Automatic control method and system of sprinkler truck and sprinkler truck

Abstract

The present invention relates to the technical field of sprinkler trucks, and specifically to an automatic control method, system and sprinkler truck of a sprinkler truck, comprising: collecting image data on a driving route of the sprinkler truck; the image data comprises a road environment image, a sprinkler operation image, a vehicle status image and a surrounding environment image; based on the collected image data, the surrounding environment is perceived to generate an environmental perception result; wherein the environmental perception result extracts road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results related to the sprinkler truck according to the different types of image data corresponding to the road environment image, the sprinkler operation image, the vehicle status image and the surrounding environment image, and obtains environmental perception results based on the road condition assessment results, the traffic flow analysis results and the pedestrian activity monitoring results; based on the obtained environmental perception results, the actual sprinkler area of ​​the sprinkler truck when pedestrians appear is judged, thereby improving the safety and efficiency of the sprinkler operation.

Description

Technical Field

[0001] The invention relates to the technical field of sprinkler trucks, and in particular to an automatic control method and system of a sprinkler truck and a sprinkler truck. Background Art

[0002] Sprinklers, also known as spray trucks, are a common type of vehicle used for washing urban roads, dust reduction on roads, landscaping, emergency firefighting, etc. Traditional fuel-powered sprinkler trucks rely on the engine to drive the water pump through a belt drive to build up pressure. The driver controls the water pump pressure by adjusting the engine throttle, thereby controlling the amount of water sprayed.

[0003] For example, Chinese patent publication No. CN113529635A discloses a sprinkler control method, system and intelligent sprinkler truck, which collect images in front of the intelligent sprinkler truck and radar echo information during its driving process. When a pedestrian is identified in the collected image, it accurately predicts whether the pedestrian will enter the spraying range of the intelligent sprinkler truck in the future based on the radar echo information. When it is predicted that the pedestrian will enter the spraying range in the future, it accurately predicts the moment when the pedestrian enters the spraying range, and controls the intelligent sprinkler truck to stop spraying before that moment.

[0004] However, the existing technology stops watering by identifying the presence of pedestrians, which makes it easy for no watering or repeated watering of a small part to occur when passing through sections with a large number of pedestrians, resulting in poor overall watering effect and the entire road surface cannot be watered. At this time, the set watering range and related positions need to be adjusted according to the identified situation to improve the efficiency of watering. Summary of the invention

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic control method for a sprinkler truck, comprising: collecting image data on the driving route of the sprinkler truck; the image data includes road environment images, sprinkler operation images, vehicle status images and surrounding environment images.

[0006] Based on the collected image data, the surrounding environment is perceived and the environmental perception results are generated; wherein the environmental perception results extract the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results related to the sprinkler truck according to the different types of image data corresponding to the road environment image, watering operation image, vehicle status image and surrounding environment image, and obtain the environmental perception results based on the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results.

[0007] Based on the environmental perception results obtained, the actual watering area of ​​the sprinkler truck when pedestrians appear is determined.

[0008] According to the actual watering area and environmental perception results, the optimal watering path corresponding to the sprinkler truck is obtained.

[0009] An automatic control system for a sprinkler truck comprises: an image data acquisition module for acquiring various image data on the driving route of the sprinkler truck, including road environment images, sprinkler operation images, vehicle status images and surrounding environment images.

[0010] Environmental perception module: used to process and analyze the collected image data, extract road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results, and output them as environmental perception information.

[0011] Sprinkler control decision module: used to determine the actual sprinkling area of ​​the sprinkler truck based on the environmental perception results, and select the optimal sprinkling path of the sprinkler truck based on the sprinkling plan and actual environmental conditions.

[0012] Execution module: used to receive the output instructions of the sprinkler control decision module, control the nozzle and water pump of the sprinkler truck, and realize the automatic execution of the sprinkler operation.

[0013] A sprinkler truck comprises: an image data acquisition system, an environment perception unit, a sprinkler control unit and an execution system; the image data acquisition system is arranged on the sprinkler truck and is used to capture and transmit various image data on the driving route of the sprinkler truck in real time; the environment perception unit is connected to the image data acquisition system and is used to process and analyze the acquired image data and output the environment perception result; the sprinkler control unit receives the output result of the environment perception unit and intelligently decides various parameters of the sprinkler operation according to a preset algorithm; the execution system comprises a nozzle and a water pump and automatically executes the sprinkler operation according to the instruction of the sprinkler control unit.

[0014] The beneficial effects of the present invention are as follows: 1. By collecting and analyzing image data in real time, the present invention enables the sprinkler truck to more accurately determine the sprinkler area and timing, avoid unnecessary sprinkler, thereby saving water resources and improving sprinkler efficiency.

[0015] Second, the present invention can dynamically adjust the watering strategy according to factors such as road conditions, traffic flow and pedestrian activities, so that the sprinkler truck can operate efficiently and safely in various environments.

[0016] 3. The present invention monitors pedestrian activities in real time, and the sprinkler truck can adjust the watering range and time in time when encountering pedestrians, so as to avoid causing unnecessary trouble or danger to pedestrians. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 The utility model is a flow chart of an automatic control method of a sprinkler truck.

[0019] Figure 2 The present invention is a flow chart of road condition evaluation results of an automatic control method of a sprinkler truck.

[0020] Figure 3 The present invention is a flow chart of traffic flow analysis results of an automatic control method for a sprinkler truck.

[0021] Figure 4 The present invention is a flow chart of pedestrian activity monitoring results of an automatic control method of a sprinkler truck.

[0022] Figure 5 It is a system framework diagram of the automatic control system of a sprinkler truck.

[0023] Figure 6 It is a structural schematic diagram of a sprinkler truck. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. If no specific techniques or conditions are specified in the embodiments, the techniques or conditions described in the literature in the art or the product specifications are used.

[0025] See also Figure 1 , an automatic control method for a sprinkler truck, comprising: S1, collecting image data on a driving route of the sprinkler truck.

[0026] S2, perceives the surrounding environment based on the collected image data and generates environmental perception results.

[0027] S3, based on the acquired environmental perception results, determine the actual watering area of ​​the sprinkler truck when a pedestrian appears.

[0028] S4, according to the actual watering area and the environmental perception results, the optimal watering path corresponding to the sprinkler truck is obtained.

[0029] At this time, the sprinkler position refers to the starting point or target point where the water is sprayed, and the sprinkler range refers to the area that can be covered after the water is sprayed from the sprinkler position.

[0030] When identifying the movement of pedestrians, determine whether there are pedestrians in the collected images. The collected images include pedestrians on the predicted driving path of the sprinkler truck and pedestrians on both sides and behind the sprinkler truck. Since the sprinkler truck needs to move at a low speed when moving, if it appears in a turning area or an aisle in the middle of the road, the radar and video collector installed in front cannot identify the pedestrians in time, causing water to splash onto the pedestrians when spraying. At the same time, it is necessary to identify the actual traffic conditions of different roads and adjust the sprinkler truck so that it can accurately identify the surrounding conditions during all-round perception and adjust the location and time of sprinkling.

[0031] Since the sprinkler device of the sprinkler truck includes a front spray device at the front, side spray devices installed on the left and right sides, and a rear spray device installed at the rear; at this time, it is necessary to verify and identify the current task of the sprinkler truck based on the information obtained by image recognition, determine the sprayable range and sprayable path of the corresponding sprinkler truck in the current task area, and adjust the spraying amount and spraying range of the sprinkler truck according to the road conditions.

[0032] After collecting image data on the route of the sprinkler truck, the collected images are denoised according to the image data on the route at this time. After the noise reduction is completed, the edge detection algorithm is used to identify the surrounding environment, determine the road environment on the route corresponding to the current sprinkler truck and whether there are pedestrians around the sprinkler truck, and adjust the specific spraying plan of the current sprinkler truck according to these different environments to achieve intelligent control of the sprinkler truck.

[0033] The collected image data include road environment images, watering operation images, vehicle status images and surrounding environment images; at this time, the collected images are divided into four categories through the camera installed on the sprinkler truck, namely road environment images, watering operation images, vehicle status images and surrounding environment images; based on these classified images, the current road type, the specific spraying method of the sprinkler truck, the vehicle's driving speed, the steering posture and whether there are pedestrians or other vehicles around the sprinkler truck are identified. The vehicle can be a moving vehicle or a stationary vehicle.

[0034] As for the environmental perception results, the image data is divided into different types according to the road environment image, watering operation image, vehicle status image and surrounding environment image, and the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results related to the sprinkler truck are extracted. Based on the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results, the environmental perception results are obtained.

[0035] The road condition assessment results are used to assess the road surface conditions and determine the spraying volume of the sprinkler truck at that time.

[0036] like Figure 2 As shown, the method for processing the road condition includes: A1, obtaining a road environment image, extracting the vertical displacement generated by the vehicle when traveling on the road from the road environment image, and obtaining the flatness index corresponding to the road condition according to the vertical displacement generated by the vehicle and the driving distance of the vehicle in the relative road environment image.

[0037] A2, set the spraying volume of the sprinkler truck according to the flatness index.

[0038] At this time, the flatness index is expressed as the ratio of the vertical displacement generated when the vehicle is traveling on the road surface to the distance traveled by the vehicle; the ratio of the vertical displacement generated to the distance traveled by the vehicle is used to quantify the vertical displacement caused by the uneven road surface when the vehicle is traveling. At this time, when the flatness index is quantified using the ratio of the vertical displacement to the distance traveled by the vehicle, the corresponding average value of the ratio of the vertical displacement to the distance traveled by the vehicle is selected to represent the corresponding flatness index at the current position.

[0039] At this time, a set of relative image data is collected to verify the flatness of the road surface when the vehicle is driving on the current road, so that the spraying amount of the sprinkler truck can be set according to this flatness in the future.

[0040] The method for setting the spraying amount of the sprinkler truck according to the flatness is shown below.

[0041] ;in, Indicates the current spraying amount. Indicates the basic spraying amount, represents the normalization function, Indicates the current flatness index. Indicates the flatness index of the foundation, Indicates the number of times the vehicle produces vertical displacement, Indicates the total number of lanes, It represents the basic influence coefficient, which is used to adjust the influence of road surface flatness on the spraying amount. When the basic influence coefficient is large, it means that slipping and water accumulation are likely to occur when spraying in large quantities. When the basic influence coefficient is small, it means that the current road surface has little influence on the spraying amount and slipping is not likely to occur.

[0042] The current spraying amount is used as the road condition evaluation result output at this time.

[0043] The number of times the above-mentioned vehicle produces vertical displacement is to determine how many times the vehicle has vertical displacement due to poor flatness in the recognized image, and the number of times the recognized situation is set according to the number recognized in the unit time. At this time, the unit time is set to 30 seconds to determine whether the current lane is flat or concave.

[0044] The traffic flow analysis results are used to analyze the traffic flow and vehicle types on the driving route, evaluate the impact of the watering operation on traffic, and obtain the spraying range corresponding to the watering operation.

[0045] like Figure 3 As shown, the implementation method of the traffic flow analysis result is as follows: B1, according to the vehicle state image, determine the current traffic flow and vehicle type when the sprinkler truck is driving, and obtain the traffic flow coefficient about the traffic flow and the vehicle influence coefficient of the vehicle type.

[0046] B2, according to the traffic flow coefficient and the vehicle impact coefficient, set the spraying range, and output the spraying range as the traffic flow analysis result.

[0047] The traffic flow coefficient is obtained by obtaining the current traffic flow, the maximum traffic flow and the minimum traffic flow of the driving route to obtain the traffic flow coefficient.

[0048] ;in, represents the traffic flow coefficient, Indicates the current traffic flow, represents the maximum traffic flow, Represents the minimum traffic flow; the maximum traffic flow and the minimum traffic flow are obtained by extracting them from the historical driving data of the current road to obtain the relevant maximum traffic flow and the minimum traffic flow.

[0049] The vehicle impact coefficient is obtained by setting a coefficient for the vehicle according to the different vehicle types, and this coefficient is recorded as the vehicle impact coefficient.

[0050] In scenarios involving sprinkler trucks, the setting of the vehicle impact coefficient should take into account the specific impact of the sprinkler truck on the road surface; since the main function of a sprinkler truck is to spray water to cool and clean the road surface, its operation will directly lead to an increase in road surface humidity; this increase in humidity will affect the friction coefficient of the road surface, and thus affect the driving stability of the vehicle; therefore, the setting of the vehicle impact coefficient should reflect the impact of this change in friction coefficient on traffic safety and smoothness.

[0051] Therefore, the vehicle influence coefficient is expressed as obtaining the corresponding road surface in the vehicle state image, obtaining the friction coefficient corresponding to the currently identified road surface from the database, and the extracted friction coefficient includes the friction coefficient before water is sprayed and the friction coefficient after spraying. This friction coefficient is obtained by sampling the relevant road surface in advance and verifying the change in friction force, as shown in Table 1. At this time, the friction coefficient is set in a corresponding manner, and the current friction coefficient is limited to a value range of 0 to 1. The friction coefficient on the current road surface is determined by comparing the corresponding road surface in the current vehicle state image with the road surface with the friction coefficient set in the database, and the vehicle influence coefficient corresponding to the different vehicle sizes under the friction coefficient is extracted to obtain the corresponding vehicle influence coefficient; for example, small vehicles are set to 1, large vehicles are set to 0.6, and medium-sized vehicles are set to 0.8, which is used to express the impact of different vehicles on the current watering plan.

[0052] Table 1 Schematic table of friction coefficient

[0053]

[0054] According to the traffic flow coefficient and the vehicle impact coefficient, the spraying range is set by weighting the traffic flow coefficient and the vehicle impact coefficient to obtain a comprehensive coefficient, and obtaining the maximum spraying range and the minimum spraying range of the sprinkler truck to obtain the currently set spraying range.

[0055] ;in, It is expressed as the area of ​​the set spraying range. Indicates the area of ​​the maximum spraying range. Indicates the area of ​​the minimum spraying range. Represents the comprehensive coefficient; the spraying range obtained at this time mainly refers to the spatial distance or area that the sprinkler equipment can cover when spraying water. It describes a relative area after the water flow diffuses; for example, the direct nozzle of a sprinkler truck can spray 5 meters away under the maximum pressure, so its spraying range can be described as an area with a straight-line distance of 5 meters; if the spraying angle is an oblique spray, the spraying range may be a fan-shaped area with a radius of 5 meters. At this time, the spraying range finally calculated is the area value corresponding to the current spraying range.

[0056] The spraying range calculated at this time is used as the current traffic flow analysis result to determine how the spraying range should be adjusted under different traffic flows, so that a value corresponding to the current traffic flow can be set so that the final implementation effect can meet the corresponding needs.

[0057] The pedestrian activity monitoring results are used to monitor the activities of pedestrians on both sides of the road to ensure that the watering operation will not cause inconvenience or safety hazards to pedestrians. At the same time, the starting and ending points of the watering operation that need to be set, as well as the time point of the watering operation, are determined to determine the corresponding watering time and watering position of the watering operation.

[0058] like Figure 4 As shown, the implementation method of the watering moment in the pedestrian activity monitoring result includes, D1, obtaining the watering operation image and the surrounding environment image, identifying the number of pedestrians and the distribution position of pedestrians, determining the movement trend of pedestrians at each position, and calculating the corresponding movement range of pedestrians when passing the sprinkler truck, wherein the movement range represents the range in which pedestrians can actively move when approaching the sprinkler truck. This range is represented by taking the currently identified pedestrian as the center of the circle and the maximum movement distance of the pedestrian as the radius to determine the current movement range of each pedestrian.

[0059] D2, determine whether the action range intersects with the maximum spraying range of the current sprinkler truck. If the action range intersects with the maximum spraying range, the time of intersection is used as the end point of the sprinkler time, and the time when the pedestrian's action range is away from the maximum spraying range is used as the starting point of the sprinkler time. If the action range does not intersect with the maximum spraying range, the time when the current recognition is completed is used as the starting point of the sprinkler time, and the time when the sprinkler plan is completed is used as the end point of the sprinkler time, and the corresponding sprinkler time is obtained in sequence.

[0060] The watering position is realized by setting the position with the least intersection between the maximum spraying range and the pedestrian's movement range as the watering position of the sprinkler truck according to the pedestrian's movement range.

[0061] The identification of the movement trend is to track the pedestrians in continuous frames according to the obtained distribution position of the pedestrians and determine the movement trajectory of the pedestrians; calculate the moving speed and direction corresponding to the movement trajectory, predict the movement path of the pedestrians, and obtain the movement range of the pedestrians based on the obtained movement path.

[0062] At this time, a pedestrian detection algorithm is applied to identify pedestrians in the image, such as the YOLO algorithm, to realize the identification of pedestrians appearing during the sprinkler operation; at this time, the bounding box coordinates of each pedestrian can be obtained by the YOLO algorithm, and these coordinates define the position of the pedestrian; then the identified pedestrian is tracked, and the continuous frame images of the identified pedestrian are obtained, and the direction and distance of the pedestrian's movement in the continuous frame images are determined to obtain the movement trend, and it is determined whether the moving direction of the pedestrian at this time intersects with the moving direction of the current sprinkler truck. If so, the moving speed of the pedestrian and the moving speed of the sprinkler truck are calculated, and the time point when the pedestrian and the sprinkler truck intersect is predicted, and the spraying range of the sprinkler truck when the intersection occurs at this time is determined to determine that the current spraying range will not splash onto the pedestrian. At this time, the maximum spraying range of the sprinkler truck represents the combination of the fan-shaped areas in each direction to determine the actual spraying range of the current sprinkler truck. If the pedestrian enters the spraying range of the current sprinkler truck, the time and position at this time are recorded, and the pedestrian affecting the sprinkler operation is output for subsequent targeted adjustments.

[0063] The environmental perception result outputs the contents of these three results to verify that in the current corresponding environmental perception, the sprinkler operation is affected by the surrounding environment. The environmental perception result outputs the calculated sprinkler position, sprinkler time, spraying amount and spraying range. If there are multiple output data at this time, the weighted average of the corresponding data will be used as the final output result.

[0064] In the environmental perception results, the corresponding watering position and watering time have been obtained through pedestrian recognition, and the settings of the watering position and watering time have been explained. However, since the environmental perception results are through nearly static and relative position recognition methods, they have not been processed for the actual watering situation. It is necessary to judge the watering area corresponding to the watering position at this time, and judge whether the sprinkler truck can affect pedestrians when moving at this time.

[0065] The watering area refers to the area that can be affected when selecting the watering position, watering time, spraying amount and spraying range. The purpose of obtaining the watering area at this time is to enable the sprinkler truck to adjust the watering area after identifying pedestrians without hindering pedestrians and still perform normal work.

[0066] Therefore, the method of obtaining the actual watering area of ​​the sprinkler truck includes: obtaining the water spraying angle of the current nozzle as the first angle, taking the angle between the pedestrian and the nozzle as the second angle, determining the current water spraying time and water spraying speed according to the first angle and the second angle respectively, and obtaining the corresponding actual water spraying area according to the obtained water spraying time and water spraying speed.

[0067] Set the first angle , the second angle , get the basic water spraying speed of the sprinkler ,when When the pedestrian is outside the spraying range, the current spraying speed is set to the basic spraying speed of the sprinkler truck; when When the pedestrian is outside the spraying range, the current water spraying speed is set to the basic water spraying speed of the sprinkler truck. If the pedestrian is within the spraying range, the water spraying time and water spraying speed are calculated in sequence. The units used for the first angle and the second angle are both radians.

[0068] The water spraying time is expressed as: ;in, Indicates the water spraying time, which is used to quantify the time from water spraying to landing. represents the acceleration due to gravity, Indicates the height from the nozzle to the ground. Represents the first angle.

[0069] The water spraying speed is expressed as: ;in, Indicates the water spraying speed, Indicates the horizontal distance between the pedestrian and the nozzle.

[0070] The water spray angle is determined based on the range of the spray, indicating the angle at which the spray can be applied; the angle between the pedestrian and the nozzle refers to the angle of the pedestrian's position relative to the nozzle's spray direction, which determines whether the pedestrian can be sprayed at this time.

[0071] Then, after obtaining the corresponding water spraying speed, the specific actual watering area when the sprinkler truck is driving is expressed as: ;in, Indicates the actual watering area.

[0072] If the pedestrian is outside the spraying range when calculating the actual watering area, the water spraying speed at this time is replaced by the basic water spraying speed to obtain the corresponding actual watering area.

[0073] The method of obtaining the optimal watering path corresponding to the sprinkler truck based on the actual watering area and the environmental perception results includes: obtaining the actual watering area corresponding to the current watering position, judging the continuity of the actual watering area at different watering times as the first spraying coefficient, taking the ratio between the current actual watering area and the spraying range as the second spraying coefficient, taking the relationship between the current actual watering area and the spraying amount as the third spraying coefficient, obtaining a comprehensive evaluation result based on the obtained first spraying coefficient, second spraying coefficient, and third spraying coefficient, selecting the watering position with the largest value of the comprehensive evaluation result, and taking the path corresponding to the watering position with the largest value of the comprehensive evaluation result as the currently output optimal watering path.

[0074] For the first spraying coefficient, ;in, Expressed as the first spraying coefficient, , They are respectively represented as the i+1th and ith actual spraying areas, Indicates the number of watering moments, .

[0075] The second spraying coefficient is defined by the ratio of the actual spraying area to the spraying range.

[0076] The third spraying coefficient is defined by calculating the ratio of the actual watering area to the spraying amount per unit area. The third spraying coefficient that meets the preset standard is used as the third spraying coefficient output at this time. The preset standard means that when the current spraying amount per unit area meets the minimum spraying requirement, the ratio of the actual watering area to the spraying amount at this time is used as the output third spraying coefficient.

[0077] The comprehensive evaluation result is obtained by normalizing the first spraying coefficient, the second spraying coefficient, and the third spraying coefficient and taking the weighted average. The comprehensive evaluation result at this time ranges from 0 to 1. The larger the value, the better the spraying effect of the current sprinkler position. At this time, the sprinkler position with the largest calculated comprehensive effect value is selected as the output optimal sprinkler path.

[0078] like Figure 5As shown, the present invention also provides an automatic control system for a sprinkler truck, including: an image data acquisition module for collecting data corresponding to the vehicle, an environment perception module connected to the image data acquisition module, for processing the acquired data to obtain an environment perception result; a sprinkler control decision module connected to the environment perception module, for determining the current sprinkler control decision, and an execution module connected to the sprinkler control decision module, for executing the command corresponding to the sprinkler control decision module.

[0079] Image data acquisition module: used to collect various types of image data on the sprinkler truck's route, including road environment images, sprinkler operation images, vehicle status images and surrounding environment images.

[0080] Environmental perception module: used to process and analyze the collected image data, extract road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results, and output them as environmental perception information.

[0081] Sprinkler control decision module: used to determine the actual sprinkling area of ​​the sprinkler truck based on the environmental perception results, and select the optimal sprinkling path of the sprinkler truck based on the sprinkling plan and actual environmental conditions.

[0082] Execution module: used to receive the output instructions of the sprinkler control decision module, control the nozzle and water pump of the sprinkler truck, and realize the automatic execution of the sprinkler operation.

[0083] like Figure 6 As shown, a sprinkler truck includes: an image data acquisition system, an environment perception unit, a sprinkler control unit and an execution system; the image data acquisition system is configured on the sprinkler truck and is used to capture and transmit various image data on the sprinkler truck's driving route in real time; the environment perception unit is connected to the image data acquisition system and is used to process and analyze the collected image data and output the environment perception result; the sprinkler control unit receives the output result of the environment perception unit and intelligently decides various parameters of the sprinkler operation according to a preset algorithm; the execution system includes a nozzle and a water pump, and automatically executes the sprinkler operation according to the instruction of the sprinkler control unit. The operation can achieve the following functions: it can collect a variety of image data on the route of the sprinkler truck in real time, and process and analyze these data through the environmental perception module; it can extract key information such as road conditions, traffic flow and pedestrian activities according to the image data, and make intelligent decisions on the optimal watering path, spraying amount and watering time of the sprinkler truck based on this information; it can automatically control the hardware equipment of the sprinkler truck, such as nozzles and water pumps, according to the decision results, to achieve accurate and efficient watering operations; it can monitor the execution of the sprinkler operation in real time, and make dynamic adjustments according to the actual situation to ensure the quality and efficiency of the sprinkler operation.

[0084] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention and they are still covered by the protection scope of the present invention.

Claims

1. An automatic control method for a sprinkler truck, characterized in that: include: Collect image data on the route of the sprinkler truck; the image data includes road environment images, sprinkler operation images, vehicle status images and surrounding environment images; Based on the collected image data, the surrounding environment is perceived and the environmental perception results are generated; the image data are divided into different types corresponding to the road environment image, the watering operation image, the vehicle status image and the surrounding environment image, and the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results related to the watering truck are extracted, and the environmental perception results are obtained based on the road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results; The road condition assessment result is used to assess the road surface condition and determine the spraying amount of the sprinkler truck at this time; According to the vehicle status image, the current traffic flow and vehicle type when the sprinkler truck is driving are determined, the traffic flow coefficient and the vehicle influence coefficient of the vehicle type are obtained, the spraying range is set according to the traffic flow coefficient and the vehicle influence coefficient, and the spraying range is output as a traffic flow analysis result; Pedestrian activity monitoring results are used to monitor the activities of pedestrians on both sides of the road and determine the corresponding watering time and location for watering operations; The method for processing the road surface condition includes: obtaining a road environment image, extracting the vertical displacement generated when the vehicle travels on the road surface from the road environment image, obtaining a flatness index corresponding to the road surface condition according to the vertical displacement generated by the vehicle and the travel distance of the vehicle in the relative road environment image, and setting the spraying amount of the sprinkler truck according to the flatness index; ； in, Indicates the current spraying amount. Indicates the basic spraying amount, represents the normalization function, Indicates the current flatness index. Indicates the flatness index of the foundation, Indicates the number of times the vehicle produces vertical displacement, Indicates the total number of lanes, represents the basic influence coefficient; The traffic flow coefficient is obtained by obtaining the current traffic flow, the maximum traffic flow and the minimum traffic flow of the driving route to obtain the traffic flow coefficient; ； in, represents the traffic flow coefficient, Indicates the current traffic flow, represents the maximum traffic flow, Indicates minimum traffic flow; The vehicle impact coefficient is obtained by setting a coefficient for each vehicle according to the type of vehicle, and this coefficient is recorded as the vehicle impact coefficient; According to the traffic flow coefficient and the vehicle impact coefficient, the spraying range is set by weighting the traffic flow coefficient and the vehicle impact coefficient to obtain a comprehensive coefficient, and obtaining the maximum spraying range and the minimum spraying range of the sprinkler truck to obtain the currently set spraying range; ； in, It is expressed as the area of ​​the set spraying range. Indicates the area of ​​the maximum spraying range. Indicates the area of ​​the minimum spraying range. represents the comprehensive coefficient; Based on the environmental perception results obtained, the actual watering area of ​​the sprinkler truck when pedestrians appear is determined; According to the actual watering area and environmental perception results, the optimal watering path corresponding to the sprinkler truck is obtained; The method of obtaining the optimal watering path corresponding to the sprinkler truck according to the actual watering area and the environmental perception result includes: obtaining the actual watering area corresponding to the current watering position, judging the continuity of the actual watering area at different watering times as the first spraying coefficient, taking the ratio between the current actual watering area and the spraying range as the second spraying coefficient, taking the relationship between the current actual watering area and the spraying amount as the third spraying coefficient, obtaining a comprehensive evaluation result according to the obtained first spraying coefficient, second spraying coefficient, and third spraying coefficient, selecting the watering position with the largest value of the comprehensive evaluation result, and taking the path corresponding to the watering position with the largest value of the comprehensive evaluation result as the currently output optimal watering path; For the first spraying coefficient, ;in, Expressed as the first spraying coefficient, , They are respectively represented as the i+1th and ith actual spraying areas, Indicates the number of watering moments, ; The second spraying coefficient is defined by the ratio of the actual spraying area to the spraying range; The third spraying coefficient is defined by calculating the ratio of the actual watering area to the spraying amount per unit area. The third spraying coefficient that meets the preset standard is used as the third spraying coefficient output at this time. The preset standard means that when the current spraying amount per unit area meets the minimum spraying requirement, the ratio of the actual watering area to the spraying amount at this time is used as the output third spraying coefficient.

2. The automatic control method of a sprinkler truck according to claim 1, characterized in that: The implementation method of the watering time in the pedestrian activity monitoring result includes: obtaining a watering operation image and a surrounding environment image, identifying the number of pedestrians and the distribution position of pedestrians, determining the movement trend of pedestrians at each position, and calculating the corresponding movement range of pedestrians when passing the sprinkler truck, judging whether the movement range intersects with the maximum spraying range of the current sprinkler truck, if the movement range intersects with the maximum spraying range, taking the intersection time as the end point of the watering time, taking the time when the pedestrian's movement range is away from the maximum spraying range as the starting point of the watering time, if the movement range does not intersect with the maximum spraying range, taking the time when the current recognition is completed as the starting point of the watering time, and taking the time when the watering plan is completed as the end point of the watering time, and obtaining the corresponding watering time in sequence; The watering position is determined by setting the position with the least intersection between the maximum spraying range and the pedestrian's movement range as the watering position of the sprinkler truck according to the pedestrian's movement range.

3. The automatic control method of a sprinkler truck according to claim 1, characterized in that: The method for obtaining the actual watering area of ​​the sprinkler truck includes: obtaining the water spraying angle of the current nozzle as the first angle, taking the angle between the pedestrian and the nozzle as the second angle, determining the current water spraying time and water spraying speed according to the first angle and the second angle respectively, and obtaining the corresponding actual water spraying area according to the obtained water spraying time and water spraying speed.

4. An automatic control system for a sprinkler truck, using the automatic control method for a sprinkler truck as claimed in claim 1, characterized in that: include: Image data acquisition module: used to collect various image data on the route of the sprinkler truck, including road environment images, sprinkler operation images, vehicle status images and surrounding environment images; Environmental perception module: used to process and analyze the collected image data, extract road condition assessment results, traffic flow analysis results and pedestrian activity monitoring results, and output them as environmental perception information; Sprinkler control decision module: used to determine the actual sprinkler area according to the environmental perception results, and select the optimal sprinkler path for the sprinkler based on the sprinkler plan and actual environmental conditions; Execution module: used to receive the output instructions of the sprinkler control decision module, control the nozzle and water pump of the sprinkler truck, and realize the automatic execution of the sprinkler operation.

5. A sprinkler truck, using the automatic control method of a sprinkler truck as claimed in claim 1, characterized in that: include: Image data acquisition system, environmental perception unit, sprinkler control unit and execution system; The image data acquisition system is configured on the sprinkler truck and is used to capture and transmit various image data on the sprinkler truck's driving route in real time; The environmental perception unit is connected to the image data acquisition system, and is used to process and analyze the acquired image data and output the environmental perception results; the sprinkler control unit receives the output results of the environmental perception unit and intelligently decides on various parameters of the sprinkler operation according to a preset algorithm; the execution system includes a nozzle and a water pump, and automatically executes the sprinkler operation according to the instructions of the sprinkler control unit.

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