vehicles with comprehensive functions, they include many operating modes, such as watering the ground, sweeping the road, and washing the road surface. Each operating mode is achieved through specific modules installed on the vehicle. For example, the sweeping function mainly relies on brushes located close to the ground at the bottom of the sanitation vehicle.

[0003] However, there are inevitably some long and thin obstacles on the road surface, such as power lines and water pipes. If sanitation vehicles do not change their working mode in time, such as retracting the sweeper, it will affect normal driving, or even cause obstacles to get tangled in the working module, damaging the vehicle's sanitation function and affecting the work of the sanitation vehicle. Summary of the Invention

[0004] In view of this, this application provides a control method, device, equipment, and storage medium for sanitation vehicles to solve the problem that there are inevitably some obstacles or large pieces of garbage on the road surface. If sanitation vehicles do not change their working mode in time, such as retracting the sweeper, it will affect normal driving, or even cause obstacles to get tangled in the working module, damaging the sanitation function of the vehicle and affecting the work of the sanitation vehicle.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] Firstly, a method for controlling sanitation vehicles, comprising:

[0007] During the operation of sanitation vehicles, the presence of long and thin obstacles on the ground in the direction of travel of the sanitation vehicles is monitored in real time.

[0008] When a long, thin obstacle is detected on the ground in the direction the sanitation vehicle is traveling, a point cloud image of the long, thin obstacle is acquired.

[0009] The type of object to which the elongated obstacle belongs is determined based on the point cloud image;

[0010] Determine the target operation mode corresponding to the item type, and obtain the current operation mode of the sanitation vehicle;

[0011] If the current operating mode is different from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, so that the sanitation vehicle can operate and continue to drive in accordance with the target operating mode.

[0012] Preferably, determining the item type to which the elongated obstacle belongs based on the point cloud image includes:

[0013] Determine whether there are any attachments on the elongated obstacle from the point cloud image;

[0014] If so, then the slender obstacle is determined to belong to the first slender object type among the preset slender object types;

[0015] If not, then the elongated obstacle is determined to belong to the second elongated object type among the various elongated object types;

[0016] The specific shape of the elongated obstacle is determined from the point cloud image;

[0017] The type of object to which the slender obstacle belongs is determined based on its specific shape and the type of slender object to which it belongs.

[0018] Preferably, determining the type of item to which the elongated obstacle belongs based on its specific shape and the type of elongated object to which it belongs includes:

[0019] If the specific shape of the slender obstacle is a straight line, and the slender object type to which it belongs is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset first item type.

[0020] If the specific shape of the slender obstacle is curved, and its slender object type is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset second item type.

[0021] If the specific shape of the slender obstacle is irregular and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined to be the preset third item type.

[0022] If the specific shape of the slender obstacle is forked, and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined as the preset fourth item type.

[0023] Preferably, determining the item type to which the elongated obstacle belongs based on the point cloud image includes:

[0024] The road type of the road where the slender obstacle is located is determined based on the point cloud image, and it is determined whether there is at least one electrical device on both sides of the road where the slender obstacle is located.

[0025] If the road type belongs to a preset first road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be the preset first item type.

[0026] If the road type belongs to a preset first road type, and there are no power devices on both sides of the road where the slender obstacle is located, then the slender obstacle is determined to belong to a preset goods type.

[0027] Based on the type of goods to which the elongated obstacle belongs, and by recognizing the external shape of the elongated obstacle, the type of item to which the elongated obstacle belongs is determined.

[0028] Preferably, it further includes:

[0029] If the road type belongs to a preset second road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be a preset second item type.

[0030] If the road type belongs to the preset second road type, and there are no power devices on both sides of the road where the slender obstacle is located, then it is determined whether there are plants on both sides of the road where the slender obstacle is located.

[0031] If not, then the item type to which the elongated obstacle belongs is determined to be a preset third item type;

[0032] If so, the item type to which the slender obstacle belongs is determined to be the preset fourth item type.

[0033] Preferably, determining the item type to which the elongated obstacle belongs based on the point cloud image includes:

[0034] Extract the surface texture features and surface reflection features of the slender obstacle from the point cloud image;

[0035] Calculate the texture feature value and reflection feature value of the slender obstacle based on the surface texture feature and surface reflection feature;

[0036] Multiply the first weighting coefficient by the texture feature value to obtain the first product, and multiply the second weighting coefficient by the reflection feature value to obtain the second product;

[0037] Summing the first product and the second product yields the surface feature values ​​of the slender obstacle.

[0038] If the surface feature value is less than a first preset threshold, then the item type to which the elongated obstacle belongs is determined to be a preset first item type;

[0039] If the surface feature value is not less than a first preset threshold and less than a second preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset second item type;

[0040] If the surface feature value is greater than the third preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset third item type;

[0041] If the surface feature value is not less than the second preset threshold and less than the third preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset fourth item type.

[0042] Preferably, determining the target operation mode corresponding to the item type includes:

[0043] If the slender obstacle belongs to a preset first item type, then the target operation mode corresponding to the item type is to pause operation;

[0044] If the slender obstacle belongs to a preset second item type, then the target operation mode corresponding to the item type is the first operation mode;

[0045] If the type of item to which the slender obstacle belongs is neither the first item type nor the second item type, then the target operation mode corresponding to the item type is the second operation mode.

[0046] Secondly, a control device for a sanitation vehicle includes:

[0047] The real-time monitoring module is used to monitor in real time whether there are slender obstacles on the ground in the direction of travel of the sanitation vehicle during the vehicle's journey.

[0048] The point cloud image acquisition module is used to acquire the point cloud image of the slender obstacle when a slender obstacle is detected on the ground in the direction of travel of the sanitation vehicle.

[0049] The item type determination module is used to determine the item type to which the elongated obstacle belongs based on the point cloud image;

[0050] The operation mode determination module is used to determine the target operation mode corresponding to the item type and to obtain the current operation mode of the sanitation vehicle.

[0051] The operation mode conversion module is used to convert the current operation mode of the sanitation vehicle to the target operation mode if the current operation mode is different from the target operation mode, so that the sanitation vehicle can operate and continue to drive according to the target operation mode.

[0052] Thirdly, a control device for a sanitation vehicle, including a memory and a processor;

[0053] The memory is used to store programs;

[0054] The processor is configured to execute the program to implement the various steps of the sanitation vehicle control method as described in any of the first aspects.

[0055] Fourthly, a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for sanitation vehicles as described in any of the first aspects.

[0056] As can be seen from the above technical solution, this application monitors in real time whether there are elongated obstacles on the ground in the direction of the sanitation vehicle's travel during the vehicle's operation. When an elongated obstacle is detected, a point cloud image of the obstacle is acquired. Based on the point cloud image, the type of object to which the elongated obstacle belongs is determined. A target operating mode corresponding to the object type is determined, and the current operating mode of the sanitation vehicle is acquired. If the current operating mode differs from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, allowing the sanitation vehicle to operate according to the target operating mode and continue traveling. This solution can detect elongated obstacles on the road surface, determine the object type of the elongated obstacle, and set different operating modes according to different object types. This allows the sanitation vehicle to change its operating mode in advance as needed, operating according to the corresponding mode, thus avoiding obstruction of the sanitation vehicle's work or travel by elongated obstacles and eliminating potential hazards. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0058] Figure 1 An optional flowchart of a control method for sanitation vehicles provided in an embodiment of this application;

[0059] Figure 2 An optional flowchart of another sanitation vehicle control method provided in an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of the structure of a control device for a sanitation vehicle provided in an embodiment of this application;

[0061] Figure 4 This is a schematic diagram of the structure of a control device for a sanitation vehicle provided in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] With societal progress, the concept of environmental protection has gradually gained widespread acceptance. To maintain the living environment and ensure the hygiene and safety of public areas, the use of sanitation vehicles has greatly increased. Sanitation vehicles can be frequently seen on both urban roads and rural paths, typically performing sanitation operations while on the move. For sanitation vehicles with comprehensive functions, they include many operating modes, such as watering the ground, sweeping the road, and washing the road surface. Each operating mode is achieved through specific modules installed on the vehicle. For example, the sweeping function mainly relies on brushes located close to the ground at the bottom of the sanitation vehicle.

[0064] However, there are inevitably some long and thin obstacles on the road surface, such as power lines and water pipes. If sanitation vehicles do not change their working mode in time, such as retracting the sweeper, it will affect normal driving, or even cause obstacles to get tangled in the working module, damaging the vehicle's sanitation function and affecting the work of the sanitation vehicle.

[0065] This invention provides a control method for sanitation vehicles. This method can be applied to various computer terminals or smart terminals, and its execution entity can be the processor or server of the computer terminal or smart terminal. The method flowchart is shown below. Figure 1 As shown, it specifically includes:

[0066] S1: During the operation of sanitation vehicles, monitor in real time whether there are any long and thin obstacles on the ground in the direction of the sanitation vehicle's travel.

[0067] Specifically, the sanitation vehicles in this application can be water trucks, sweepers, water trucks with low chassis, etc. Therefore, some obstacles on the road may affect the sanitation vehicles, but this embodiment does not limit this.

[0068] For sanitation vehicles with multiple working modes, especially those with sweeping brushes, the brushes are close to the ground to sweep up easily cleanable garbage such as dust, paper scraps, and garbage bags. When there are long and thin obstacles or garbage that are difficult to clean, if the sanitation vehicle does not retract the brushes in time, these long and thin obstacles are very likely to get tangled in the brushes and cause damage.

[0069] Therefore, this application can use its own monitoring device to monitor in real time whether there are slender obstacles on the road surface in the direction of the sanitation vehicle's travel during the operation of the sanitation vehicle.

[0070] S2: When a long, thin obstacle is detected on the ground in the direction the sanitation vehicle is traveling, a point cloud image of the long, thin obstacle is acquired.

[0071] Understandably, the ground surface in the direction the sanitation vehicle is traveling, that is, the road surface ahead of the sanitation vehicle in its current travel path, can be set at a monitoring distance so that the sanitation vehicle can adjust its operating mode in a timely manner.

[0072] Optionally, point cloud images of slender obstacles can be acquired using vehicle-mounted LiDAR or cameras for subsequent operations.

[0073] S3: Determine the type of object to which the slender obstacle belongs based on the point cloud image.

[0074] Point cloud images can be used to obtain various information about slender obstacles, including their shape, length, and height. Based on this information, the type of object can be determined, including slender objects such as wires, ropes, cords, water pipes, pipes, branches, etc.

[0075] S4: Determine the target operation mode corresponding to the item type, and obtain the current operation mode of the sanitation vehicle.

[0076] Each type of item corresponds to a target operation mode. Under the corresponding target mode, sanitation vehicles can carry out sanitation work efficiently without being affected by slender obstacles.

[0077] In one example, the sanitation vehicle is a combined water spraying and sweeping vehicle, and the slender obstacle is an obstacle of the type of wire. In order to ensure safety, the target operation mode corresponding to the wire type can be set to stop water spraying and retract the sweeping brush.

[0078] S5: If the current operation mode is different from the target operation mode, the current operation mode of the sanitation vehicle is converted to the target operation mode, so that the sanitation vehicle can operate and continue to drive in accordance with the target operation mode.

[0079] Since the sanitation vehicle may have just passed some obstacles, the current working mode is the same as the determined target working mode, so there is no need to change the working mode at this time. If the current working mode is different from the determined target working mode, then the sanitation vehicle needs to switch to the target working mode and carry out the work according to the target working mode. It also needs to continue driving to pass the slender obstacle. After passing the slender obstacle, the working mode can be changed again according to the specific situation. If there are no other slender obstacles ahead, the normal working mode can be restored to carry out watering or sweeping, etc.

[0080] As can be seen from the above technical solution, this application monitors in real time whether there are elongated obstacles on the ground in the direction of the sanitation vehicle's travel during the vehicle's operation. When an elongated obstacle is detected, a point cloud image of the obstacle is acquired. Based on the point cloud image, the type of object to which the elongated obstacle belongs is determined. A target operating mode corresponding to the object type is determined, and the current operating mode of the sanitation vehicle is acquired. If the current operating mode differs from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, allowing the sanitation vehicle to operate according to the target operating mode and continue traveling. This solution can detect elongated obstacles on the road surface, determine the object type of the elongated obstacle, and set different operating modes according to different object types. This allows the sanitation vehicle to change its operating mode in advance as needed, operating according to the corresponding mode, thus avoiding obstruction of the sanitation vehicle's work or travel by elongated obstacles and eliminating potential hazards.

[0081] The method provided in this embodiment of the invention, which determines the type of object to which the elongated obstacle belongs based on the point cloud image, includes the following methods:

[0082] (a) First, determine the type of slender object it belongs to, and then determine the specific object type, such as... Figure 2 As shown, the specific explanation is as follows.

[0083] S31: Determine from the point cloud image whether there are any attachments on the elongated obstacle;

[0084] S32: If so, then determine that the elongated obstacle belongs to the first elongated object type among the preset elongated object types;

[0085] S33: If not, then determine that the elongated obstacle belongs to the second elongated object type among the various elongated object types;

[0086] S34: Determine the specific shape of the elongated obstacle from the point cloud image;

[0087] S35: Determine the type of item to which the slender obstacle belongs based on its specific shape and the type of slender object to which it belongs.

[0088] Specifically, considering that slender obstacles belong to different types of objects, some slender obstacles may have other objects attached to both ends, such as water pipes and wires. One end of a water pipe may be connected to a water pump, water tank, or a handheld device used by sanitation workers, etc., and one end of a wire may be connected to an electrical device such as a utility pole. Therefore, the presence or absence of attachments on slender obstacles can preliminarily determine the major type to which the slender obstacle belongs. This application pre-defines multiple types of slender objects, including a first type of slender object, a second type of slender object, etc., where the first type of slender object is the type of slender obstacle with attachments, and the second type of slender object is the type of slender obstacle without attachments.

[0089] After determining the type of slender object to which the slender obstacle belongs, the specific shape of the slender obstacle is obtained through point cloud images, and its object type is determined based on the specific shape. For example:

[0090] If the specific shape of the slender obstacle is a straight line, and the slender object type to which it belongs is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset first item type.

[0091] If the specific shape of the slender obstacle is curved, and its slender object type is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset second item type.

[0092] If the specific shape of the slender obstacle is irregular and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined to be the preset third item type.

[0093] If the specific shape of the slender obstacle is forked, and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined as the preset fourth item type.

[0094] Optionally, the specific shapes of slender obstacles generally include the following: straight, curved, irregular, forked, etc., and this embodiment does not limit them. The slender obstacles included in the first item type can be wires, cables, power transmission lines, etc.; the slender obstacles included in the second item type can be curved water pipes; the slender obstacles included in the third item type can be irregular slender objects such as ropes, cords, chains, etc.; the slender obstacles included in the fourth item type can be relatively hard objects such as tree branches, forks, etc.

[0095] (ii) Make a specific judgment based on the surrounding environment of the slender obstacle.

[0096] The road type of the road where the slender obstacle is located is determined based on the point cloud image, and it is determined whether there is at least one electrical device on both sides of the road where the slender obstacle is located.

[0097] If the road type belongs to a preset first road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be the preset first item type.

[0098] If the road type belongs to a preset first road type, and there are no power devices on both sides of the road where the slender obstacle is located, then the slender obstacle is determined to belong to a preset goods type.

[0099] Based on the type of goods to which the elongated obstacle belongs, and by recognizing the external shape of the elongated obstacle, the type of item to which the elongated obstacle belongs is determined.

[0100] If the road type belongs to a preset second road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be a preset second item type.

[0101] If the road type belongs to the preset second road type, and there are no power devices on both sides of the road where the slender obstacle is located, then it is determined whether there are plants on both sides of the road where the slender obstacle is located.

[0102] If not, then the item type to which the elongated obstacle belongs is determined to be a preset third item type;

[0103] If so, the item type to which the slender obstacle belongs is determined to be the preset fourth item type.

[0104] Specifically, the first road type includes urban roads, paved roads, or roads under repair, while the second road type includes country roads or dirt roads. Generally, roads of the first road type have electrical installations on both sides. Therefore, if a long, narrow obstacle is located on a road of the first road type and there is at least one electrical installation on both sides, the obstacle is likely an electrical wire or cable, and thus its type is the first type of object. If a long, narrow obstacle is located on a road of the first road type and there are no electrical installations on either side, the obstacle is likely a product, goods, or item dropped by a vehicle passing through that section of road. Then, the shape of the long, narrow obstacle can be identified using point cloud images, and its specific object type can be determined based on its shape.

[0105] If the road type of the slender obstacle is type 2 and there is at least one electrical device on both sides of the road, then one of the electrical devices can be considered to be a water pump. In one example, the road is flanked by agricultural fields, and workers are using a water pump to water crops. Therefore, the slender obstacle can be considered to be a water pipe, etc., and its item type is the preset type 2 item. If the road type of the slender obstacle is type 2 and there are no electrical devices on either side of the road, then the slender obstacle can be considered to be a tree branch, rope, etc. Therefore, it can be determined by judging whether there are plants on both sides of the road.

[0106] (iii) Based on the surface characteristics of slender obstacles, they are divided into texture features and reflection features. This embodiment does not limit this.

[0107] Extract the surface texture features and surface reflection features of the slender obstacle from the point cloud image;

[0108] Calculate the texture feature value and reflection feature value of the slender obstacle based on the surface texture feature and surface reflection feature;

[0109] Multiply the first weighting coefficient by the texture feature value to obtain the first product, and multiply the second weighting coefficient by the reflection feature value to obtain the second product;

[0110] Summing the first product and the second product yields the surface feature values ​​of the slender obstacle.

[0111] If the surface feature value is less than a first preset threshold, then the item type to which the elongated obstacle belongs is determined to be a preset first item type;

[0112] If the surface feature value is not less than a first preset threshold and less than a second preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset second item type;

[0113] If the surface feature value is greater than the third preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset third item type;

[0114] If the surface feature value is not less than the second preset threshold and less than the third preset threshold, then the item type to which the slender obstacle belongs is determined to be the preset fourth item type.

[0115] It is understandable that every item has its own texture and reflection characteristics. For example, electrical wires generally have few textures on their surface, and their metallic surface has a high reflectivity. Water pipes have relatively smooth surfaces and few textures, but some flexible water pipes are often painted in bright colors, resulting in even higher reflectivity. Therefore, their calculated surface feature values ​​are larger compared to the first item type. Ropes, such as hemp rope, have significant textures and high reflectivity. Therefore, when the calculated surface feature value is greater than the third preset threshold, the item is considered to belong to the third item type. The first preset threshold is less than the second preset threshold, and the second preset threshold is less than the third preset threshold. The sum of the first and second weighting coefficients equals 1; optionally, the first and second weighting coefficients are equal.

[0116] The above scheme describes the process of determining the type of object to which the slender obstacle belongs based on the point cloud image in this application. The process of determining the target operation mode corresponding to the type of object in this application will be explained in detail below.

[0117] If the slender obstacle belongs to a preset first item type, then the target operation mode corresponding to the item type is to pause operation;

[0118] If the slender obstacle belongs to a preset second item type, then the target operation mode corresponding to the item type is the first operation mode;

[0119] If the type of item to which the slender obstacle belongs is neither the first item type nor the second item type, then the target operation mode corresponding to the item type is the second operation mode.

[0120] Specifically, suspending operations means that no sanitation work is being carried out at this time, only driving is being done; the first operating mode is to retract the sweeper; the second operating mode is to increase the water spray pressure, the purpose of which is to wash long and thin obstacles to the side of the road to avoid obstructing traffic.

[0121] Furthermore, if the slender obstacle is relatively hard and large, sanitation vehicles cannot cope with it simply by changing their operating mode. In this case, it is necessary to send a detour instruction to the sanitation vehicles so that they can travel in other lanes to avoid traffic accidents.

[0122] and Figure 1 Corresponding to the method described above, embodiments of the present invention also provide a control device for sanitation vehicles, used for controlling... Figure 1 In a specific implementation of the method, the control device for sanitation vehicles provided in this embodiment of the invention can be integrated into a computer terminal or various mobile devices. Figure 3 The text describes the control devices of sanitation vehicles, such as... Figure 3 As shown, the device may include:

[0123] The real-time monitoring module 10 is used to monitor in real time whether there are slender obstacles on the ground in the direction of travel of the sanitation vehicle during the sanitation vehicle's travel.

[0124] The point cloud image acquisition module 20 is used to acquire the point cloud image of the slender obstacle when a slender obstacle is detected on the ground in the direction of travel of the sanitation vehicle.

[0125] The item type determination module 30 is used to determine the item type to which the slender obstacle belongs based on the point cloud image;

[0126] The operation mode determination module 40 is used to determine the target operation mode corresponding to the type of item and to obtain the current operation mode of the sanitation vehicle.

[0127] The operation mode conversion module 50 is used to convert the current operation mode of the sanitation vehicle to the target operation mode if the current operation mode is different from the target operation mode, so that the sanitation vehicle can operate and continue to drive according to the target operation mode.

[0128] As can be seen from the above technical solution, this application monitors in real time whether there are elongated obstacles on the ground in the direction of the sanitation vehicle's travel during the vehicle's operation. When an elongated obstacle is detected, a point cloud image of the obstacle is acquired. Based on the point cloud image, the type of object to which the elongated obstacle belongs is determined. A target operating mode corresponding to the object type is determined, and the current operating mode of the sanitation vehicle is acquired. If the current operating mode differs from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, allowing the sanitation vehicle to operate according to the target operating mode and continue traveling. This solution can detect elongated obstacles on the road surface, determine the object type of the elongated obstacle, and set different operating modes according to different object types. This allows the sanitation vehicle to change its operating mode in advance as needed, operating according to the corresponding mode, thus avoiding obstruction of the sanitation vehicle's work or travel by elongated obstacles and eliminating potential hazards.

[0129] Furthermore, embodiments of this application provide a control device for sanitation vehicles. Optionally, Figure 4 The hardware structure block diagram of the control equipment for sanitation vehicles is shown below. Figure 4 The hardware structure of the control equipment for sanitation vehicles may include: at least one processor 01, at least one communication interface 02, at least one memory 03 and at least one communication bus 04.

[0130] In this embodiment, the number of processor 01, communication interface 02, memory 03 and communication bus 04 is at least one, and processor 01, communication interface 02 and memory 03 communicate with each other through communication bus 04.

[0131] Processor 01 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0132] Memory 03 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device.

[0133] The memory stores a program, which the processor can call to execute the control method for the sanitation vehicles, including:

[0134] During the operation of sanitation vehicles, the presence of long and thin obstacles on the ground in the direction of travel of the sanitation vehicles is monitored in real time.

[0135] When a long, thin obstacle is detected on the ground in the direction the sanitation vehicle is traveling, a point cloud image of the long, thin obstacle is acquired.

[0136] The type of object to which the elongated obstacle belongs is determined based on the point cloud image;

[0137] Determine the target operation mode corresponding to the item type, and obtain the current operation mode of the sanitation vehicle;

[0138] If the current operating mode is different from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, so that the sanitation vehicle can operate and continue to drive in accordance with the target operating mode.

[0139] Optionally, the refined and extended functions of the program can be found in the description of the control method for sanitation vehicles in the method embodiments.

[0140] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor. When the program runs, it controls the device where the storage medium is located to execute the following control method for sanitation vehicles, including:

[0141] During the operation of sanitation vehicles, the presence of long and thin obstacles on the ground in the direction of travel of the sanitation vehicles is monitored in real time.

[0142] When a long, thin obstacle is detected on the ground in the direction the sanitation vehicle is traveling, a point cloud image of the long, thin obstacle is acquired.

[0143] The type of object to which the elongated obstacle belongs is determined based on the point cloud image;

[0144] Determine the target operation mode corresponding to the item type, and obtain the current operation mode of the sanitation vehicle;

[0145] If the current operating mode is different from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, so that the sanitation vehicle can operate and continue to drive in accordance with the target operating mode.

[0146] Specifically, the storage medium can be a computer-readable storage medium, which can be an electronic storage device such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM.

[0147] Optionally, the refined and extended functions of the program can be found in the description of the control method for sanitation vehicles in the method embodiments.

[0148] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a live streaming device, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this disclosure.

[0149] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0150] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0151] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for sanitation vehicles, characterized in that, include: During the operation of sanitation vehicles, the presence of long and thin obstacles on the ground in the direction of travel of the sanitation vehicles is monitored in real time. When a long, thin obstacle is detected on the ground in the direction the sanitation vehicle is traveling, a point cloud image of the long, thin obstacle is acquired. Determining the object type of the elongated obstacle based on the point cloud image includes: extracting surface texture features and surface reflection features of the elongated obstacle from the point cloud image; calculating texture feature values ​​and reflection feature values ​​of the elongated obstacle based on the surface texture features and surface reflection features; multiplying a first weighting coefficient by the texture feature value to obtain a first product, and multiplying a second weighting coefficient by the reflection feature value to obtain a second product; summing the first product and the second product to obtain the surface feature value of the elongated obstacle; if the surface features... If the surface feature value is less than a first preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset first item type; if the surface feature value is not less than the first preset threshold and less than a second preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset second item type; if the surface feature value is greater than a third preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset third item type; if the surface feature value is not less than the second preset threshold and less than the third preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset fourth item type. Determine the target operation mode corresponding to the item type, and obtain the current operation mode of the sanitation vehicle; If the current operating mode is different from the target operating mode, the current operating mode of the sanitation vehicle is converted to the target operating mode, so that the sanitation vehicle can operate and continue to drive in accordance with the target operating mode.

2. The method according to claim 1, characterized in that, Determining the item type to which the elongated obstacle belongs based on the point cloud image includes: Determine whether there are any attachments on the elongated obstacle from the point cloud image; If so, then the slender obstacle is determined to belong to the first slender object type among the preset slender object types; If not, then the elongated obstacle is determined to belong to the second elongated object type among the various elongated object types; The specific shape of the elongated obstacle is determined from the point cloud image; The type of object to which the slender obstacle belongs is determined based on its specific shape and the type of slender object to which it belongs.

3. The method according to claim 2, characterized in that, The step of determining the item type to which the elongated obstacle belongs based on its specific shape and the type of elongated object to which it belongs includes: If the specific shape of the slender obstacle is a straight line, and the slender object type to which it belongs is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset first item type. If the specific shape of the slender obstacle is curved, and its slender object type is the first slender object type, then the item type to which the slender obstacle belongs is determined to be the preset second item type. If the specific shape of the slender obstacle is irregular and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined to be the preset third item type. If the specific shape of the slender obstacle is forked, and its slender object type is the second slender object type, then the item type to which the slender obstacle belongs is determined as the preset fourth item type.

4. The method according to claim 1, characterized in that, Determining the item type to which the elongated obstacle belongs based on the point cloud image includes: The road type of the road where the slender obstacle is located is determined based on the point cloud image, and it is determined whether there is at least one electrical device on both sides of the road where the slender obstacle is located. If the road type belongs to a preset first road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be the preset first item type. If the road type belongs to a preset first road type, and there are no power devices on both sides of the road where the slender obstacle is located, then the slender obstacle is determined to belong to a preset goods type. Based on the type of goods to which the elongated obstacle belongs, and by recognizing the external shape of the elongated obstacle, the type of item to which the elongated obstacle belongs is determined.

5. The method according to claim 4, characterized in that, Also includes: If the road type belongs to a preset second road type, and there is at least one electrical device on both sides of the road where the slender obstacle is located, then the item type to which the slender obstacle belongs is determined to be a preset second item type. If the road type belongs to the preset second road type, and there are no power devices on both sides of the road where the slender obstacle is located, then it is determined whether there are plants on both sides of the road where the slender obstacle is located. If not, then the item type to which the elongated obstacle belongs is determined to be a preset third item type; If so, the item type to which the slender obstacle belongs is determined to be the preset fourth item type.

6. The method according to claim 1, characterized in that, The determination of the target operation mode corresponding to the item type includes: If the slender obstacle belongs to a preset first item type, then the target operation mode corresponding to the item type is to pause operation; If the slender obstacle belongs to a preset second item type, then the target operation mode corresponding to the item type is the first operation mode; If the type of item to which the slender obstacle belongs is neither the first item type nor the second item type, then the target operation mode corresponding to the item type is the second operation mode.

7. A control device for sanitation vehicles, characterized in that, include: The real-time monitoring module is used to monitor in real time whether there are slender obstacles on the ground in the direction of travel of the sanitation vehicle during the vehicle's journey. The point cloud image acquisition module is used to acquire the point cloud image of the slender obstacle when a slender obstacle is detected on the ground in the direction of travel of the sanitation vehicle. An item type determination module is used to determine the item type to which the elongated obstacle belongs based on the point cloud image; including: extracting surface texture features and surface reflection features of the elongated obstacle from the point cloud image; calculating texture feature values ​​and reflection feature values ​​of the elongated obstacle based on the surface texture features and surface reflection features; multiplying a first weighting coefficient by the texture feature value to obtain a first product, and multiplying a second weighting coefficient by the reflection feature value to obtain a second product; summing the first product and the second product to obtain the surface feature value of the elongated obstacle; If the surface feature value is less than a first preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset first item type; if the surface feature value is not less than the first preset threshold and is less than a second preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset second item type; if the surface feature value is greater than a third preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset third item type; if the surface feature value is not less than the second preset threshold and is less than the third preset threshold, the item type to which the elongated obstacle belongs is determined to be a preset fourth item type. The operation mode determination module is used to determine the target operation mode corresponding to the item type and to obtain the current operation mode of the sanitation vehicle. The operation mode conversion module is used to convert the current operation mode of the sanitation vehicle to the target operation mode if the current operation mode is different from the target operation mode, so that the sanitation vehicle can operate and continue to drive according to the target operation mode.

8. A control device for sanitation vehicles, characterized in that, Including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the control method for sanitation vehicles as described in any one of claims 1-6.

9. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the various steps of the control method for sanitation vehicles as described in any one of claims 1-6.

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