A vehicle-mounted mechanism controller and control method for a non-ground garbage truck

Abstract

The present invention discloses a vehicle-mounted mechanism controller and a control method for a floorless garbage truck, which relate to the field of garbage transportation and solve the problem that the existing floorless garbage truck often relies on the driver to make judgments when making passability judgments, which easily causes a large deviation between the judgment result and the actual situation. The controller comprises a data acquisition module, a data analysis module, a data processing module and a vehicle-mounted control module, wherein the data acquisition module acquires basic control data, the data analysis module analyzes the basic control data to obtain control analysis data, the data processing module processes the basic control data and the control analysis data to obtain control management data, and the vehicle-mounted control module controls the floorless garbage truck according to the control management data and the control analysis data. The present invention judges the passability of the road ahead of the floorless garbage truck, which improves driving safety compared to the traditional garbage truck which needs manual judgment.

Description

Technical Field

[0001] The invention belongs to the field of garbage transportation and relates to intelligent control technology, in particular to a vehicle-mounted mechanism controller and a control method of a non-ground garbage truck. Background Art

[0002] A non-floating garbage truck is a type of garbage truck that can automatically collect garbage without the garbage falling to the ground. Usually, traditional garbage trucks need to stop and then the staff needs to manually collect the garbage. However, the body and box of a non-floating garbage truck can be separated and automatically connected. In addition, during the garbage collection process, the garbage does not come into contact with the ground, thus realizing the collection of garbage without falling to the ground.

[0003] In the prior art, when controlling the onboard mechanism of a garbage truck, there are the following defects:

[0004] 1. When transporting garbage, garbage trucks often rely on the driver's subjective judgment to determine the passability of the road ahead, which results in a large deviation from the actual situation;

[0005] 2. When the existing non-ground garbage truck is connecting the body and the box, the driver relies on his driving experience to reverse the connection. It is difficult to connect successfully in one go, which prolongs the garbage transportation time.

[0006] To this end, we propose a vehicle-mounted mechanism controller and control method for a non-ground garbage truck. Summary of the invention

[0007] In view of the deficiencies in the prior art, the object of the present invention is to provide a vehicle-mounted mechanism controller and control method for a non-ground garbage truck. In order to achieve the above-mentioned object, the present invention obtains basic control data based on the acquisition of road surface basic data, driving basic data, work monitoring data and box basic data, analyzes the basic control data, obtains reference values ​​of obstacle blocking coefficient, reference values ​​of vehicle body stability and box reversing connection path, and defines the reference values ​​of obstacle blocking coefficient, vehicle body stability and box reversing connection path as control analysis data, processes the basic control data and control analysis data to obtain control management data, controls the movement of the garbage truck according to the road passability classification data and the moving path of the garbage truck, connects the body and the box of the garbage truck through the box reversing connection path, and performs overweight monitoring, compression management and leakage monitoring on the garbage truck through the work monitoring data;

[0008] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: The specific working process of each module of the on-board mechanism controller of a non-ground garbage truck is as follows:

[0009] Data acquisition module: used to obtain basic control data;

[0010] Data analysis module: used to analyze basic control data and obtain control analysis data;

[0011] Data processing module: used to process basic control data and control analysis data to obtain control management data;

[0012] Control and manage the non-landing garbage trucks based on the control management data and control analysis data;

[0013] On-board control module: controls and manages the non-landing garbage truck based on control management data and control analysis data.

[0014] Furthermore, the data acquisition module acquires basic control data, specifically as follows:

[0015] The data acquisition module includes a road surface unit, a driving unit, a working unit and a box unit;

[0016] The pavement unit obtains basic pavement data;

[0017] The driving unit obtains basic driving data. The driving unit obtains basic driving data, as follows:

[0018] The travel unit includes a first position sensor, a gyroscope, an accelerometer, and a vehicle body vibration sensor;

[0019] Acquire current position data of the non-grounded garbage truck through a first position sensor;

[0020] The lateral tilt angle of the body of the grounded garbage truck is obtained in real time through a gyroscope;

[0021] The acceleration values ​​of the body of the garbage truck on the ground on the X-axis, the Y-axis and the Z-axis are respectively obtained in real time through the accelerometer;

[0022] The X-axis acceleration value, the Y-axis acceleration value, and the Z-axis acceleration value are calculated to obtain the average absolute value of the vehicle body acceleration;

[0023] The vehicle body vibration frequency value is obtained in real time through the vehicle body vibration sensor;

[0024] The current position data, the lateral tilt angle of the vehicle body, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration are defined as driving basic data;

[0025] The work unit obtains work monitoring data, as follows:

[0026] The working unit includes a temperature sensor, a voltage sensor and a pressure sensor;

[0027] Use temperature sensors to obtain the battery temperature value of the garbage truck in real time;

[0028] The circuit working voltage value of the non-ground garbage truck is obtained in real time through the voltage sensor;

[0029] The real-time pressure value of the hydraulic pump of the non-ground garbage truck is obtained through the pressure sensor;

[0030] The battery temperature value, circuit working voltage value and hydraulic pump real-time pressure value are defined as working monitoring data;

[0031] The cabinet unit obtains the basic cabinet data, as follows:

[0032] The cabinet unit includes a second position sensor and a second high-definition camera;

[0033] Acquiring box position data through a second position sensor;

[0034] Acquire environmental image data of the location of the box through a second high-definition camera;

[0035] Obtain real-time obstacle location data through LiDAR;

[0036] The obstacle real-time position data, box position data and environment image data are defined as box basic data;

[0037] The road surface basic data, driving basic data, work monitoring data and box basic data are defined as basic control data.

[0038] Furthermore, the pavement unit obtains basic pavement data, specifically as follows:

[0039] The pavement unit includes the first high-definition camera and laser rangefinder;

[0040] Acquire road image data of a road where no garbage truck is located by using a first high-definition camera;

[0041] Determine obstacles ahead on the road based on road image data;

[0042] If there is no obstacle in front of the road, the average road width value and the minimum road width value are obtained, as follows:

[0043] Select n groups of road feature points on the road ahead of the garbage truck without landing, each group of road feature points includes a left side feature point and a right side feature point, wherein the left side feature point is located at the left side curb of the road, and the right side feature point is located at the right side curb of the road and is parallel to the left side feature point;

[0044] The horizontal distance values ​​of n groups of road feature points are obtained by using a laser rangefinder, which are Jl1, Jl2, Jl3...Jln respectively;

[0045] The average width of the road is obtained by calculating the horizontal distance values ​​of n groups of road feature points;

[0046] Compare the horizontal distance values ​​of n groups of road feature points to obtain the minimum road width value;

[0047] If there is an obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0048] Use a laser rangefinder to simultaneously emit two laser beams from the same laser emission point to both sides of the road, which are a first laser beam and a second laser beam, and obtain laser parameter information through the laser rangefinder, obtain length values ​​of the first laser beam and the second laser beam through the laser parameter information, obtain a first laser beam length value and a second laser beam length value, obtain a laser angle value formed by the first laser beam and the second laser beam through the laser parameter information, and obtain a laser beam angle value;

[0049] The first laser beam length value, the second laser beam length value and the laser beam angle value are calculated to obtain a road width value;

[0050] Repeat the above process, use the laser rangefinder to emit m groups of laser beams at different angles, wherein any group of laser beams consists of two laser beams, and the two laser beams form two laser points on the ground respectively, and calculate m different road width values, compare the m different road width values, define the road width value with the smallest value as the road minimum width value, calculate m different road width values, and obtain the road average width value;

[0051] The road image data, the road minimum width value and the road average width value are defined as the road surface basic data.

[0052] Furthermore, the data analysis module analyzes the basic control data as follows:

[0053] The data analysis module includes a road surface analysis unit, a driving analysis unit and a box analysis unit;

[0054] The road surface analysis unit obtains a reference value of an obstacle blocking coefficient;

[0055] The driving analysis unit obtains a vehicle body stability reference value;

[0056] Obtain the body lateral tilt angle, body vibration frequency value, and body acceleration average absolute value through driving basic data;

[0057] The vehicle body lateral tilt angle, vehicle body vibration frequency value, and vehicle body acceleration average absolute value are calculated to obtain a vehicle body stability reference value;

[0058] The cabinet analysis unit obtains cabinet analysis data, as follows:

[0059] The data stored in the database includes vehicle dimension data and turning radius;

[0060] Obtain real-time obstacle location data, box location data, and environmental image data through box basic data;

[0061] Use computer vision technology to analyze environmental image data and identify the placement angle of the garbage truck box in the environmental image data;

[0062] Use APS automatic parking technology to calculate the box reversing connection path through real-time obstacle location data, vehicle size data and turning radius;

[0063] The obstacle blocking coefficient reference value, the vehicle body stability reference value and the box reversing connection path are defined as control analysis data.

[0064] Furthermore, the road surface analysis unit obtains a reference value of an obstacle blocking coefficient, specifically as follows:

[0065] Obtain road image data and average road width value according to driving basic data;

[0066] Use the target detection algorithm to monitor obstacles on the road surface in the road image data and obtain the number of obstacles;

[0067] Identify the overlapping area between the obstacle image and the road image through an image recognition algorithm, and obtain the area value of the overlapping area and the area value of the road area;

[0068] The reference value of the obstacle blocking coefficient is obtained by calculating the average road width value, the number of obstacles, the area value of the overlapping area and the area value of the road area.

[0069] Furthermore, the data processing module processes the basic control data and the control analysis data as follows:

[0070] The data processing module includes a path planning unit and a passing judgment unit;

[0071] The path planning unit performs mobile path planning as follows:

[0072] Obtain current position data and cabinet position data through basic control data;

[0073] Map the current location data and the box location data, and generate the movement path of the garbage truck based on the map positioning;

[0074] The passability of the garbage truck is judged by the judgment unit;

[0075] The moving path of the garbage truck and the road passability classification data are defined as control management data.

[0076] Furthermore, the passability judgment unit performs the passability judgment of the garbage truck as follows:

[0077] The data stored in the database also include vehicle body width value, vehicle body stability critical reference value, community road design width value, obstacle blocking critical coefficient reference value;

[0078] Obtain the minimum road width value and the average road width value through basic control data, and obtain the obstacle blocking coefficient reference value and the vehicle body stability reference value through control analysis data;

[0079] Get the body width value through the database;

[0080] Compare the vehicle body width value with the minimum road width value;

[0081] When the vehicle body width value is greater than or equal to the minimum road width value, it is determined that the road is a first passability graded road;

[0082] When the vehicle body width value is less than the minimum road width value, the vehicle body width value, the average road width value, the obstacle blocking coefficient reference value and the vehicle body stability reference value are used to obtain a road passability reference value;

[0083] Obtain the critical reference value of vehicle body stability, the design width value of the community road, and the critical reference value Dt of the obstacle blocking coefficient through the database;

[0084] The road passability reference threshold Dt1 is obtained by the vehicle body width value, the vehicle body stability critical reference value, the community road design width value, and the obstacle blocking critical coefficient reference value.

[0085] The road passability reference threshold is used to make a numerical judgment on the road passability reference value, as follows:

[0086] When Dt≥Dt1, the road is judged to be a road of the second passability classification;

[0087] When Dt<Dt1, it is determined that the road is a road of the first passability classification;

[0088] The judgment result obtained according to the road passability reference threshold and the road passability reference value is defined as the road passability classification data.

[0089] Furthermore, the vehicle-mounted control module controls the operation of the garbage truck as follows:

[0090] The data stored in the database also include the rated load of the box, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value;

[0091] The vehicle control module includes a control unit, a box installation unit, a work monitoring unit and a leakage monitoring unit;

[0092] The control unit performs pass control according to the road passability classification data, as follows:

[0093] Obtain road passability classification data;

[0094] For the first passability graded road, the garbage truck stops passing through the current road and re-plans the route;

[0095] For the second passability graded roads, the garbage truck moves normally according to the moving path of the garbage truck;

[0096] The box installation unit automatically connects the vehicle to the box and issues an overload warning, as follows:

[0097] The box-mounted unit includes a weight sensor;

[0098] The garbage truck connects the box according to the box reversing connection path and obtains the box weight value through the weight sensor;

[0099] Obtain the rated load capacity of the box through the database;

[0100] When the box weight value is greater than the box rated load, an overweight warning is issued;

[0101] When the box weight value is less than or equal to the box rated load, the garbage truck box is marked as a compression monitoring box;

[0102] The garbage compression management is performed on the compression monitoring box, as follows:

[0103] Select j surface feature points on the surface of the garbage loaded in the compression monitoring box, use a height measuring instrument to obtain the vertical height distance values ​​of the j surface feature points and the bottom of the compression monitoring box, mark them as the first vertical height value to the jth vertical height value, calculate the average value of the first vertical height value to the jth vertical height value, and mark it as the garbage stacking height value;

[0104] Obtain the value of the bottom area inside the compression monitoring box, and obtain the value of the corresponding stacking gap volume inside the compression monitoring box through a 3D laser scanner;

[0105] The compressibility reference coefficient corresponding to the compression monitoring box is obtained by calculating the inner bottom area value of the compression monitoring box, the stacking gap volume value and the garbage stacking height value;

[0106] Obtaining a compressible reference coefficient threshold, and comparing the compressible reference coefficient with the compressible reference coefficient threshold;

[0107] If the compressible reference coefficient is greater than or equal to the compressible reference coefficient threshold, the garbage truck is normally connected to the box;

[0108] If the compressible reference coefficient is less than the compressible reference coefficient threshold, the garbage in the compression monitoring box is compressed until the compressible reference coefficient is equal to the compressible reference coefficient threshold or the box weight value is equal to the rated load of the box;

[0109] The work monitoring unit performs work safety monitoring based on the work monitoring data;

[0110] The leakage monitoring unit monitors the leakage of the garbage truck body, as follows:

[0111] After the garbage truck has connected the box normally, image data of the ground where the garbage truck box is parked is obtained and marked as ground image data of the box parking position;

[0112] If there are traces of liquid accumulation in the ground image data of the box parking position, it is determined to be the first box leakage monitoring zone;

[0113] If there is no trace of liquid accumulation in the ground image data of the box parking position, it is determined to be the second box leakage monitoring zone;

[0114] Further leakage monitoring is performed on the garbage truck box in the first box leakage monitoring area, as follows:

[0115] The garbage truck selects the road ahead as the dry test road;

[0116] The image data corresponding to the dry detection road surface when the garbage truck has not driven onto the dry detection road surface is obtained through the camera at the bottom of the vehicle, and is marked as a first detection image;

[0117] The dry detection road surface image data corresponding to the garbage truck driving by is obtained through the camera at the bottom of the carriage, and is marked as the second detection image;

[0118] The first detection image is compared with the second detection image. If the first detection image is consistent with the second detection image, there is no liquid leakage in the garbage truck box. If the first detection image is inconsistent with the second detection image, there is liquid leakage in the garbage truck box, and a box leakage warning is issued.

[0119] Furthermore, the work monitoring unit performs work safety monitoring according to the work monitoring data, as follows:

[0120] Obtain battery temperature value, circuit operating voltage value and hydraulic pump real-time pressure value through working monitoring data;

[0121] Obtain battery temperature reference value, circuit operating voltage reference value and hydraulic pump real-time pressure reference value through the database;

[0122] The garbage truck working monitoring reference value Gj is obtained through the battery temperature value, the circuit working voltage value, the hydraulic pump real-time pressure value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value;

[0123] Obtain the battery temperature range extremes, circuit operating voltage range extremes and hydraulic pump real-time range extremes;

[0124] The garbage truck working monitoring reference threshold Gj1 is obtained by the battery temperature range extreme value, the circuit working voltage range extreme value, the hydraulic pump real-time range extreme value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value;

[0125] The working status of the garbage truck is judged according to the garbage truck working monitoring reference value and the garbage truck working monitoring reference threshold, as follows:

[0126] When Gj≥Gj1, the garbage truck is judged to be working abnormally and stops working;

[0127] When 0>Gj1>Gj, it is judged that the garbage truck is working normally and the garbage truck continues to work.

[0128] The method for controlling a vehicle-mounted mechanism of a non-ground garbage truck further comprises the following steps:

[0129] Step S1: Obtain basic control data;

[0130] Step S11: Obtain road surface basic data, as follows:

[0131] Step S111: Acquire road image data of a road where no garbage truck is located by a first high-definition camera;

[0132] Step S112: determining obstacles ahead of the road based on the road image data;

[0133] Step S1121: If there is no obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0134] Step S11211: selecting n groups of road feature points on the road ahead of the garbage truck without landing, each group of road feature points includes a left side feature point of the road and a right side feature point of the road, wherein the left side feature point of the road is located at the left side curb of the road, and the right side feature point of the road is located at the right side curb of the road and is parallel to the left side feature point of the road;

[0135] Step S11212: using a laser rangefinder to obtain horizontal distance values ​​of n groups of road feature points, which are Jl1, Jl2, Jl3, ..., Jln respectively;

[0136] Step S11213: Calculate the horizontal distance values ​​of n groups of road feature points to obtain the average road width value;

[0137] Step S11214: Compare the horizontal distance values ​​of n groups of road feature points to obtain the minimum road width value;

[0138] Step S1122: If there is an obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0139] Step S11221: using a laser rangefinder to simultaneously emit two laser beams from the same laser emission point toward both sides of the road, which are a first laser beam and a second laser beam, and obtaining laser parameter information through the laser rangefinder, obtaining length values ​​of the first laser beam and the second laser beam through the laser parameter information, obtaining a first laser beam length value and a second laser beam length value, obtaining a laser angle value formed by the first laser beam and the second laser beam through the laser parameter information, and obtaining a laser beam angle value;

[0140] Step S11222: obtaining a road width value by calculating the first laser beam length value, the second laser beam length value and the laser beam angle value;

[0141] Step S11223: repeat the above process, respectively use the laser rangefinder to emit m groups of laser beams at different angles, wherein any group of laser beams consists of two laser beams, and the two laser beams respectively form two laser points on the ground, calculate and obtain m different road width values, compare the m different road width values, define the road width value with the smallest value as the minimum road width value, calculate m different road width values, and obtain the average road width value;

[0142] Step S113: defining the road image data, the road minimum width value and the road average width value as road surface basic data;

[0143] Step S12: Obtain basic driving data, as follows:

[0144] Step S121: obtaining current position data of the garbage truck without landing through a first position sensor;

[0145] Step S122: obtaining the lateral tilt angle of the body of the grounded garbage truck in real time through a gyroscope;

[0146] Step S123: obtaining the acceleration values ​​of the body of the garbage truck on the X-axis, the Y-axis and the Z-axis in real time through the accelerometer;

[0147] Step S124: Calculating the X-axis acceleration value, the Y-axis acceleration value, and the Z-axis acceleration value to obtain an average absolute value of the vehicle body acceleration;

[0148] Step S124: obtaining the vehicle body vibration frequency value in real time through the vehicle body vibration sensor;

[0149] Step S125: defining the current position data, the lateral tilt angle of the vehicle body, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration as driving basic data;

[0150] Step S13: Obtaining work monitoring data, as follows:

[0151] Step S131: using a temperature sensor to obtain a battery temperature value of the garbage truck without grounding in real time;

[0152] Step S132: obtaining the circuit working voltage value of the non-ground garbage truck in real time through a voltage sensor;

[0153] Step S133: obtaining the real-time pressure value of the hydraulic pump of the non-ground garbage truck through a pressure sensor;

[0154] Step S134: defining the battery temperature value, the circuit operating voltage value and the hydraulic pump real-time pressure value as operating monitoring data;

[0155] Step S14: Obtain basic data of the cabinet, as follows:

[0156] Step S141: acquiring box position data through a second position sensor;

[0157] Step S142: Acquire environmental image data of the location of the box through a second high-definition camera;

[0158] Step S143: Obtaining real-time obstacle position data through a laser radar;

[0159] Step S144: defining the obstacle real-time position data, the box position data and the environment image data as the box basic data;

[0160] Step S15: defining the road surface basic data, driving basic data, work monitoring data and box basic data as basic control data;

[0161] Step S2: Analyze the basic control data to obtain control analysis data;

[0162] Step S21: Obtain the reference value of the obstacle blocking coefficient, as follows:

[0163] Step S211: acquiring road image data and average road width value according to driving basic data;

[0164] Step S212: using a target detection algorithm to monitor obstacles on the road surface in the road image data, and obtaining a number value of obstacles;

[0165] Step S213: identifying the overlapping area between the obstacle image and the road image through an image recognition algorithm, and obtaining the area value of the overlapping area and the area value of the road area;

[0166] Step S214: Obstacle blocking coefficient reference value is obtained by calculating the average road width value, the number of obstacles, the overlapping area value and the road area value;

[0167] Step S22: obtaining a vehicle body stability reference value;

[0168] Step S221: obtaining the vehicle body lateral tilt angle, vehicle body vibration frequency value, and vehicle body acceleration average absolute value through driving basic data;

[0169] Step S222: obtaining a vehicle body stability reference value by calculating the vehicle body lateral tilt angle, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration;

[0170] Step S23: Obtain cabinet analysis data, as follows:

[0171] Step S231: Obtaining obstacle real-time position data, box position data and environment image data through box basic data;

[0172] Step S232: using computer vision technology to analyze the environmental image data and identify the placement angle of the garbage truck box in the environmental image data;

[0173] Step S233: using the APS automatic parking technology to calculate the box reversing connection path based on the real-time obstacle position data, vehicle size data and turning radius;

[0174] Step S24: defining the obstacle blocking coefficient reference value, the vehicle body stability reference value and the box reversing connection path as control analysis data;

[0175] Step S3: Processing the basic control data and the control analysis data to obtain control management data;

[0176] Step S31: Perform mobile path planning, as follows:

[0177] Step S311: obtaining current position data and cabinet position data through basic control data;

[0178] Step S312: Map the current location data and the box location data, and generate a moving path for the garbage truck according to the map positioning;

[0179] Step S32: judging the passability of the garbage truck, as follows:

[0180] Step S321: obtaining a minimum road width value and an average road width value through basic control data, and obtaining an obstacle blocking coefficient reference value and a vehicle body stability reference value through control analysis data;

[0181] Step S322: obtaining a vehicle body width value from a database;

[0182] Step S323: Compare the vehicle body width value with the road minimum width value;

[0183] Step S3231: when the vehicle body width value is greater than or equal to the minimum road width value, it is determined that the road is in the first passability classification road;

[0184] Step S3232: when the vehicle body width value is less than the minimum road width value, the vehicle body width value, the average road width value, the obstacle blocking coefficient reference value and the vehicle body stability reference value are calculated to obtain a road passability reference value;

[0185] Step S3233: obtaining a critical reference value of vehicle body stability, a design width value of a residential road, and a reference value of a critical coefficient of obstacle blocking through a database;

[0186] Step S3234: Calculate the vehicle width value, the vehicle stability critical reference value, the community road design width value, and the obstacle blocking critical coefficient reference value to obtain a road passability reference threshold;

[0187] Step S3235: Use the road passability reference threshold to perform a numerical judgment on the road passability reference value, as follows:

[0188] When Dt≥Dt1, the road is judged to be a road of the second passability classification;

[0189] When Dt<Dt1, it is determined that the road is a road of the first passability classification;

[0190] Step S324: defining the judgment result obtained according to the road passability reference threshold and the road passability reference value as road passability classification data;

[0191] Step S325: defining the garbage truck moving path and road passability classification data as control management data;

[0192] Step S4: performing work control and work monitoring on the garbage truck;

[0193] Step S41: Performing pass control according to the road passability classification data, as follows:

[0194] Step S411: Obtaining road passability classification data;

[0195] Step S412: For the first passability graded road, the garbage truck stops passing through the current road and replans the route;

[0196] Step S413: For the second passability graded road, the garbage truck moves normally according to the moving path of the garbage truck;

[0197] Step S42: Automatically connect the vehicle to the box and issue an overload warning, as follows:

[0198] Step S421: the garbage truck connects the box according to the box reversing connection path, and obtains the box weight value through the weight sensor;

[0199] Step S422: Obtain the rated load capacity of the box through the database;

[0200] Step S4221: When the box weight value is greater than the box rated load, the garbage truck box is marked as a compression monitoring box;

[0201] Step S423: performing garbage compression management on the compression monitoring box, as follows:

[0202] Step S4231: Select j surface feature points on the surface of the garbage loaded in the compression monitoring box, use a height measuring instrument to obtain the vertical height distance values ​​of the j surface feature points and the bottom of the compression monitoring box, mark them as the first vertical height value to the jth vertical height value, calculate the average value of the first vertical height value to the jth vertical height value, and mark it as the garbage stacking height value;

[0203] Step S4232: obtaining a value of the bottom area inside the compression monitoring box, and obtaining a value of the stacking gap volume corresponding to the inside of the compression monitoring box by using a 3D laser scanner;

[0204] Step S4233: Calculate the compressibility reference coefficient corresponding to the compression monitoring box by using the value of the bottom area inside the compression monitoring box, the value of the stacking gap volume, and the value of the garbage stacking height;

[0205] Step S4234: obtaining a compressible reference coefficient threshold, and comparing the compressible reference coefficient with the compressible reference coefficient threshold;

[0206] Step S42341: If the compressible reference coefficient is greater than or equal to the compressible reference coefficient threshold, the garbage truck is normally connected to the box;

[0207] Step S42342: If the compressible reference coefficient is less than the compressible reference coefficient threshold, compress the garbage in the compression monitoring box until the compressible reference coefficient is equal to the compressible reference coefficient threshold or the box weight value is equal to the box rated load capacity;

[0208] Step S4222: When the box weight value is less than or equal to the box rated load, the garbage truck is normally connected to the box;

[0209] Step S43: Perform work safety monitoring according to the work monitoring data, as follows:

[0210] Step S431: obtaining the battery temperature value, the circuit working voltage value and the hydraulic pump real-time pressure value through the working monitoring data;

[0211] Step S432: obtaining a battery temperature reference value, a circuit operating voltage reference value, and a hydraulic pump real-time pressure reference value through a database;

[0212] Step S433: obtaining a garbage truck operation monitoring reference value by calculating the battery temperature value, the circuit operating voltage value, the hydraulic pump real-time pressure value, the battery temperature reference value, the circuit operating voltage reference value and the hydraulic pump real-time pressure reference value;

[0213] Step S434: obtaining the battery temperature range extreme value, the circuit operating voltage range extreme value and the hydraulic pump real-time range extreme value;

[0214] Step S435: Calculate the battery temperature range extreme value, the circuit working voltage range extreme value, the hydraulic pump real-time range extreme value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value to obtain a garbage truck working monitoring reference threshold value;

[0215] Step S436: judging the working state of the garbage truck according to the garbage truck working monitoring reference value and the garbage truck working monitoring reference threshold, as follows:

[0216] When Gj≥Gj1, the garbage truck is judged to be working abnormally and stops working;

[0217] When 0>Gj1>Gj, it is judged that the garbage truck is working normally and the garbage truck continues to work;

[0218] Step S44: Leakage monitoring of the garbage truck body is performed as follows:

[0219] Step S441: After the garbage truck has completed the normal connection of the box body, image data of the ground where the garbage truck box body is parked is obtained, and the image data is marked as ground image data of the box body parking position;

[0220] Step S4411: if there are traces of liquid accumulation in the ground image data of the box parking position, it is determined to be the first box leakage monitoring zone;

[0221] Step S4412: if there is no trace of liquid accumulation in the ground image data of the box parking position, it is determined to be the second box leakage monitoring zone;

[0222] Step S442: further leakage monitoring is performed on the garbage truck box in the first box leakage monitoring interval, as follows:

[0223] Step S4421: The garbage truck selects the road ahead as a dry detection road surface;

[0224] Step S4422: obtaining image data corresponding to the dry detection road surface when the garbage truck has not driven onto the dry detection road surface through the camera at the bottom of the vehicle compartment, and marking it as the first detection image;

[0225] Step S4423: obtaining the corresponding dry detection road surface image data after the garbage truck has traveled through the camera at the bottom of the vehicle compartment, and marking it as the second detection image;

[0226] Step S444: Compare the first detection image with the second detection image. If the first detection image is consistent with the second detection image, there is no liquid leakage in the garbage truck box. If the first detection image is inconsistent with the second detection image, there is liquid leakage in the garbage truck box, and a box leakage warning is issued.

[0227] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0228] 1. The present invention uses a garbage truck to automatically judge the passability of the road ahead. Compared with the traditional garbage truck which requires manual judgment, it improves the judgment efficiency and driving safety at the same time;

[0229] 2. The present invention realizes automatic connection between the body and the box of the non-ground garbage truck by automatically planning the reversing route, thereby improving the connection efficiency between the body and the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0230] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0231] Figure 1 is the overall system block diagram of the present invention;

[0232] Figure 2It is a diagram of the implementation steps of the present invention;

[0233] Figure 3 A schematic diagram of road width is obtained in the present invention;

[0234] Figure 4 It is a working schematic diagram of the non-ground garbage truck of the present invention;

[0235] Figure 5 It is a schematic diagram of the box connection in the present invention. DETAILED DESCRIPTION

[0236] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0237] Embodiment 1

[0238] See also Figure 1 and Figure 2 , the present invention provides a technical solution: a vehicle-mounted mechanism controller of a non-ground garbage truck, comprising a data acquisition module, a data analysis module, a data processing module and a vehicle-mounted control module, wherein the data acquisition module, the data analysis module, the data processing module and the vehicle-mounted control module are respectively connected to a server;

[0239] Also includes database;

[0240] The data acquisition module acquires basic control data;

[0241] The data acquisition module includes a road surface unit, a driving unit, a working unit and a box unit;

[0242] The pavement unit obtains the basic pavement data, as follows:

[0243] The pavement unit includes the first high-definition camera and laser rangefinder;

[0244] Acquire road image data of a road where no garbage truck is located by using a first high-definition camera;

[0245] Determine obstacles ahead on the road based on road image data;

[0246] If there is no obstacle in front of the road, the minimum road width value and the average road width value are obtained as follows:

[0247] Select n groups of road feature points on the road ahead of the garbage truck without landing, each group of road feature points includes a left side feature point and a right side feature point, wherein the left side feature point is located at the left side curb of the road, and the right side feature point is located at the right side curb of the road and is parallel to the left side feature point;

[0248] The horizontal distance values ​​of n groups of road feature points are obtained by using a laser rangefinder, which are Jl1, Jl2, Jl3...Jln respectively;

[0249] The average road width value is obtained by calculating the horizontal distance values ​​of n groups of road feature points using the road average width calculation formula;

[0250] The specific configuration of the calculation formula for the average road width is:

[0251] Among them, Jlp is the average width of the road, Jl1, Jl2, Jl3...Jln are the horizontal distance values ​​of n groups of road feature points respectively;

[0252] Compare the horizontal distance values ​​of n groups of road feature points to obtain the minimum road width value;

[0253] If there is an obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0254] See also Figure 3 , using a laser rangefinder to simultaneously emit two laser beams from the same laser emission point to both sides of the road, which are a first laser beam and a second laser beam, and obtaining laser parameter information through the laser rangefinder, obtaining length values ​​of the first laser beam and the second laser beam through the laser parameter information, obtaining a first laser beam length value and a second laser beam length value, obtaining a laser angle value formed by the first laser beam and the second laser beam through the laser parameter information, and obtaining a laser beam angle value;

[0255] The first laser beam length value, the second laser beam length value and the laser beam angle value are calculated by a road width value calculation formula to obtain a road width value;

[0256] The specific configuration of the road width calculation formula is:

[0257] Wherein, Dk is the road width value, Gu1 is the first laser beam length value, Gu2 is the second laser beam length value, and A is the laser beam angle value;

[0258] Repeat the above process, use the laser rangefinder to emit m groups of laser beams at different angles, wherein any group of laser beams consists of two laser beams, and the two laser beams form two laser points on the ground respectively, and calculate m different road width values, compare the m different road width values, define the road width value with the smallest value as the road minimum width value, calculate m different road width values, and obtain the road average width value;

[0259] It should be noted here that:

[0260] The laser rangefinder used here can obtain the length value of the emitted laser beam and the angle value formed by the two laser beams at the emission point, and store them as laser parameter information;

[0261] If there are obstacles on both sides of the road, there are obstacle surfaces at both the end points of the first laser beam and the second laser beam, then the first laser beam length value is the distance value from the laser emission point to the end point of the first laser beam, and the second laser beam length value is the distance value from the laser emission point to the end point of the second laser beam;

[0262] If there are obstacles on either side of the road, the end point of the first laser beam is on the surface of the obstacle, and the end point of the second laser beam is at the curb on the other side of the road. The projection of the end point of the first laser beam on the ground is taken as the projection of the end point of the first laser beam. The length value of the first laser beam is taken as the distance value from the laser emission point to the projection of the end point of the first laser beam, and the length value of the second laser beam is taken as the distance value from the laser emission point to the end point of the second laser beam.

[0263] The road image data, the road minimum width value and the road average width value are defined as the road surface basic data;

[0264] It should be noted here that the road width value here is specifically limited to the width value of the narrowest part of the road within 10 meters in front of the vehicle;

[0265] The driving unit obtains basic driving data, as follows:

[0266] The travel unit includes a first position sensor, a gyroscope, an accelerometer, and a vehicle body vibration sensor;

[0267] Acquire current position data of the non-grounded garbage truck through a first position sensor;

[0268] The lateral tilt angle of the body of the grounded garbage truck is obtained in real time through a gyroscope;

[0269] The acceleration values ​​of the body of the garbage truck on the ground on the X-axis, the Y-axis and the Z-axis are respectively obtained in real time through the accelerometer;

[0270] The X-axis acceleration value, the Y-axis acceleration value and the Z-axis acceleration value are calculated by using the acceleration average absolute value calculation formula to obtain the vehicle body acceleration average absolute value;

[0271] The acceleration average absolute value calculation formula is specifically configured as follows:

[0272] Wherein, Jv is the average absolute value of vehicle body acceleration, Xj is the acceleration value of X axis, Yj is the acceleration value of Y axis, and Zj is the acceleration value of Z axis;

[0273] The vehicle body vibration frequency value is obtained in real time through the vehicle body vibration sensor;

[0274] The current position data, the lateral tilt angle of the vehicle body, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration are defined as driving basic data;

[0275] The work unit obtains work monitoring data, as follows:

[0276] The working unit includes a temperature sensor, a voltage sensor and a pressure sensor;

[0277] Use temperature sensors to obtain the battery temperature value of the garbage truck in real time;

[0278] The circuit working voltage value of the non-ground garbage truck is obtained in real time through the voltage sensor;

[0279] The real-time pressure value of the hydraulic pump of the non-ground garbage truck is obtained through the pressure sensor;

[0280] The battery temperature value, circuit working voltage value and hydraulic pump real-time pressure value are defined as working monitoring data;

[0281] It should be noted that: in this embodiment, the battery temperature value is specifically limited to the temperature value of the battery cell inside the battery, and the circuit operating voltage value is specifically limited to the voltage value of the battery input terminal;

[0282] The cabinet unit obtains the basic cabinet data, as follows:

[0283] The cabinet unit includes a second position sensor and a second high-definition camera;

[0284] Acquiring box position data through a second position sensor;

[0285] Acquire environmental image data of the location of the box through a second high-definition camera;

[0286] Obtain real-time obstacle location data through LiDAR;

[0287] The obstacle real-time position data, box position data and environment image data are defined as box basic data;

[0288] It should be noted here that:

[0289] The box position data includes the position data of the current placement position of the box and the position data of the position where the box is to be placed;

[0290] Define road surface basic data, driving basic data, work monitoring data and box basic data as basic control data;

[0291] The data acquisition module acquires the basic control data and transmits it to the data analysis module and the data processing module;

[0292] The data analysis module analyzes the basic control data to obtain control analysis data;

[0293] The data analysis module obtains basic road surface data, basic driving data, work monitoring data and basic box data through basic control data;

[0294] The data analysis module includes a road surface analysis unit, a driving analysis unit and a box analysis unit;

[0295] The road surface analysis unit obtains the reference value of the obstacle blocking coefficient, which is as follows:

[0296] Obtain road image data and average road width value according to driving basic data;

[0297] Use the target detection algorithm to monitor obstacles on the road surface in the road image data and obtain the number of obstacles;

[0298] Identify the overlapping area between the obstacle image and the road image through an image recognition algorithm, and obtain the area value of the overlapping area and the area value of the road area;

[0299] The average road width value, the number of obstacles value, the area value of the overlapping area and the area value of the road area are calculated by using the obstacle blocking coefficient reference value calculation formula to obtain the obstacle blocking coefficient reference value;

[0300] The specific configuration of the reference numerical calculation formula of the obstacle blocking coefficient is:

[0301]

[0302] Wherein, Za is the reference value of obstacle blocking coefficient, Jlp is the average road width value, Scd is the overlapping area value, Sdl is the road area value, and Zd is the number of obstacles;

[0303] It should be noted here that:

[0304] Image recognition algorithm is a technology that analyzes and processes images to identify the content or features in an image. It usually involves the use of computer vision and machine learning techniques to identify objects and scenes in an image.

[0305] Object detection algorithms are a specific form of image recognition algorithms that focus on locating and identifying specific target objects in an image;

[0306] The driving analysis unit obtains a vehicle body stability reference value;

[0307] Obtain the body lateral tilt angle, body vibration frequency value, and body acceleration average absolute value through driving basic data;

[0308] The vehicle body lateral tilt angle, vehicle body vibration frequency value, and vehicle body acceleration average absolute value are calculated using a vehicle body stability reference value calculation formula to obtain a vehicle body stability reference value;

[0309] The specific configuration of the reference numerical calculation formula for vehicle body stability is:

[0310]

[0311] Among them, Cw is the reference value of vehicle body stability, Jv is the average absolute value of vehicle body acceleration, Hq is the lateral tilt angle of the vehicle body, Zd is the value of vehicle body vibration frequency, a1 is the set proportional coefficient and a1 is greater than 0;

[0312] The cabinet analysis unit obtains cabinet analysis data, as follows:

[0313] The data stored in the database includes vehicle dimension data and turning radius;

[0314] Obtain real-time obstacle location data, box location data, and environmental image data through box basic data;

[0315] Use computer vision technology to analyze environmental image data and identify the placement angle of the garbage truck box in the environmental image data;

[0316] Use APS automatic parking technology to calculate the box reversing connection path through real-time obstacle location data, vehicle size data and turning radius;

[0317] It should be noted here that:

[0318] Computer vision technology refers to the technology that uses computers and digital image processing technology to analyze, process, identify and understand images and videos;

[0319] APS (Automated Parking System) automatic parking technology is an advanced automobile intelligent parking system that allows the vehicle to automatically park without the driver's operation;

[0320] The reference value of the obstacle blocking coefficient, the reference value of the vehicle body stability and the box reversing connection path are defined as control analysis data;

[0321] The data analysis module acquires the control analysis data and transmits it to the data processing module and the vehicle control module;

[0322] The data processing module processes the basic control data and control analysis data to obtain control management data;

[0323] The data processing module includes a path planning unit and a passing judgment unit;

[0324] The path planning unit performs mobile path planning as follows:

[0325] Obtain current position data and cabinet position data through basic control data;

[0326] Map the current location data and the box location data, and generate the movement path of the garbage truck based on the map positioning;

[0327] The judgment unit is used to judge the passability of the garbage truck, as follows:

[0328] The data stored in the database also include vehicle body width value, vehicle body stability critical reference value, community road design width value, obstacle blocking critical coefficient reference value;

[0329] It should be noted here that the critical reference value of vehicle body stability, the design width value of community roads, and the reference value of critical coefficient of obstacle blocking are all specifically set by professionals in related fields and stored in the database;

[0330] Obtain the minimum road width value and the average road width value through basic control data, and obtain the obstacle blocking coefficient reference value and the vehicle body stability reference value through control analysis data;

[0331] Get the body width value through the database;

[0332] Compare the vehicle body width value with the minimum road width value;

[0333] When the vehicle body width value is greater than or equal to the minimum road width value, it is determined that the road is a first passability graded road;

[0334] When the vehicle body width value is less than the minimum road width value, the vehicle body width value, the average road width value, the obstacle blocking coefficient reference value and the vehicle body stability reference value are calculated using the road passability reference value calculation formula to obtain the road passability reference value;

[0335] The specific configuration of the calculation formula for the reference value of road passability is:

[0336]

[0337] Wherein, Dt is the reference value of road passability, Cw is the reference value of vehicle body stability, Za is the reference value of obstacle blocking coefficient, Jlp is the average road width value, and Ck is the vehicle body width value;

[0338] Obtain the critical reference value of vehicle body stability, the design width value of community roads, and the reference value of the critical coefficient of obstacle blocking through the database;

[0339] The vehicle body width value, the vehicle body stability critical reference value, the community road design width value, and the obstacle blocking critical coefficient reference value are calculated using the road passability reference threshold calculation formula to obtain a road passability reference threshold;

[0340] The specific configuration of the calculation formula for the road passability reference threshold is:

[0341]

[0342] Among them, Dt1 is the road passability reference threshold, Cw1 is the critical reference value of vehicle body stability, Za1 is the reference value of the obstacle blocking critical coefficient, Jlp1 is the design width value of the community road, and Ck is the vehicle body width value;

[0343] The road passability reference threshold is used to make a numerical judgment on the road passability reference value, as follows:

[0344] When Dt≥Dt1, the road is judged to be a road of the second passability classification;

[0345] When Dt<Dt1, it is determined that the road is a road of the first passability classification;

[0346] It should be noted here that:

[0347] Garbage trucks cannot pass normally on the roads of the first passability classification;

[0348] Garbage trucks can pass through the roads with the second passability grade normally;

[0349] The judgment result obtained according to the road passability reference threshold and the road passability reference value is defined as road passability classification data;

[0350] The moving path of garbage trucks and the road passability classification data are defined as control management data;

[0351] The data management module acquires the control management data and transmits it to the vehicle control module;

[0352] The on-board control module controls the operation of the garbage truck;

[0353] The data stored in the database also include the rated load of the box, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value;

[0354] The vehicle control module includes a control unit, a box installation unit, a work monitoring unit and a leakage monitoring unit;

[0355] The control unit performs pass control according to the road passability classification data, as follows:

[0356] Obtain road passability classification data;

[0357] For the first passability graded road, the garbage truck stops passing through the current road and re-plans the route;

[0358] For the second passability graded roads, the garbage truck moves normally according to the moving path of the garbage truck;

[0359] The box installation unit automatically connects the vehicle to the box and issues an overload warning, as follows:

[0360] The box-mounted unit includes a weight sensor, a 3D laser scanner, and a height meter;

[0361] See also Figure 5 , the garbage truck connects the box according to the box reversing connection path, and obtains the box weight value through the weight sensor;

[0362] Obtain the rated load capacity of the box through the database;

[0363] When the box weight value is greater than the box rated load, an overweight warning is issued;

[0364] When the box weight value is less than or equal to the box rated load, the garbage truck box is marked as a compression monitoring box;

[0365] The garbage compression management is performed on the compression monitoring box, as follows:

[0366] Select j surface feature points on the surface of the garbage loaded in the compression monitoring box, use a height measuring instrument to obtain the vertical height distance values ​​of the j surface feature points and the bottom of the compression monitoring box, mark them as the first vertical height value to the jth vertical height value, calculate the average value of the first vertical height value to the jth vertical height value, and mark it as the garbage stacking height value;

[0367] Obtain the value of the bottom area inside the compression monitoring box, and obtain the value of the corresponding stacking gap volume inside the compression monitoring box through a 3D laser scanner;

[0368] In this application document, three-dimensional data of the interior of the garbage truck box, including the volume of the stacking gap, can be obtained through a 3D laser scanner. The 3D laser scanner can accurately scan the space inside the box and obtain the three-dimensional coordinate information of the stacking gap at different positions, thereby calculating the volume value of the stacking gap.

[0369] The compressibility reference coefficient corresponding to the compression monitoring box is obtained by calculating the inner bottom area value of the compression monitoring box, the stacking gap volume value and the garbage stacking height value;

[0370] Calculate the compressible reference coefficient corresponding to the compression monitoring box. The specific formula is configured as follows:

[0371]

[0372] Among them, Ysx is the compressible reference coefficient corresponding to the compression monitoring box, Gdd is the garbage stacking height value, Ndj is the internal bottom area value of the compression monitoring box, and Djx is the stacking gap volume value;

[0373] It should be noted that the stacking gap volume value involved here refers specifically to the volume data corresponding to the gaps between the garbage inside the garbage bin;

[0374] Obtaining a compressible reference coefficient threshold, and comparing the compressible reference coefficient with the compressible reference coefficient threshold;

[0375] If the compressible reference coefficient is greater than or equal to the compressible reference coefficient threshold, the garbage truck is normally connected to the box;

[0376] If the compressible reference coefficient is less than the compressible reference coefficient threshold, the garbage in the compression monitoring box is compressed until the compressible reference coefficient is equal to the compressible reference coefficient threshold or the box weight value is equal to the rated load of the box;

[0377] It should be noted that the compressible reference coefficient threshold involved here can be set accordingly according to the type of garbage and the compression method. In this embodiment, the compressible reference coefficient threshold is set to 0.4;

[0378] The leakage monitoring unit monitors the leakage of the garbage truck body, as follows:

[0379] After the garbage truck has connected the box normally, image data of the ground where the garbage truck box is parked is obtained and marked as ground image data of the box parking position;

[0380] If there are traces of liquid accumulation in the ground image data of the box parking position, it is determined to be the first box leakage monitoring zone;

[0381] If there is no trace of liquid accumulation in the ground image data of the box parking position, it is determined to be the second box leakage monitoring zone;

[0382] It should be noted here that:

[0383] The liquid accumulation marks involved here are specifically the residual liquid marks left on the garbage truck body. These marks are usually caused by the leakage of liquid waste inside the garbage truck or the leakage of external liquid. The specific sources of liquid accumulation marks include but are not limited to stains, water marks, and oil marks;

[0384] The garbage truck box corresponding to the second box leakage monitoring interval involved here does not have leakage;

[0385] Further leakage monitoring is performed on the garbage truck box in the first box leakage monitoring area, as follows:

[0386] The garbage truck selects the road ahead as the dry test road;

[0387] The image data corresponding to the dry detection road surface when the garbage truck has not driven onto the dry detection road surface is obtained through the camera at the bottom of the vehicle, and is marked as a first detection image;

[0388] The dry detection road surface image data corresponding to the garbage truck driving by is obtained through the camera at the bottom of the carriage, and is marked as the second detection image;

[0389] The first detection image is compared with the second detection image. If the first detection image is consistent with the second detection image, there is no liquid leakage in the garbage truck box. If the first detection image is inconsistent with the second detection image, there is liquid leakage in the garbage truck box, and a box leakage warning is issued;

[0390] The work monitoring unit performs work safety monitoring based on the work monitoring data, as follows:

[0391] Obtain battery temperature value, circuit operating voltage value and hydraulic pump real-time pressure value through working monitoring data;

[0392] Obtain battery temperature reference value, circuit operating voltage reference value and hydraulic pump real-time pressure reference value through the database;

[0393] The battery temperature value, the circuit working voltage value, the hydraulic pump real-time pressure value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value are calculated by using the garbage truck working monitoring reference value calculation formula to obtain the garbage truck working monitoring reference value;

[0394] The specific configuration of the reference numerical calculation formula for garbage truck work monitoring is:

[0395] Gj=|(Dw-Dwj)+(Dy-Dyj)*b1+(Yb-Ybj)|;

[0396] Among them, Gj is the reference value for garbage truck work monitoring, Dw is the battery temperature value, Dy is the circuit working voltage value, Yb is the real-time pressure value of the hydraulic pump, Dwj is the battery temperature reference value, Dyj is the circuit working voltage reference value, and Ybj is the real-time pressure reference value of the hydraulic pump;

[0397] Obtain the battery temperature range extremes, circuit operating voltage range extremes and hydraulic pump real-time range extremes;

[0398] The battery temperature range extreme value, the circuit working voltage range extreme value, the hydraulic pump real-time range extreme value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value are calculated by the garbage truck working monitoring reference threshold calculation formula to obtain the garbage truck working monitoring reference threshold value;

[0399] The specific configuration of the calculation formula for the reference threshold value of garbage truck work monitoring is:

[0400] Gj1=|(Dw1-Dwj)+(Dy1-Dyj)*b1+(Yb1-Ybj)|;

[0401] Among them, Gj1 is the reference threshold for garbage truck working monitoring, Dw1 is the extreme value of the battery temperature range, Dy1 is the extreme value of the circuit working voltage range, Yb1 is the extreme value of the hydraulic pump real-time range, Dwj is the battery temperature reference value, Dyj is the circuit working voltage reference value, and Ybj is the hydraulic pump real-time pressure reference value;

[0402] It should be noted here that: the battery temperature range extreme value is the maximum absolute value of the normal battery temperature range, the circuit operating voltage range extreme value is the maximum absolute value of the normal circuit voltage range, and the hydraulic pump real-time range extreme value is the maximum absolute value of the normal hydraulic pump pressure range value. The battery temperature range extreme value, the circuit operating voltage range extreme value, and the hydraulic pump real-time range extreme value are all specifically set by staff in related fields;

[0403] The working status of the garbage truck is judged according to the garbage truck working monitoring reference value and the garbage truck working monitoring reference threshold, as follows:

[0404] When Gj≥Gj1, the garbage truck is judged to be working abnormally and stops working;

[0405] When 0>Gj1>Gj, it is judged that the garbage truck is working normally and the garbage truck continues to work;

[0406] It is particularly noted that the technical solution of the present invention can be applied to the control of an automatic driving garbage truck;

[0407] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0408] Embodiment 2

[0409] Based on another conception of the same invention, a method for controlling a vehicle-mounted mechanism of a non-ground garbage truck is proposed, comprising the following steps:

[0410] Step S1: Obtain basic control data;

[0411] Step S11: Obtain road surface basic data, as follows:

[0412] Step S111: Acquire road image data of a road where no garbage truck is located by a first high-definition camera;

[0413] Step S112: determining obstacles ahead of the road based on the road image data;

[0414] Step S1121: If there is no obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0415] Step S11211: selecting n groups of road feature points on the road ahead of the garbage truck without landing, each group of road feature points includes a left side feature point of the road and a right side feature point of the road, wherein the left side feature point of the road is located at the left side curb of the road, and the right side feature point of the road is located at the right side curb of the road and is parallel to the left side feature point of the road;

[0416] Step S11212: using a laser rangefinder to obtain horizontal distance values ​​of n groups of road feature points, which are Jl1, Jl2, Jl3, ..., Jln respectively;

[0417] Step S11213: Calculate the horizontal distance values ​​of n groups of road feature points to obtain the average road width value;

[0418] Step S11214: Compare the horizontal distance values ​​of n groups of road feature points to obtain the minimum road width value;

[0419] Step S1122: If there is an obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows:

[0420] Step S11221: using a laser rangefinder to simultaneously emit two laser beams from the same laser emission point toward both sides of the road, which are a first laser beam and a second laser beam, and obtaining laser parameter information through the laser rangefinder, obtaining length values ​​of the first laser beam and the second laser beam through the laser parameter information, obtaining a first laser beam length value and a second laser beam length value, obtaining a laser angle value formed by the first laser beam and the second laser beam through the laser parameter information, and obtaining a laser beam angle value;

[0421] Step S11222: obtaining a road width value by calculating the first laser beam length value, the second laser beam length value and the laser beam angle value;

[0422] Step S11223: repeat the above process, respectively use the laser rangefinder to emit m groups of laser beams at different angles, wherein any group of laser beams consists of two laser beams, and the two laser beams respectively form two laser points on the ground, calculate and obtain m different road width values, compare the m different road width values, define the road width value with the smallest value as the minimum road width value, calculate m different road width values, and obtain the average road width value;

[0423] Step S113: defining the road image data, the road minimum width value and the road average width value as road surface basic data;

[0424] Step S12: Obtain basic driving data, as follows:

[0425] Step S121: obtaining current position data of the garbage truck without landing through a first position sensor;

[0426] Step S122: obtaining the lateral tilt angle of the body of the grounded garbage truck in real time through a gyroscope;

[0427] Step S123: obtaining the acceleration values ​​of the body of the garbage truck on the X-axis, the Y-axis and the Z-axis in real time through the accelerometer;

[0428] Step S124: Calculating the X-axis acceleration value, the Y-axis acceleration value, and the Z-axis acceleration value to obtain an average absolute value of the vehicle body acceleration;

[0429] Step S124: obtaining the vehicle body vibration frequency value in real time through the vehicle body vibration sensor;

[0430] Step S125: defining the current position data, the lateral tilt angle of the vehicle body, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration as driving basic data;

[0431] Step S13: Obtaining work monitoring data, as follows:

[0432] Step S131: using a temperature sensor to obtain a battery temperature value of the garbage truck without grounding in real time;

[0433] Step S132: obtaining the circuit working voltage value of the non-ground garbage truck in real time through a voltage sensor;

[0434] Step S133: obtaining the real-time pressure value of the hydraulic pump of the non-ground garbage truck through a pressure sensor;

[0435] Step S134: defining the battery temperature value, the circuit operating voltage value and the hydraulic pump real-time pressure value as operating monitoring data;

[0436] Step S14: Obtain basic data of the cabinet, as follows:

[0437] Step S141: acquiring box position data through a second position sensor;

[0438] Step S142: Acquire environmental image data of the location of the box through a second high-definition camera;

[0439] Step S143: Obtaining real-time obstacle position data through a laser radar;

[0440] Step S144: defining the obstacle real-time position data, the box position data and the environment image data as the box basic data;

[0441] Step S15: defining the road surface basic data, driving basic data, work monitoring data and box basic data as basic control data;

[0442] Step S2: Analyze the basic control data to obtain control analysis data;

[0443] Step S21: Obtain the reference value of the obstacle blocking coefficient, as follows:

[0444] Step S211: acquiring road image data and average road width value according to driving basic data;

[0445] Step S212: using a target detection algorithm to monitor obstacles on the road surface in the road image data, and obtaining a number value of obstacles;

[0446] Step S213: identifying the overlapping area between the obstacle image and the road image through an image recognition algorithm, and obtaining the area value of the overlapping area and the area value of the road area;

[0447] Step S214: Obstacle blocking coefficient reference value is obtained by calculating the average road width value, the number of obstacles, the overlapping area value and the road area value;

[0448] Step S22: obtaining a vehicle body stability reference value;

[0449] Step S221: obtaining the vehicle body lateral tilt angle, vehicle body vibration frequency value, and vehicle body acceleration average absolute value through driving basic data;

[0450] Step S222: obtaining a vehicle body stability reference value by calculating the vehicle body lateral tilt angle, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration;

[0451] Step S23: Obtain cabinet analysis data, as follows:

[0452] Step S231: Obtaining obstacle real-time position data, box position data and environment image data through box basic data;

[0453] Step S232: using computer vision technology to analyze the environmental image data and identify the placement angle of the garbage truck box in the environmental image data;

[0454] Step S233: using the APS automatic parking technology to calculate the box reversing connection path based on the real-time obstacle position data, vehicle size data and turning radius;

[0455] Step S24: defining the obstacle blocking coefficient reference value, the vehicle body stability reference value and the box reversing connection path as control analysis data;

[0456] Step S3: Processing the basic control data and the control analysis data to obtain control management data;

[0457] Step S31: Perform mobile path planning, as follows:

[0458] Step S311: obtaining current position data and cabinet position data through basic control data;

[0459] Step S312: Map the current location data and the box location data, and generate a moving path for the garbage truck according to the map positioning;

[0460] Step S32: judging the passability of the garbage truck, as follows:

[0461] Step S321: obtaining a minimum road width value and an average road width value through basic control data, and obtaining an obstacle blocking coefficient reference value and a vehicle body stability reference value through control analysis data;

[0462] Step S322: obtaining a vehicle body width value from a database;

[0463] Step S323: Compare the vehicle body width value with the road minimum width value;

[0464] Step S3231: when the vehicle body width value is greater than or equal to the minimum road width value, it is determined that the road is in the first passability classification road;

[0465] Step S3232: when the vehicle body width value is less than the minimum road width value, the vehicle body width value, the average road width value, the obstacle blocking coefficient reference value and the vehicle body stability reference value are calculated to obtain a road passability reference value;

[0466] Step S3233: obtaining a critical reference value of vehicle body stability, a design width value of a residential road, and a reference value of a critical coefficient of obstacle blocking through a database;

[0467] Step S3234: Calculate the vehicle width value, the vehicle stability critical reference value, the community road design width value, and the obstacle blocking critical coefficient reference value to obtain a road passability reference threshold;

[0468] Step S3235: Use the road passability reference threshold to perform a numerical judgment on the road passability reference value, as follows:

[0469] When Dt≥Dt1, the road is judged to be a road of the second passability classification;

[0470] When Dt<Dt1, it is determined that the road is a road of the first passability classification;

[0471] Step S324: defining the judgment result obtained according to the road passability reference threshold and the road passability reference value as road passability classification data;

[0472] Step S325: defining the garbage truck moving path and road passability classification data as control management data;

[0473] Step S4: performing work control and work monitoring on the garbage truck;

[0474] Step S41: Performing pass control according to the road passability classification data, as follows:

[0475] Step S411: Obtaining road passability classification data;

[0476] Step S412: For the first passability graded road, the garbage truck stops passing through the current road and replans the route;

[0477] Step S413: For the second passability graded road, the garbage truck moves normally according to the moving path of the garbage truck;

[0478] Step S42: Automatically connect the vehicle to the box and issue an overload warning, as follows:

[0479] Step S421: the garbage truck connects the box according to the box reversing connection path, and obtains the box weight value through the weight sensor;

[0480] Step S422: Obtain the rated load capacity of the box through the database;

[0481] Step S4221: When the box weight value is greater than the box rated load, an overweight warning is issued;

[0482] Step S4222: When the box weight value is less than or equal to the box rated load, the garbage truck box is marked as a compression monitoring box;

[0483] Step S423: performing garbage compression management on the compression monitoring box, as follows:

[0484] Step S4231: Select j surface feature points on the surface of the garbage loaded in the compression monitoring box, use a height measuring instrument to obtain the vertical height distance values ​​of the j surface feature points and the bottom of the compression monitoring box, mark them as the first vertical height value to the jth vertical height value, calculate the average value of the first vertical height value to the jth vertical height value, and mark it as the garbage stacking height value;

[0485] Step S4232: obtaining a value of the bottom area inside the compression monitoring box, and obtaining a value of the stacking gap volume corresponding to the inside of the compression monitoring box by using a 3D laser scanner;

[0486] Step S4233: Calculate the compressibility reference coefficient corresponding to the compression monitoring box by using the value of the bottom area inside the compression monitoring box, the value of the stacking gap volume, and the value of the garbage stacking height;

[0487] Step S4234: obtaining a compressible reference coefficient threshold, and comparing the compressible reference coefficient with the compressible reference coefficient threshold;

[0488] Step S42341: If the compressible reference coefficient is greater than or equal to the compressible reference coefficient threshold, the garbage truck is normally connected to the box;

[0489] Step S42342: If the compressible reference coefficient is less than the compressible reference coefficient threshold, compress the garbage in the compression monitoring box until the compressible reference coefficient is equal to the compressible reference coefficient threshold or the box weight value is equal to the box rated load capacity;

[0490] Step S43: Perform work safety monitoring according to the work monitoring data, as follows:

[0491] Step S431: obtaining the battery temperature value, the circuit working voltage value and the hydraulic pump real-time pressure value through the working monitoring data;

[0492] Step S432: obtaining a battery temperature reference value, a circuit operating voltage reference value, and a hydraulic pump real-time pressure reference value through a database;

[0493] Step S433: obtaining a garbage truck operation monitoring reference value by calculating the battery temperature value, the circuit operating voltage value, the hydraulic pump real-time pressure value, the battery temperature reference value, the circuit operating voltage reference value and the hydraulic pump real-time pressure reference value;

[0494] Step S434: obtaining the battery temperature range extreme value, the circuit operating voltage range extreme value and the hydraulic pump real-time range extreme value;

[0495] Step S435: Calculate the battery temperature range extreme value, the circuit working voltage range extreme value, the hydraulic pump real-time range extreme value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value to obtain a garbage truck working monitoring reference threshold value;

[0496] Step S436: judging the working state of the garbage truck according to the garbage truck working monitoring reference value and the garbage truck working monitoring reference threshold, as follows:

[0497] When Gj≥Gj1, the garbage truck is judged to be working abnormally and stops working;

[0498] When 0>Gj1>Gj, it is judged that the garbage truck is working normally and the garbage truck continues to work;

[0499] Step S44: Leakage monitoring of the garbage truck body is performed as follows:

[0500] Step S441: After the garbage truck has completed the normal connection of the box body, image data of the ground where the garbage truck box body is parked is obtained, and the image data is marked as ground image data of the box body parking position;

[0501] Step S4411: if there are traces of liquid accumulation in the ground image data of the box parking position, it is determined to be the first box leakage monitoring zone;

[0502] Step S4412: if there is no trace of liquid accumulation in the ground image data of the box parking position, it is determined to be the second box leakage monitoring zone;

[0503] Step S442: further leakage monitoring is performed on the garbage truck box in the first box leakage monitoring interval, as follows:

[0504] Step S4421: The garbage truck selects the road ahead as a dry detection road surface;

[0505] Step S4422: obtaining image data corresponding to the dry detection road surface when the garbage truck has not driven onto the dry detection road surface through the camera at the bottom of the vehicle compartment, and marking it as the first detection image;

[0506] Step S4423: obtaining the corresponding dry detection road surface image data after the garbage truck has traveled through the camera at the bottom of the vehicle compartment, and marking it as the second detection image;

[0507] Step S444: Compare the first detection image with the second detection image. If the first detection image is consistent with the second detection image, there is no liquid leakage in the garbage truck box. If the first detection image is inconsistent with the second detection image, there is liquid leakage in the garbage truck box, and a box leakage warning is issued.

[0508] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A vehicle-mounted mechanism controller for a non-ground garbage truck, characterized in that: include: Data acquisition module: responsible for collecting road image data without grounded garbage trucks, judging whether there are obstacles, and when there are obstacles, using a laser rangefinder to measure n groups of road feature points to obtain the average road width value and the minimum road width value, and obtain basic road surface data; also responsible for collecting driving basic data, work monitoring data and box basic data, and combining them with basic road surface data to obtain basic control data; Data analysis module: used to analyze basic control data, obtain reference values ​​of obstacle blocking coefficient, vehicle body stability and box reversing connection path, and define them as control analysis data; Data processing module: used to comprehensively process basic control data and control analysis data, plan the movement path of garbage trucks, and determine the road passability classification based on the obtained road minimum width value and control analysis data, and compare them with the vehicle body width, stability standard and road design parameters in the database to obtain road passability classification data; the obtained garbage truck movement path and road passability classification data are defined as control management data; On-board control module: executes movement control of the garbage truck according to the control management data, connects the body and the box of the garbage truck according to the box reversing connection path, and performs overweight, compression management and leakage monitoring of the garbage truck based on the work monitoring data; The data processing module processes the basic control data and the control analysis data as follows: The data processing module includes a path planning unit and a passing judgment unit; The path planning unit performs mobile path planning as follows: Obtain current position data and cabinet position data through basic control data; Map the current location data and the box location data, and generate the movement path of the garbage truck based on the map positioning; The judgment unit is used to judge the passability of the garbage truck, as follows: The data stored in the database include vehicle width value, vehicle stability critical reference value, community road design width value, obstacle blocking critical coefficient reference value; Compare the vehicle body width value with the minimum road width value; When the vehicle body width value is greater than or equal to the minimum road width value, it is determined that the road is a first passability graded road; When the vehicle body width value is less than the minimum road width value, the vehicle body width value, the average road width value, the obstacle blocking coefficient reference value and the vehicle body stability reference value are used to obtain a road passability reference value; The specific configuration of the calculation formula for the reference value of road passability is: Wherein, Dt is the reference value of road passability, Cw is the reference value of vehicle body stability, Za is the reference value of obstacle blocking coefficient, Jlp is the average road width value, and Ck is the vehicle body width value; Obtain the critical reference value of vehicle body stability, the design width value of the community road, and the critical reference value Dt of the obstacle blocking coefficient through the database; The road passability reference threshold Dt1 is obtained by the vehicle width value, the vehicle stability critical reference value, the community road design width value, and the obstacle blocking critical coefficient reference value. The road passability reference threshold is used to make a numerical judgment on the road passability reference value, as follows: When Dt≥Dt1, the road is judged to be a road of the second passability classification; When Dt<Dt1, it is determined that the road is a road of the first passability classification; For the first passability graded road, the garbage truck stops passing through the current road and re-plans the route; For the second passability graded roads, the garbage truck moves normally according to the moving path of the garbage truck; The judgment result obtained according to the road passability reference threshold and the road passability reference value is defined as road passability classification data; The moving path of the garbage truck and the road passability classification data are defined as control management data.

2. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 1, characterized in that: The data acquisition module includes a road surface unit, a driving unit, a working unit and a box unit; The pavement unit obtains basic pavement data; The driving unit obtains basic driving data; The basic driving data is obtained as follows: The travel unit includes a first position sensor, a gyroscope, an accelerometer, and a vehicle body vibration sensor; Acquire current position data of the non-grounded garbage truck through a first position sensor; The lateral tilt angle of the body of the grounded garbage truck is obtained in real time through a gyroscope; The acceleration values ​​of the body of the garbage truck on the ground on the X-axis, the Y-axis and the Z-axis are respectively obtained in real time through the accelerometer; The X-axis acceleration value, the Y-axis acceleration value, and the Z-axis acceleration value are calculated to obtain the average absolute value of the vehicle body acceleration; The vehicle body vibration frequency value is obtained in real time through the vehicle body vibration sensor; The current position data, the lateral tilt angle of the vehicle body, the vehicle body vibration frequency value, and the average absolute value of the vehicle body acceleration are defined as driving basic data; The work unit obtains work monitoring data; The work monitoring data is obtained as follows: The working unit includes a temperature sensor, a voltage sensor and a pressure sensor; Use temperature sensors to obtain the battery temperature value of the garbage truck in real time; The circuit working voltage value of the non-ground garbage truck is obtained in real time through the voltage sensor; The real-time pressure value of the hydraulic pump of the non-ground garbage truck is obtained through the pressure sensor; The battery temperature value, circuit working voltage value and hydraulic pump real-time pressure value are defined as working monitoring data; The cabinet unit obtains the basic cabinet data; Get the basic data of the box, as follows: The cabinet unit includes a second position sensor and a second high-definition camera; Acquiring box position data through a second position sensor; Acquire environmental image data of the location of the box through a second high-definition camera; Obtain real-time obstacle location data through LiDAR; The obstacle real-time position data, box position data and environment image data are defined as box basic data; The road surface basic data, driving basic data, work monitoring data and box basic data are defined as basic control data.

3. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 2, characterized in that: The pavement unit obtains basic pavement data, specifically as follows: The pavement unit includes the first high-definition camera and laser rangefinder; Obtain road image data without grounded garbage trucks through the first high-definition camera; Determine obstacles ahead on the road based on road image data; If there is no obstacle in front of the road, the average road width value and the minimum road width value are obtained, as follows: Select n groups of road feature points on the road ahead of the garbage truck without landing, each group of road feature points includes a left side feature point and a right side feature point, wherein the left side feature point is located at the left side curb of the road, and the right side feature point is located at the right side curb of the road and is parallel to the left side feature point; The horizontal distance values ​​of n groups of road feature points are obtained by using a laser rangefinder, which are Jl1, Jl2, Jl3...Jln respectively; The average road width value is obtained by calculating the horizontal distance values ​​of n groups of road feature points; Compare the horizontal distance values ​​of n groups of road feature points to obtain the minimum road width value; If there is an obstacle in front of the road, the minimum road width value and the average road width value are obtained, as follows: Use a laser rangefinder to simultaneously emit two laser beams from the same laser emission point to both sides of the road, which are a first laser beam and a second laser beam, and obtain laser parameter information through the laser rangefinder, obtain length values ​​of the first laser beam and the second laser beam through the laser parameter information, obtain a first laser beam length value and a second laser beam length value, obtain a laser angle value formed by the first laser beam and the second laser beam through the laser parameter information, and obtain a laser beam angle value; The first laser beam length value, the second laser beam length value and the laser beam angle value are calculated to obtain a road width value; Repeat the above process, use the laser rangefinder to emit m groups of laser beams at different angles, wherein any group of laser beams consists of two laser beams, and the two laser beams form two laser points on the ground respectively, and calculate m different road width values, compare the m different road width values, define the road width value with the smallest value as the road minimum width value, calculate m different road width values, and obtain the road average width value; The road image data, the road minimum width value and the road average width value are defined as the road surface basic data.

4. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 1, characterized in that: The data analysis module includes a road surface analysis unit, a driving analysis unit and a box analysis unit; The road surface analysis unit obtains a reference value of an obstacle blocking coefficient; The driving analysis unit obtains a vehicle body stability reference value; Obtain the body lateral tilt angle, body vibration frequency value, and body acceleration average absolute value through driving basic data; The vehicle body lateral tilt angle, vehicle body vibration frequency value, and vehicle body acceleration average absolute value are calculated to obtain a vehicle body stability reference value; The cabinet analysis unit obtains cabinet analysis data; The data stored in the database includes vehicle dimension data and turning radius; The box analysis data is obtained as follows: Obtain real-time obstacle location data, box location data, and environmental image data through box basic data; Use computer vision technology to analyze environmental image data and identify the placement angle of the garbage truck box in the environmental image data; Use APS automatic parking technology to calculate the box reversing connection path through real-time obstacle location data, vehicle size data and turning radius; The obstacle blocking coefficient reference value, the vehicle body stability reference value and the box reversing connection path are defined as control analysis data.

5. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 4, characterized in that: The road surface analysis unit obtains a reference value of an obstacle blocking coefficient, specifically as follows: Obtain road image data and average road width value according to driving basic data; Use the target detection algorithm to monitor obstacles on the road surface in the road image data and obtain the number of obstacles; Identify the overlapping area between the obstacle image and the road image through an image recognition algorithm, and obtain the area value of the overlapping area and the area value of the road area; The reference value of the obstacle blocking coefficient is obtained by calculating the average road width value, the number of obstacles, the area value of the overlapping area and the area value of the road area.

6. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 1, characterized in that: The vehicle control module includes a control unit, a box installation unit, a work monitoring unit and a leakage monitoring unit; The data stored in the database also include the rated load of the box, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value; The control unit performs pass control according to the road passability classification data, as follows: Obtain road passability classification data; For the first passability graded road, the garbage truck stops passing through the current road and re-plans the route; For the second passability graded roads, the garbage truck moves normally according to the moving path of the garbage truck; The box installation unit automatically connects the vehicle to the box and issues an overload warning, as follows: The box-mounted unit includes a weight sensor; The garbage truck connects the box according to the box reversing connection path and obtains the box weight value through the weight sensor; Obtain the rated load capacity of the box through the database; When the box weight value is greater than the box rated load, an overweight warning is issued; When the box weight value is less than or equal to the box rated load, the garbage truck box is marked as a compression monitoring box; The garbage compression management is performed on the compression monitoring box, as follows: Select j surface feature points on the surface of the garbage loaded in the compression monitoring box, use a height measuring instrument to obtain the vertical height distance values ​​of the j surface feature points and the bottom of the compression monitoring box, mark them as the first vertical height value to the jth vertical height value, calculate the average value of the first vertical height value to the jth vertical height value, and mark it as the garbage stacking height value; Obtain the value of the bottom area inside the compression monitoring box, and obtain the value of the corresponding stacking gap volume inside the compression monitoring box through a 3D laser scanner; The compressibility reference coefficient corresponding to the compression monitoring box is obtained by calculating the inner bottom area value of the compression monitoring box, the stacking gap volume value and the garbage stacking height value; Obtaining a compressible reference coefficient threshold, and comparing the compressible reference coefficient with the compressible reference coefficient threshold; If the compressible reference coefficient is greater than or equal to the compressible reference coefficient threshold, the garbage truck is normally connected to the box; If the compressible reference coefficient is less than the compressible reference coefficient threshold, the garbage in the compression monitoring box is compressed until the compressible reference coefficient is equal to the compressible reference coefficient threshold or the box weight value is equal to the rated load of the box; The work monitoring unit performs work safety monitoring based on the work monitoring data; The leakage monitoring unit monitors the garbage truck body for leakage.

7. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 6, characterized in that: The leakage monitoring unit performs leakage monitoring on the garbage truck box, specifically as follows: After the garbage truck has connected the box normally, image data of the ground where the garbage truck box is parked is obtained and marked as ground image data of the box parking position; If there are traces of liquid accumulation in the ground image data of the box parking position, it is determined to be the first box leakage monitoring zone; If there is no trace of liquid accumulation in the ground image data of the box parking position, it is determined to be the second box leakage monitoring zone; Further leakage monitoring is performed on the garbage truck box in the first box leakage monitoring area, as follows: The garbage truck selects the road ahead as the dry test road; The image data corresponding to the dry detection road surface when the garbage truck has not driven onto the dry detection road surface is obtained through the camera at the bottom of the vehicle, and is marked as a first detection image; The dry detection road surface image data corresponding to the garbage truck driving by is obtained through the camera at the bottom of the carriage, and is marked as the second detection image; The first detection image is compared with the second detection image. If the first detection image is consistent with the second detection image, there is no liquid leakage in the garbage truck box. If the first detection image is inconsistent with the second detection image, there is liquid leakage in the garbage truck box, and a box leakage warning is issued.

8. The vehicle-mounted mechanism controller of a non-ground garbage truck according to claim 7, characterized in that: The work monitoring unit performs work safety monitoring according to the work monitoring data, as follows: Obtain battery temperature value, circuit operating voltage value and hydraulic pump real-time pressure value through working monitoring data; Obtain battery temperature reference value, circuit operating voltage reference value and hydraulic pump real-time pressure reference value through the database; The garbage truck working monitoring reference value Gj is obtained through the battery temperature value, the circuit working voltage value, the hydraulic pump real-time pressure value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value; Obtain the battery temperature range extremes, circuit operating voltage range extremes and hydraulic pump real-time range extremes; The garbage truck working monitoring reference threshold Gj1 is obtained by the battery temperature range extreme value, the circuit working voltage range extreme value, the hydraulic pump real-time range extreme value, the battery temperature reference value, the circuit working voltage reference value and the hydraulic pump real-time pressure reference value; The working status of the garbage truck is judged according to the garbage truck working monitoring reference value and the garbage truck working monitoring reference threshold, as follows: When Gj≥Gj1, the garbage truck is judged to be working abnormally and stops working; When 0>Gj1>Gj, it is judged that the garbage truck is working normally and the garbage truck continues to work.

9. A method for controlling a vehicle-mounted mechanism of a non-ground garbage truck, applicable to a vehicle-mounted mechanism controller of a non-ground garbage truck according to any one of claims 1 to 8, characterized in that: The method comprises: Step S1: Collect road image data without the garbage truck on the ground to determine whether there are obstacles; if there are obstacles, use a laser rangefinder to measure n groups of road feature points to obtain the average road width value and the minimum road width value to obtain basic road surface data; at the same time, collect driving basic data, work monitoring data and box basic data, and combine them with the basic road surface data to obtain basic control data; Step S2: Analyze the basic control data to obtain a reference value of an obstacle blocking coefficient, a reference value of vehicle body stability, and a box reversing connection path, and define them as control analysis data; Step S3: Comprehensively process the basic control data and the control analysis data to plan the movement path of the garbage truck; and based on the obtained road minimum width value and the control analysis data, compare with the vehicle width, stability standard and road design parameters in the database to determine the road passability classification and obtain road passability classification data; the obtained garbage truck movement path and road passability classification data are defined as control management data; Step S4: Execute movement control of the garbage truck according to the control management data, connect the body and box of the garbage truck according to the box reversing connection path, and perform overweight, compression management and leakage monitoring of the garbage truck based on the work monitoring data.

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