Comprehensive maintenance vehicle and control method and device thereof, and storage medium

Abstract

The present application relates to the technical field of vehicle control, and specifically discloses a comprehensive maintenance vehicle and a control method and device thereof and a storage medium, wherein the comprehensive maintenance vehicle comprises a liftable platform and a water spraying device, the water spraying device is arranged on the platform, and the water spraying device is driven to lift by the platform; the control method comprises the following steps: acquiring a driving speed of the comprehensive maintenance vehicle and environmental information of an environment in which the comprehensive maintenance vehicle is located; determining basic information of a target to be cleaned according to the environmental information; generating a cleaning path of the target to be cleaned according to the basic information and the driving speed; and controlling the platform and the water spraying device according to the cleaning path to complete cleaning of the target to be cleaned, thereby improving the working efficiency of the comprehensive maintenance vehicle and ensuring the work safety of the staff.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a comprehensive maintenance vehicle and a control method and device thereof and a storage medium. BACKGROUND

[0002] With the continuous improvement of people's environmental protection consciousness, the demand for environmental protection equipment in the society continues to grow. The vertical surface of high-altitude facilities such as city bus platforms, road signs, and billboards is also growing. These vertical surface facilities will attach a large amount of dust after long-term use, affecting the overall appearance of the city. The previous road maintenance vehicle mainly flushes the conventional road surface, and the ability to flush the vertical surface facility is limited. Even if there is a corresponding vertical surface facility cleaning process, the worker needs to climb onto the lifting platform and hold the water cannon to clean it, which greatly affects the work efficiency, is time-consuming and labor-intensive, and cannot guarantee the work safety of the worker, and is prone to cause safety accidents. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the first object of the present application is to propose a control method of a comprehensive maintenance vehicle, which can improve the work efficiency of the comprehensive maintenance vehicle and at the same time guarantee the work safety of the worker.

[0004] The second object of the present application is to propose a computer-readable storage medium.

[0005] The third object of the present application is to propose a control device of a comprehensive maintenance vehicle.

[0006] The fourth object of the present application is to propose a comprehensive maintenance vehicle.

[0007] To achieve the above objects, the first aspect of the present application proposes a control method of a comprehensive maintenance vehicle, the comprehensive maintenance vehicle comprising a liftable platform and a water spraying device, the water spraying device being arranged on the platform to drive the water spraying device to ascend and descend through the platform, the control method comprising: acquiring a driving speed of the comprehensive maintenance vehicle and environmental information of an environment in which the comprehensive maintenance vehicle is located; determining basic information of a target to be cleaned according to the environmental information; generating a cleaning path of the target to be cleaned according to the basic information and the driving speed; and controlling the platform and the water spraying device according to the cleaning path to complete the cleaning of the target to be cleaned.

[0008] The comprehensive maintenance vehicle comprises a liftable platform and a water spraying device arranged on the liftable platform, and the control method of the comprehensive maintenance vehicle comprises the following steps: firstly, acquiring a driving speed of the comprehensive maintenance vehicle and environmental information of an environment in which the comprehensive maintenance vehicle is located; then, determining basic information of a target to be cleaned according to the environmental information; generating a cleaning path of the target to be cleaned according to the basic information and the driving speed; and finally, controlling the platform and the water spraying device according to the cleaning path, thereby automatically cleaning the target to be cleaned, improving the working efficiency of the comprehensive maintenance vehicle, and ensuring the safety of workers.

[0009] In some embodiments of the present application, the comprehensive maintenance vehicle further comprises a laser radar and a visual camera, the water spraying device comprises a water cannon nozzle, and / or the basic information comprises size information and position information of the target to be cleaned.

[0010] In some embodiments of the present application, the controlling the platform and the water spraying device according to the cleaning path comprises controlling a lifting height of the platform and a water spraying angle of the water cannon nozzle according to the cleaning path, wherein the water spraying angle comprises a first direction angle and a second direction angle, the first direction is the same as the lifting direction of the platform, and the second direction is perpendicular to the lifting direction of the platform.

[0011] In some embodiments of the present application, the target to be cleaned comprises a plurality of cleaning areas, and the controlling the platform and the water spraying device according to the cleaning path comprises the following steps: step one, controlling the platform and the water spraying device to be at a preset position; step two, controlling the water spraying angle of the water spraying device to rotate in the first direction according to the cleaning path, and controlling the platform to descend to a first preset height when the water spraying angle of the water spraying device reaches a first preset angle; step three, controlling the water spraying angle of the water spraying device to rotate in the second direction by a second direction preset angle, then controlling the water spraying angle of the water spraying device to rotate in the first direction, and controlling the platform to ascend to a second preset height when the water spraying angle of the water spraying device reaches a second preset angle, so as to complete cleaning of one of the cleaning areas; and step four, continuing to control the water spraying angle of the water spraying device to rotate in the second direction by the second direction preset angle, and repeating the above steps two and three to complete cleaning of the remaining cleaning areas.

[0012] In some embodiments of the present application, the preset position of the platform is at two-thirds of the height of the target to be cleaned, and the preset position of the water spraying device is an angle at which the water cannon nozzle of the water spraying device sprays water to the top of the first cleaning area.

[0013] In some embodiments of the present application, the control method further comprises: acquiring first image information of an environment in which the comprehensive maintenance vehicle is located by the laser radar, and acquiring second image information of the environment in which the comprehensive maintenance vehicle is located by the visual camera; performing fusion processing on the first image information and the second image information to determine environmental information of the environment in which the comprehensive maintenance vehicle is located; and / or the control method further comprises: continuously acquiring a real-time driving speed of the comprehensive maintenance vehicle in the process of controlling the platform and the water spraying device according to the cleaning path; and tracking and compensating the cleaning path according to the real-time driving speed and the basic information.

[0014] In some embodiments of the present application, the control method further comprises: acquiring current environmental information of an environment in which the comprehensive maintenance vehicle is located; and adjusting a water spraying flow of the water spraying device when it is determined according to the current environmental information that there is an interference target within a preset range from the target to be cleaned.

[0015] To achieve the above object, the second aspect of the present application provides a computer readable storage medium having a control program of a comprehensive maintenance vehicle stored thereon, and the control program is executed by a processor to implement the control method of the comprehensive maintenance vehicle according to any one of the above embodiments.

[0016] The computer readable storage medium of the embodiments of the present application can improve the working efficiency of the comprehensive maintenance vehicle and ensure the safety of the workers by executing the control program of the comprehensive maintenance vehicle stored thereon by the processor.

[0017] To achieve the above object, the third aspect of the present application provides a control device of a comprehensive maintenance vehicle, the comprehensive maintenance vehicle comprising a lift platform and a water spraying device, the water spraying device being arranged on the platform to drive the water spraying device to lift by the platform, the control device comprising: an acquisition module configured to acquire a driving speed of the comprehensive maintenance vehicle and environmental information of an environment in which the comprehensive maintenance vehicle is located; a determination module configured to determine basic information of a target to be cleaned according to the environmental information; a generation module configured to generate a cleaning path of the target to be cleaned according to the basic information and the driving speed; and a control module configured to control the platform and the water spraying device according to the cleaning path to complete cleaning of the target to be cleaned.

[0018] The comprehensive maintenance vehicle of the embodiment of the present application comprises a liftable platform and a water spraying device arranged on the liftable platform, the control device of the comprehensive maintenance vehicle firstly acquires the driving speed of the comprehensive maintenance vehicle and the environmental information of the environment in which the comprehensive maintenance vehicle is located through an acquisition module, then a determination module can determine the basic information of the target to be cleaned according to the environmental information, and a generation module is used to generate the cleaning path of the target to be cleaned through the basic information and the driving speed, then a control module can control the platform and the water spraying device according to the cleaning path, and thus the automatic cleaning of the target to be cleaned is completed, the working efficiency of the comprehensive maintenance vehicle can be improved, and the work safety of the staff is ensured.

[0019] To achieve the above object, the fourth aspect of the embodiment of the present application provides a comprehensive maintenance vehicle, which comprises the control device of the comprehensive maintenance vehicle in the above embodiment.

[0020] The comprehensive maintenance vehicle of the embodiment of the present application can improve the working efficiency of the comprehensive maintenance vehicle and ensure the work safety of the staff through the control device of the comprehensive maintenance vehicle in the above embodiment.

[0021] Additional aspects and advantages of the present application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a side view of the comprehensive maintenance vehicle in one embodiment of the present application;

[0023] Figure 2 is a flow chart of the control method of the comprehensive maintenance vehicle in one embodiment of the present application;

[0024] Figure 3 is a schematic view of the target to be cleaned in one specific embodiment of the present application;

[0025] Figure 4 is a rear view of the comprehensive maintenance vehicle in one embodiment of the present application;

[0026] Figure 5 is a block diagram of the control device of the comprehensive maintenance vehicle in the embodiment of the present application;

[0027] Figure 6 is a structural block diagram of the comprehensive maintenance vehicle in the embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0029] The comprehensive maintenance vehicle and its control method and device, and storage medium are described below with reference to the drawings.

[0030] Figure 1 is a side view of the comprehensive maintenance vehicle in one embodiment of the present application.

[0031] As shown in Figure 1 , the comprehensive maintenance vehicle 1 of the present embodiment comprises a liftable platform 11 and a water spraying device 12, the water spraying device 12 is arranged on the platform 11 to drive the water spraying device 12 to be lifted by the platform 11, so as to be able to clean the target to be cleaned at different heights. The comprehensive maintenance vehicle 1 of the present embodiment further comprises a laser radar 13 and a visual camera, and the water spraying device 12 can comprise a water cannon nozzle 121. The laser radar 13 and the visual camera can be arranged in parallel along the direction of the vehicle body, Figure 1 The visual camera shown in is covered by the laser radar 13, that is, the visual camera is arranged behind the laser radar 13, of course, only one specific example is shown in the figure, the positions between the visual camera and the laser radar 13 can also be exchanged, and can also be arranged at other places of the vehicle body, and the specific arrangement can not be limited.

[0032] Figure 2 Based on the above-mentioned comprehensive maintenance vehicle, as shown in , the present application proposes a control method, which comprises the following steps:

[0033] S10, obtaining the driving speed of the comprehensive maintenance vehicle and the environmental information of the environment in which the vehicle is located.

[0034] Specifically, the comprehensive maintenance vehicle in the embodiment is generally in a driving state during operation, so the environment in which the vehicle is located is in a changing state, and thus the environment information also changes. The embodiment can be used for cleaning bus stations, billboards, and the like. Considering that some to-be-cleaned targets are transparent, such as glass, and the like, the corresponding refracted light can interfere with the laser radar in detecting the position and shape of the vertical target, but the laser radar is not affected by the light intensity. A visual camera, such as an RGB-D (Red Green Blue-Deepth, red green blue-depth) depth camera, adopts an optical triangulation imaging principle, and the imaging quality is not affected by the refracted light of the glass or transparent vertical surface, but is greatly affected by the light intensity. Therefore, the embodiment specifically acquires first image information of an environment in which the comprehensive maintenance vehicle is located by using a laser radar, and acquires second image information of the environment in which the comprehensive maintenance vehicle is located by using a visual camera; and the first image information and the second image information are fused to determine environment information of the environment in which the comprehensive maintenance vehicle is located. After the laser radar and the visual camera are installed on the comprehensive maintenance vehicle, a transformation matrix [R, T] between a coordinate system of the laser radar and a coordinate system of the visual camera can be solved by using a laser radar and visual camera joint calibration tool kit in an Autoware system. Subsequently, target object information of a to-be-cleaned target and a pedestrian, a vehicle, and the like in a cleaning area extracted by the visual camera is mapped to the coordinate system of the laser radar, and the laser radar point cloud data is subjected to ROI (Region of Interest, region of interest) region extraction, filtering, and wall surface segmentation according to the fusion detection result, and finally three-dimensional size information and position information of the to-be-cleaned target are extracted by using an Euclidean clustering algorithm, so as to realize accurate positioning of the to-be-cleaned target and the pedestrian, the vehicle, and the like in the cleaning area.

[0035] More specifically, the imaging advantages and disadvantages of the laser radar and the visual camera are complementary, so that the first image information acquired by the laser radar and the second image information acquired by the visual camera are fused, and relatively accurate environment information can be acquired. The environment information includes the to-be-cleaned target in the operation area, and can also include a pedestrian, other vehicles, and the like between the vehicle and the to-be-cleaned target.

[0036] In addition, the driving speed of the comprehensive maintenance vehicle in the embodiment can be directly detected by using a speed sensor, or can be calculated by detecting the rotating speed of a driving motor, a wheel, and the like, and the specific acquisition manner is not limited herein.

[0037] S20, determining basic information of the to-be-cleaned target according to the environment information.

[0038] Specifically, after obtaining the environment information of the environment where the comprehensive maintenance vehicle is located, the basic information of the target to be cleaned can be further determined. In some examples, the basic information includes size information, position information, and area differentiation information, etc. As shown in Figure 3 The length of the target to be cleaned is D, the height is H, and it can be divided into three cleaning areas, namely cleaning area A, cleaning area B and cleaning area C.

[0039] S30, generating a cleaning path of the target to be cleaned according to the basic information and the driving speed.

[0040] Specifically, after determining the basic information and the driving speed, in order not to affect the driving of other vehicles on the road, the comprehensive maintenance vehicle needs to be in a driving state during work. Therefore, in order to complete the cleaning of the target to be cleaned while the comprehensive maintenance vehicle is driving, the embodiment can construct a cleaning path according to the basic information and the driving speed, so that the comprehensive maintenance vehicle can complete the cleaning of the target to be cleaned while driving through the target to be cleaned. Of course, the driving state of the comprehensive maintenance vehicle in this embodiment can be limited only on roads with more traffic. In some cases with less traffic or other special cases, the comprehensive maintenance vehicle can be parked to clean the target to be cleaned.

[0041] It can be understood that the cleaning path in this embodiment can be the optimal cleaning path calculated and generated by the comprehensive maintenance vehicle according to the fusion of the basic information and the driving speed. The optimality of the cleaning path can be reflected in the control complexity of the comprehensive maintenance vehicle. Of course, in some embodiments, the cleaning path also needs to refer to the cleaning aperture of the water cannon nozzle in the water spraying device, and the cleaning aperture of the water cannon nozzle in this embodiment can be set to a default preset value.

[0042] S40, controlling the platform and the water spraying device according to the cleaning path to complete the cleaning of the target to be cleaned.

[0043] Specifically, after determining the cleaning path, the platform and the water spraying device can be controlled so that the comprehensive maintenance vehicle can clean the target to be cleaned according to the cleaning path, and complete the cleaning of the target to be cleaned.

[0044] More specifically, in some embodiments, controlling the platform and the water spraying device according to the cleaning path includes controlling the lifting height of the platform and the water spraying angle of the water spraying device according to the cleaning path, wherein the water spraying angle includes a first direction angle and a second direction angle, the first direction is the same as the lifting direction of the platform, and the second direction is perpendicular to the lifting direction of the platform.

[0045] By adjusting the lifting height of the platform, the height of the water spraying device can be adjusted, and then different heights of the target to be cleaned can be adapted, for example, when cleaning the top of the bus station, the platform needs to be raised, and when cleaning the bottom of the bus station, the platform needs to be lowered. In order to adapt to more targets to be cleaned, the water spraying angle of the water cannon nozzle can also be controlled in this embodiment, which includes the control of two direction angles, the first direction can be the same as the direction of the platform lifting, that is, the water cannon nozzle is controlled to rotate up and down, and the second direction can be perpendicular to the direction of the platform lifting, that is, the water cannon nozzle is controlled to rotate left and right. More specifically, a first motor and a second motor can be provided to adapt to the control of the water cannon nozzle in the first direction and the second direction respectively, and an encoder corresponding to the first motor and the second motor is arranged to control the motor through the encoder, and then the nozzle angle is adjusted through the motor, so as to complete the control of the water spraying angle of the water cannon nozzle.

[0046] In some embodiments of the application, the control method of the comprehensive maintenance vehicle further comprises: continuously acquiring the real-time driving speed of the comprehensive maintenance vehicle during the control of the platform and the water spraying device according to the cleaning path; tracking and compensating the cleaning path according to the real-time driving speed and the basic information.

[0047] Specifically, during the cleaning of the target to be cleaned by the comprehensive maintenance vehicle according to the cleaning path, since the comprehensive maintenance vehicle is in a driving state, the real-time driving speed of the vehicle can also be continuously acquired, and then a new cleaning path is reconstructed according to the real-time driving speed and the basic information, and then it is compared whether the new cleaning path deviates from the old cleaning path. If there is no deviation, the control of the comprehensive maintenance vehicle according to the old cleaning path is continued to complete the cleaning of the target to be cleaned; and if there is a deviation, the old cleaning path can be compensated according to the new cleaning path, so that the old cleaning path can track the new cleaning path, and then the cleaning path is adjusted in real time, which can ensure that the cleaning path can adapt to the current driving speed of the comprehensive maintenance vehicle, and also can ensure that the target to be cleaned can be fully cleaned.

[0048] In this embodiment, the control method of the comprehensive maintenance vehicle further comprises: acquiring current environmental information of the environment where the comprehensive maintenance vehicle is located; and when it is determined according to the current environmental information that there is an interference target within a preset range from the target to be cleaned, the water spraying flow of the water spraying device is adjusted.

[0049] Specifically, in the process of controlling the comprehensive maintenance vehicle to clean the target to be cleaned, the current environment information of the environment where the comprehensive maintenance vehicle is located needs to be acquired continuously, and it is determined in real time according to the current environment information whether there is an interference target within the preset range from the target to be cleaned. If there is, the water flow of the water spraying device can be adjusted, and if there is not, the target to be cleaned can be continued to be cleaned according to the current water flow. Wherein, the water flow of the water spraying device can be reduced, or the water spraying device can be directly closed, of course, the specific adjustment can be determined according to the distance between the interference target and the target to be cleaned, for example, when the distance between the interference target and the target to be cleaned is within 3 meters, the water spraying device can be closed, and when the distance between the interference target and the target to be cleaned is within 5 meters outside 3 meters, the water flow can be reduced. In one embodiment of the present application, see Figure 4 , the platform 11 can adjust the platform height Y according to the height H of the target to be cleaned and the distance X between the target to be cleaned and the platform 11, and the height of the platform 11 can be determined by the ultrasonic sensor 14 arranged on the platform 11. The water spraying device 12 automatically rotates left and right or up and down according to the cleaning area of the target to be cleaned, and the rotation encoder can measure the up and down rotation angle α and the left and right rotation angle β in real time.

[0050] In some embodiments of the present application, the target to be cleaned includes a plurality of cleaning areas, and the platform and the water spraying device are controlled according to the cleaning path, including: step one, controlling the platform and the water spraying device to be in a preset position; step two, controlling the water spraying angle of the water spraying device to rotate in a first direction according to the cleaning path, and when the water spraying angle of the water spraying device reaches a first preset angle, controlling the platform to descend to a first preset height; step three, controlling the water spraying angle of the water spraying device to rotate in a second direction by a second direction preset angle, and then controlling the water spraying angle of the water spraying device to rotate in the first direction, and when the water spraying angle of the water spraying device reaches a second preset angle, controlling the platform to ascend to a second preset height, so as to complete the cleaning of one cleaning area; step four, continuing to control the water spraying angle of the water spraying device to rotate in the second direction by the second direction preset angle, and repeating the above steps two and three to complete the cleaning of the remaining cleaning areas.

[0051] Specifically, the target to be cleaned can be divided into a plurality of cleaning areas to be cleaned, and the spacing between adjacent cleaning areas to be cleaned can be set to be consistent. In the process of cleaning the target to be cleaned by the control platform and the water spraying device, the following steps can be included: the control platform and the water spraying device are in a preset position. In this embodiment, the preset position can be that the platform height is raised to two-thirds of the height of the target to be cleaned, and the water spraying angle of the water cannon nozzle in the water spraying device is an angle corresponding to the top of the first cleaning area to be cleaned. After the platform and the water spraying device have been in the preset position, the water spraying angle of the water cannon nozzle can be controlled to rotate in a first direction. Specifically, the water spraying angle of the water cannon nozzle can be controlled to rotate downward to clean the first cleaning area to be cleaned from top to bottom. When the water spraying angle of the water cannon nozzle is a first preset angle, the cleaning area to be cleaned has not been completely cleaned at this time, but if the water cannon nozzle continues to rotate downward, it may affect the water spraying force, resulting in incomplete cleaning or affecting the normal operation of the comprehensive maintenance vehicle. Therefore, the platform is controlled to descend to a first preset height, which can be determined according to the height of the cleaning area to be cleaned. Then, the water spraying angle of the water cannon nozzle is controlled to rotate in a second direction by a second direction preset angle, that is, the water cannon nozzle is controlled to align with the second half of the first cleaning area to be cleaned, and the first half has been cleaned. Then, the water cannon nozzle is controlled to clean the second half of the first cleaning area to be cleaned from bottom to top. When the water spraying angle of the water cannon nozzle reaches a second preset angle, the platform is controlled to rise to a second preset height. The second preset angle and the second preset height can be referred to the description of the preset position in this embodiment. Through the above control of the water cannon nozzle and the platform, the cleaning of the first cleaning area to be cleaned can be completed. Then, the water spraying angle of the water cannon nozzle is controlled to rotate in the second direction by the second direction preset angle to align with the second cleaning area to be cleaned, and the above steps are repeated to clean the second cleaning area to be cleaned. In short, through the adjustment of the water spraying angle of the water cannon nozzle in the water spraying device and the height adjustment of the platform, the cleaning areas to be cleaned in the target to be cleaned are sequentially cleaned in sequence. The specific cleaning sequence can even be adjusted according to the actual application scene. This embodiment gives a more commonly used and widely used way.

[0052] More specifically, in combination with Figure 3 and Figure 4Taking the parked car washing as an example, first, the height H and width D of the target to be washed can be obtained by the laser radar 13, the visual camera 14 and the related algorithm, and the target is located at the right side X of the comprehensive maintenance vehicle 1, and the water spraying device 12 is opposite to the target washing area B. The ultrasonic sensor 14 and the rotary encoder on the vehicle 1 can obtain the height Y of the water spraying device 12 from the ground, the up-down rotation angle α and the left-right rotation angle β. The washing process starts from the top of the washing area A, and then the washing area A below, the washing area B above, the washing area B below, the washing area C above and the washing area C below are sequentially washed. The washing steps are described in detail as follows:

[0053] In the first step, the position of the water spraying device 12 is raised to Y=2 / 3H of the target to be washed by the automatic lifting function of the platform 11, and then the up-down rotation angle α of the water spraying device 12 is controlled to be ATAN((1 / 3)H / X), and the left-right rotation angle β is controlled to be ATAN((5 / 12)D / X). It should be noted that the specific value of the left-right rotation angle can be determined according to the width D of the target to be washed and the divided area. The left-right rotation angle involved below is the same.

[0054] In the second step, the water spraying device 12 starts to spray water to wash the target to be washed, and at the same time, the up-down rotation angle α of the water spraying device 12 starts to rotate from top to bottom, and rotates to ATAN((1 / 3)H / X), and then the platform 11 starts to descend to the position corresponding to the height YO of the platform 11.

[0055] In the third step, the water spraying device 12 is controlled to rotate to the right, and rotates to ATAN((3 / 12)D / X), and then the up-down rotation angle α of the water spraying device 12 starts to rotate from bottom to top, and rotates from ATAN((1 / 3)H / X) to ATAN((1 / 3)H / X), and then the platform 11 is controlled to rise to the position corresponding to the height Y=2 / 3H.

[0056] At this time, the washing of the washing area A is completed, and then the washing of the washing area B is started.

[0057] In the fourth step, the left-right rotation angle β of the water spraying device 12 is controlled to rotate to the right, and rotates to ATAN((1 / 12)D / X), and then the up-down rotation angle α rotates from top to bottom, and rotates to ATAN((1 / 3)H / X), and then the platform 11 starts to descend to the position corresponding to the height YO of the platform 11.

[0058] The fifth step controls the left and right rotation angle of the water spraying device 12 to continue rotating to the right, and rotates to β=-ATAN((1 / 12)D / X), and then the up and down rotation angle α starts rotating from the bottom to the top, rotates from α=-ATAN((1 / 3)H / X) to α=ATAN((1 / 3)H / X), and then controls the platform 11 to rise to the position corresponding to the height Y=2 / 3H.

[0059] At this time, the cleaning of the cleaning area B is completed, and then the cleaning of the cleaning area C is started.

[0060] The sixth step controls the left and right rotation angle of the water spraying device 12 to continue rotating to the right, and rotates to β=-ATAN((3 / 12)D / X), and then the up and down rotation angle α rotates from the top to the bottom, and rotates to α=-ATAN((1 / 3)H / X), and then the platform 11 starts to descend to the position corresponding to the height YO of the platform 11.

[0061] The seventh step controls the left and right rotation angle of the water spraying device 12 to continue rotating to the right, and rotates to β=-ATAN((5 / 12)D / X), and then the up and down rotation angle α starts rotating from the bottom to the top, rotates from α=-ATAN((1 / 3)H / X) to α=ATAN((1 / 3)H / X), and then controls the platform 11 to rise to the position corresponding to the height Y=2 / 3H, and stops the cleaning work of the water spraying device.

[0062] The eighth step controls the up and down rotation angle α and the left and right rotation angle β of the water spraying device 12 to rotate back to the initial position 0 degree, and the platform 11 also descends to the position corresponding to the initial position height YO, at this time, the cleaning of the cleaning area is completed.

[0063] In summary, the control program of the comprehensive maintenance vehicle in the embodiment of the application can improve the working efficiency of the comprehensive maintenance vehicle, and at the same time, guarantees the operation safety of the workers.

[0064] Further, the application provides a computer readable storage medium, which stores the control program of the comprehensive maintenance vehicle, and the control program is executed by a processor to realize the control method of the comprehensive maintenance vehicle in any one of the above embodiments.

[0065] The computer readable storage medium of the embodiment of the application executes the control program of the comprehensive maintenance vehicle stored thereon by a processor, which can improve the working efficiency of the comprehensive maintenance vehicle, and at the same time, guarantees the operation safety of the workers.

[0066] Figure 5 The figure is a control device block diagram of the comprehensive maintenance vehicle in the embodiment of the application.

[0067] Further, as Figure 5As shown, the present application provides a control device 100 of an integrated maintenance vehicle, wherein the integrated maintenance vehicle comprises a liftable platform and a water spraying device arranged on the platform to be driven to lift by the platform, the control device 100 comprises an acquisition module 101, a determination module 102, a generation module 103 and a control module 104.

[0068] The acquisition module 101 is configured to acquire a driving speed of the integrated maintenance vehicle and environmental information of an environment in which the integrated maintenance vehicle is located; the determination module 102 is configured to determine basic information of a target to be cleaned according to the environmental information; the generation module 103 is configured to generate a cleaning path of the target to be cleaned according to the basic information and the driving speed; and the control module 104 is configured to control the platform and the water spraying device according to the cleaning path to complete cleaning of the target to be cleaned.

[0069] In some embodiments of the present application, the integrated maintenance vehicle further comprises a laser radar and a visual camera, and the water spraying device comprises a water cannon nozzle; and / or the basic information comprises size information and position information of the target to be cleaned.

[0070] In some embodiments of the present application, the control module 104 is specifically configured to control a lifting height of the platform and a water spraying angle of the water spraying device according to the cleaning path, wherein the water spraying angle comprises a first direction angle and a second direction angle, the first direction is the same as the lifting direction of the platform, and the second direction is perpendicular to the lifting direction of the platform.

[0071] In some embodiments of the present application, the target to be cleaned comprises a plurality of cleaning areas, and the control module 104 is specifically configured to: step one, control the platform and the water spraying device to be at a preset position; step two, control the water spraying angle of the water spraying device to rotate in the first direction according to the cleaning path, and control the platform to descend to a first preset height when the water spraying angle of the water spraying device reaches a first preset angle; step three, control the water spraying angle of the water spraying device to rotate in the second direction by a second direction preset angle, then control the water spraying angle of the water spraying device to rotate in the first direction, and control the platform to ascend to a second preset height when the water spraying angle of the water spraying device reaches a second preset angle, so as to complete cleaning of one of the cleaning areas; and step four, continue to control the water spraying angle of the water spraying device to rotate in the second direction by the second direction preset angle, and repeat the above steps two and three to complete cleaning of the remaining cleaning areas.

[0072] In some embodiments of the present application, the preset position of the platform is at two-thirds of the height of the target to be cleaned, and the preset position of the water spraying device is an angle at which the water cannon nozzle of the water spraying device sprays to the top of the first cleaning area.

[0073] In some embodiments of the present application, the acquisition module 101 is further configured to: acquire first image information of an environment in which the comprehensive maintenance vehicle is located by a laser radar, and acquire second image information of the environment in which the comprehensive maintenance vehicle is located by a visual camera; perform fusion processing on the first image information and the second image information to determine environment information of the environment in which the comprehensive maintenance vehicle is located; and / or the acquisition module 101 is further configured to: continuously acquire a real-time driving speed of the comprehensive maintenance vehicle in the process of controlling the platform and the water spraying device according to the cleaning path; and the control module 104 is further configured to: track and compensate the cleaning path according to the real-time driving speed and the basic information.

[0074] In some embodiments of the present application, the acquisition module 101 is further configured to: acquire current environment information of an environment in which the comprehensive maintenance vehicle is located; and the control module 104 is further configured to: when it is determined according to the current environment information that there is an interference target within a preset range from the target to be cleaned, adjust a water spraying flow of the water spraying device.

[0075] It should be noted that the specific implementation of the control device of the comprehensive maintenance vehicle in the above embodiments can refer to the specific implementation of the control method of the comprehensive maintenance vehicle in the above embodiments, and to avoid redundancy, it will not be described here.

[0076] In summary, the control device of the comprehensive maintenance vehicle in the embodiments of the present application can improve the working efficiency of the comprehensive maintenance vehicle, while ensuring the safety of the workers.

[0077] Figure 6 is a structural block diagram of the comprehensive maintenance vehicle in the embodiments of the present application.

[0078] Further, as shown in Figure 6 the present application proposes a comprehensive maintenance vehicle 200, which comprises the control device 100 of the comprehensive maintenance vehicle in the above embodiments.

[0079] The comprehensive maintenance vehicle in the embodiments of the present application can improve the working efficiency of the comprehensive maintenance vehicle through the control device of the comprehensive maintenance vehicle in the above embodiments, while ensuring the safety of the workers.

[0080] In addition, other components and functions of the comprehensive maintenance vehicle in the embodiments of the present application are known to those skilled in the art, and to reduce redundancy, they will not be described here.

[0081] It is to be appreciated that the above description and the examples that follow are intended to be illustrative only and that changes can be made to the description and examples without departing from the scope of the application. Note also that the use of particular brand names in the description is solely for illustration and should not be construed as an endorsement of such brands.

[0082] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, can be used: a hybrid of the technologies mentioned above, discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and so forth.

[0083] In the description of the present application, reference has been made to the use of terms such as "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the present application. The illustrative examples given are not necessarily to be construed as preferred or advantageous or with the exclusion of other equally valid examples that can be particularly adapted to a given application. Furthermore, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and operation described. Accordingly, all suitable modifications and equivalents should be included within the scope of the present application.

[0084] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0085] In addition, the terms "first", "second", and the like used in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features referred to in the embodiments. Therefore, the features defined with "first", "second" and the like in the embodiments of the present application can be explicitly or implicitly indicated to include at least one of the features. In the description of the present application, the meaning of the word "plurality" is at least two or two or more, such as two, three, four, etc., unless otherwise specifically limited in the embodiments.

[0086] In the present application, unless otherwise specifically provided or limited in the embodiments, the terms "mounting", "connecting", "connecting" and "fixing" and the like appearing in the embodiments should be understood broadly, for example, the connection can be fixed connection, or detachable connection, or integral, which can be understood, or can be mechanical connection, electrical connection, etc. Of course, it can also be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific implementation situation.

[0087] In the present application, unless otherwise specifically provided and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0088] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that variations, modifications, substitutions and changes can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A control method of an integrated maintenance vehicle, characterized by, The comprehensive maintenance vehicle comprises a liftable platform and a water spraying device arranged on the platform and driven to lift by the platform, and the control method comprises: obtaining the driving speed of the comprehensive maintenance vehicle and the environmental information of the environment in which the comprehensive maintenance vehicle is located; determining the basic information of the target to be cleaned according to the environmental information; generating a cleaning path of the target to be cleaned according to the basic information and the driving speed; controlling the platform and the water spraying device according to the cleaning path to complete the cleaning of the target to be cleaned; The target to be cleaned comprises a plurality of cleaning areas, and the control of the platform and the water spraying device according to the cleaning path comprises: Step 1: control the platform and the water spraying device to be in a preset position; Step 2: control the water spraying angle of the water spraying device to rotate in a first direction according to the cleaning path, and control the platform to descend to a first preset height when the water spraying angle of the water spraying device reaches a first preset angle; Step 3: control the water spraying angle of the water spraying device to rotate in a second direction by a second preset angle, then control the water spraying angle of the water spraying device to rotate in the first direction, and control the platform to ascend to a second preset height when the water spraying angle of the water spraying device reaches a second preset angle, to complete the cleaning of one of the cleaning areas; Step 4: continue to control the water spraying angle of the water spraying device to rotate in the second direction by the second preset angle, and repeat the above steps 2 and 3 to complete the cleaning of the remaining cleaning areas, wherein the first direction is the same as the lifting direction of the platform, and the second direction is perpendicular to the lifting direction of the platform.

2. The control method according to claim 1, characterized by, The comprehensive maintenance vehicle further comprises a laser radar and a visual camera, and the water spraying device comprises a water cannon nozzle; And / or The basic information comprises size information and position information of the target to be cleaned.

3. The control method according to claim 2, characterized by, The control of the platform and the water spraying device according to the cleaning path comprises: controlling the lifting height of the platform and the water spraying angle of the water spraying device according to the cleaning path, wherein the water spraying angle comprises a first direction angle and a second direction angle.

4. The control method according to claim 1, characterized by, The preset position of the platform is two-thirds of the height of the target to be cleaned, and the preset position of the water spraying device is the water spraying angle of the water cannon nozzle of the water spraying device, which is the angle corresponding to the top of the first cleaning area.

5. The control method according to claim 2, characterized by, The control method further comprises: obtaining first image information of the environment in which the comprehensive maintenance vehicle is located by the laser radar, and obtaining second image information of the environment in which the comprehensive maintenance vehicle is located by the visual camera; fuse the first image information and the second image information to determine the environmental information of the environment in which the comprehensive maintenance vehicle is located; And / or The control method further comprises: continuously obtaining the real-time driving speed of the comprehensive maintenance vehicle during the control of the platform and the water spraying device according to the cleaning path; track and compensate the cleaning path according to the real-time driving speed and the basic information.

6. The control method according to claim 5, characterized by The control method further comprises: acquire current environment information of an environment where the comprehensive maintenance vehicle is located; when it is determined according to the current environment information that there is an interference target within a preset range from the target to be cleaned, the water flow of the water spraying device is adjusted.

7. A computer-readable storage medium, characterized in that, A storage medium having stored thereon a control program of a comprehensive maintenance vehicle, the control program being executed by a processor to implement the control method of the comprehensive maintenance vehicle according to any one of claims 1-6.

8. A control device of an integrated maintenance vehicle, characterized by comprising: The comprehensive maintenance vehicle comprises a liftable platform and a water spraying device, the water spraying device being arranged on the platform to be driven to lift by the platform, and the control device comprises: an acquisition module configured to acquire a driving speed of the comprehensive maintenance vehicle and environment information of an environment where the comprehensive maintenance vehicle is located; a determination module configured to determine basic information of a target to be cleaned according to the environment information; a generation module configured to generate a cleaning path of the target to be cleaned according to the basic information and the driving speed; a control module configured to control the platform and the water spraying device according to the cleaning path to complete cleaning of the target to be cleaned; The target to be cleaned comprises a plurality of cleaning areas, and the control module is further configured to: step one, control the platform and the water spraying device to be at a preset position; step two, control a water spraying angle of the water spraying device to rotate in a first direction according to the cleaning path, and control the platform to descend to a first preset height when the water spraying angle of the water spraying device reaches a first preset angle; step three, control the water spraying angle of the water spraying device to rotate in a second direction by a second preset angle, then control the water spraying angle of the water spraying device to rotate in the first direction, and control the platform to ascend to a second preset height when the water spraying angle of the water spraying device reaches a second preset angle, to complete cleaning of one of the cleaning areas; step four, continue to control the water spraying angle of the water spraying device to rotate in the second direction by the second preset angle, and repeat the above step two and step three to complete cleaning of the remaining cleaning areas, wherein the first direction is the same as the lifting direction of the platform, and the second direction is perpendicular to the lifting direction of the platform.

9. An integrated maintenance vehicle, characterized by The control device of the comprehensive maintenance vehicle according to claim 8. The control device of the comprehensive maintenance vehicle according to claim 8.

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