Garbage loading capacity intelligent detection method and system suitable for unmanned sanitation vehicle

Abstract

The invention discloses a garbage loading capacity intelligent detection method and system suitable for an unmanned sanitation vehicle. The method comprises the steps that in response to vehicle power-on operation and sweeping system starting operation of the unmanned sanitation vehicle, a power distribution box supplies power to a vehicle control unit and a photoelectric sensor; the photoelectric sensor collects first distance information from the top of a loading garbage can corresponding to the unmanned sanitation vehicle to currently loaded garbage, determines a first voltage signal value based on the first distance information and a preset first logic relation table, and transmits the first voltage signal value to the vehicle control unit; the vehicle control unit determines second distance information according to the first voltage signal value and a preset second logic relation table, and determines the current garbage loading capacity according to the second distance information and a preset third logic relation table; according to the embodiment of the invention, through the technical scheme, the garbage loading capacity of the environmental sanitation system on the whole vehicle can be accurately calculated, and the garbage loading capacity can be monitored in real time, so that the environmental sanitation difficulty is reduced, and the environmental sanitation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent monitoring of garbage loading volume, and in particular to an intelligent detection method and system for garbage loading volume suitable for unmanned sanitation vehicles. Background Art

[0002] At present, traditional sanitation vehicles, including dry garbage trucks, wet garbage trucks, sweepers, washers, roller sweepers and other models, are unable to monitor and detect the internal loading conditions of garbage bins in real time, which has always been a pain point in the industry. As a result, the operation of traditional sanitation vehicles has the following problems: sanitation vehicles are always overflowing with garbage. If the overflow occurs, it will greatly increase the difficulty of sanitation and pose a certain risk; because operators do not know the internal loading conditions, they often only rely on experience or the naked eye to observe the approximate loading volume, which generally only reaches 80% loading rate. Once too much is loaded, there will be a risk of overflowing, and the consequences are disastrous. Summary of the invention

[0003] In view of this, the present invention provides an intelligent detection method and system for garbage loading capacity suitable for unmanned sanitation vehicles, which can accurately calculate the garbage loading capacity of the sanitation system installed on the entire vehicle, realize real-time monitoring and surveillance of the garbage loading capacity, prevent garbage overflow, thereby reducing the difficulty of sanitation and eliminating loading risks.

[0004] According to one aspect of the present invention, an embodiment of the present invention provides a method for intelligently detecting the amount of garbage loaded on an unmanned sanitation vehicle, and uses an intelligent detection system for the amount of garbage loaded, the intelligent detection system for the amount of garbage loaded comprising a power distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on a loading garbage bin in the cleaning system; the method for intelligently detecting the amount of garbage loaded comprises:

[0005] In response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system, the power distribution box supplies power to the vehicle controller and the photoelectric sensor;

[0006] The photoelectric sensor collects first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determines a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmits the first voltage signal value to the vehicle controller;

[0007] The vehicle controller determines the second distance information based on the first voltage signal value and a preset second logical relationship table, and determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin based on the second distance information and a preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

[0008] According to another aspect of the present invention, an embodiment of the present invention further provides a garbage loading intelligent detection system adapted to an unmanned sanitation vehicle, the garbage loading intelligent detection system comprising: a power distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on a loading garbage bin in the cleaning system;

[0009] The power distribution box is used to supply power to the vehicle controller and the photoelectric sensor in response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system;

[0010] The photoelectric sensor is used to collect first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determine a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmit the first voltage signal value to the vehicle controller;

[0011] The vehicle controller is used to determine the second distance information based on the first voltage signal value and a preset second logical relationship table, and to determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin based on the second distance information and a preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

[0012] According to another aspect of the present invention, an embodiment of the present invention further provides an unmanned sanitation vehicle, wherein the unmanned sanitation vehicle comprises the intelligent detection system for garbage loading amount as described in any embodiment of the present invention.

[0013] The technical effect of the present invention is that the first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage is collected through a photoelectric sensor, and a first voltage signal value is determined based on the first distance information and a preset first logical relationship table. Then, the second distance information is determined according to the first voltage signal value and a preset second logical relationship table through the vehicle controller, and the current garbage loading amount is determined according to the second distance information and a preset third logical relationship table, thereby enabling accurate calculation of the garbage loading amount of the sanitation system installed on the vehicle, achieving real-time monitoring and surveillance of the garbage loading amount, preventing garbage overflow, thereby reducing the difficulty of sanitation and eliminating loading risks.

[0014] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A flowchart of an intelligent detection method for garbage loading amount of an unmanned sanitation vehicle provided in one embodiment of the present invention;

[0017] Figure 2 A flow chart of another intelligent detection method for garbage loading amount of an unmanned sanitation vehicle provided in one embodiment of the present invention;

[0018] Figure 3 A logical relationship diagram between first distance information and first voltage signal value provided by an embodiment of the present invention;

[0019] Figure 4 A diagram showing the relationship between load and distance information provided by an embodiment of the present invention;

[0020] Figure 5 A flowchart of another intelligent detection method for garbage loading amount of an unmanned sanitation vehicle provided in an embodiment of the present invention;

[0021] Figure 6 A structural block diagram of a garbage loading intelligent detection system for an unmanned sanitation vehicle provided in one embodiment of the present invention;

[0022] Figure 7 A structural block diagram of an unmanned sanitation vehicle provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In one embodiment, Figure 1 A flow chart of a method for intelligently detecting the garbage loading amount of an unmanned sanitation vehicle provided for one embodiment of the present invention. This embodiment can be applied to situations in which real-time intelligent monitoring of the garbage loading amount of an unmanned sanitation vehicle is performed. The method can be executed by an intelligent detection system for garbage loading amount of an unmanned sanitation vehicle.

[0026] like Figure 1 As shown, the intelligent detection method for garbage loading capacity of unmanned sanitation vehicles in this embodiment uses an intelligent detection system for garbage loading capacity, which includes a distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on the loading garbage box in the cleaning system.

[0027] In this embodiment, the intelligent detection method of garbage loading volume specifically includes the following steps:

[0028] S110. In response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system, the power distribution box supplies power to the vehicle controller and the photoelectric sensor.

[0029] Among them, the cleaning system can be understood as a device used to clean garbage in an unmanned sanitation vehicle.

[0030] In this embodiment, when the power-on operation of the unmanned sanitation vehicle is effective, it is first determined whether the cleaning system is started. When the cleaning system is in the started state, it means that the operation of loading garbage can be performed. At this time, the distribution box needs to supply power to the vehicle controller and the photoelectric sensor so that the vehicle controller and the photoelectric sensor can perform subsequent operations. It can be understood that the distribution box supplies power to the electrical components in the vehicle, and the vehicle controller CCU is the control system and communication system of the vehicle. It should be noted that the unmanned sanitation vehicle in this embodiment may include but is not limited to dry garbage trucks, wet garbage trucks, sweepers, washers, roller sweepers and other models.

[0031] S120. The photoelectric sensor collects first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determines a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmits the first voltage signal value to the vehicle controller.

[0032] The first distance information refers to the distance between the top of the loading garbage bin and the currently loaded garbage. The first voltage signal value refers to the voltage signal value corresponding to the first distance information after conversion.

[0033] In this embodiment, the preset first logical relationship table includes a logical relationship table of the first distance information and the first voltage signal value formed according to the first conversion relationship. The first conversion relationship is the proportional conversion relationship between the first distance information and the first voltage signal value. The proportional relationship is a positive proportional relationship. It can be understood that the closer the first distance information is (that is, the smaller the distance value is), the smaller the corresponding first voltage signal value is. On the contrary, the farther the first distance information is (that is, the larger the distance value is), the larger the corresponding first voltage signal value is. The setting of the proportional value in the positive proportional relationship in this embodiment is related to the model of the photoelectric sensor, that is, it is determined by the model of the photoelectric sensor. For example, for the sensor of model a1, the relationship between the distance signal and the voltage signal value is a 2-fold relationship. For the sensor of model b1, the relationship between the distance signal and the voltage signal value is a 3-fold relationship.

[0034] In this embodiment, the photoelectric sensor sends infrared rays to the garbage currently loaded on the unmanned vehicle, and returns the first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage. A first logical relationship table formed by the proportional relationship between distance and voltage is configured inside the photoelectric sensor. Based on the first distance information and the formed first logical relationship table, a first voltage signal value corresponding to the first distance information can be determined, and then the first voltage signal value is transmitted to the vehicle controller.

[0035] S130, the vehicle controller determines the second distance information according to the first voltage signal value and the preset second logical relationship table, and determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

[0036] The second distance information is the distance information from the top of the loading garbage bin to the currently loaded garbage. It should be noted that the second distance information and the first distance information in this embodiment are the same distance information. The preset second logical relationship table includes a logical relationship table of the first voltage signal value and the second distance information formed according to the second conversion relationship. It can be understood that the first logical relationship table and the second logical relationship table are different expressions of the same logical relationship table.

[0037] In this embodiment, the preset third logical relationship table is a logical relationship table formed by the current garbage loading amount and the second distance information according to the third conversion relationship. The second distance information and the current garbage loading amount are inversely proportional. It can be understood that the closer the second distance information is (that is, the smaller the distance value is), the larger the corresponding current garbage loading amount is. Conversely, the farther the second distance information is (that is, the larger the distance value is), the smaller the corresponding current garbage loading amount is.

[0038] In this embodiment, the vehicle controller first determines whether the analog voltage value transmitted by the photoelectric sensor is collected. If the vehicle controller does not collect it, it determines that the photoelectric sensor is in an offline fault state, reports the fault of the photoelectric sensor to the vehicle operation and maintenance management platform, and displays the fault; when the vehicle controller collects the analog voltage value transmitted by the photoelectric sensor, the vehicle controller determines the second distance information based on the first voltage signal value and the preset second logical relationship table, and determines the proportion of the current garbage volume loaded to the loading volume of the loading garbage bin based on the second distance information and the preset third logical relationship table. It can be understood that the volume of garbage is calculated as length*width*height. Since the length and width are unchanged, only the height is considered at this time (the height is the second distance information from the top of the loading garbage bin to the current loaded garbage in this embodiment), so the current remaining loading volume can be represented by the volume of garbage.

[0039] The technical solution of the embodiment of the present invention collects the first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage through a photoelectric sensor, determines the first voltage signal value based on the first distance information and a preset first logical relationship table, and then determines the second distance information according to the first voltage signal value and a preset second logical relationship table through the vehicle controller, and determines the current garbage loading amount according to the second distance information and a preset third logical relationship table, thereby enabling accurate calculation of the garbage loading amount of the sanitation system installed on the vehicle, achieving real-time monitoring and surveillance of the garbage loading amount, preventing garbage overflow, thereby reducing the difficulty of sanitation and eliminating loading risks.

[0040] In one embodiment, the method further includes: after the vehicle controller determines the ratio of the volume of the currently loaded garbage to the volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, it also includes:

[0041] The vehicle controller determines whether to go to the next garbage loading point based on the current cruising range of the unmanned sanitation vehicle, the current garbage loading volume and a preset first loading volume threshold.

[0042] The preset first load threshold is a load threshold set by the user based on experience. Exemplarily, the preset first load threshold is set to 95%.

[0043] In this embodiment, after the vehicle controller determines the ratio of the volume of the currently loaded garbage to the volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, the vehicle controller also determines whether to go to the next garbage loading point according to the current cruising range of the unmanned sanitation vehicle, the current garbage loading amount and the preset first loading amount threshold. Specifically, the vehicle controller obtains the current cruising range of the unmanned sanitation vehicle, and when the cruising range does not exceed the preset first loading amount threshold, it determines that the current cruising range can meet the requirements of going to the next garbage loading point for loading. When the cruising range exceeds the preset first loading amount threshold, it determines that the current cruising range is insufficient and directly returns to the garbage station for garbage unloading. In this embodiment, whether to go to the next garbage loading point is determined by the current cruising range, the current garbage loading amount and the preset first loading amount threshold, and further by associating the loading amount with the cruising range, the sanitation efficiency is improved, and no human judgment is performed.

[0044] In one embodiment, after the vehicle controller determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, it also includes:

[0045] The vehicle controller reports the current garbage loading volume to the operation display screen in the vehicle operation and maintenance management platform, so that the user can remotely control the unmanned sanitation vehicle to return when the current garbage loading volume reaches the preset second loading volume threshold, or dump the garbage and restart operation.

[0046] Among them, the preset second loading threshold is also the loading threshold set by the user based on experience. In this embodiment, the preset second loading threshold and the preset first loading threshold can be the same threshold or different thresholds, and this embodiment does not make specific restrictions here.

[0047] In this embodiment, after the vehicle controller determines the ratio of the volume of the currently loaded garbage to the volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, the vehicle controller also reports the current garbage loading volume to the operation display screen in the vehicle operation and maintenance management platform, so that the user can remotely control the unmanned sanitation vehicle to return when the current garbage loading volume reaches the preset second loading volume threshold, or dump the garbage and restart the operation. It can be understood that the platform can detect the garbage loading situation at this moment in real time in the background. If the garbage is full at this time, the vehicle can be remotely controlled in the background to return the volume, or dump the garbage and restart the operation.

[0048] In one embodiment, before the vehicle controller determines the second distance information according to the first voltage signal value and the preset second logical relationship table, it also includes:

[0049] If the voltage signal value is not received, it is determined that the photoelectric sensor is in an offline fault state, and the fault of the photoelectric sensor is reported to the vehicle operation and maintenance management platform, and the fault is displayed.

[0050] In this embodiment, the photoelectric sensor needs to transmit the voltage signal value to the vehicle controller. At this time, the vehicle controller needs to first determine whether the voltage signal value can be received. If the voltage signal value is not received, it is determined that the photoelectric sensor is in an offline fault state, and the fault of the photoelectric sensor is reported to the vehicle operation and maintenance management platform, and the fault is displayed; if it can be received, the target distance information from the top of the loading garbage bin to the currently loaded garbage is determined according to the voltage signal value, and the current garbage loading capacity is determined according to the second distance information and the preset third logical relationship table.

[0051] In one embodiment, Figure 2 A flow chart of another intelligent detection method for garbage loading volume of an unmanned sanitation vehicle provided for an embodiment of the present invention. Based on the above embodiments, this embodiment further refines the first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage collected by the photoelectric sensor, the first voltage signal value is determined based on the first distance information and the preset first logical relationship table, and the vehicle controller determines the second distance information according to the first voltage signal value and the preset second logical relationship table, and determines the ratio of the garbage volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table.

[0052] like Figure 2 As shown, the intelligent detection method of garbage loading capacity applicable to unmanned sanitation vehicles in this embodiment may specifically include the following steps:

[0053] S210: In response to the vehicle power-on operation of the unmanned sanitation vehicle and the cleaning system start-up operation, the power distribution box supplies power to the vehicle controller and the photoelectric sensor.

[0054] S220. The photoelectric sensor collects first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, and searches for a first voltage signal value matching the first distance information in a preset first logical relationship table.

[0055] Among them, the preset first logical relationship table includes a logical relationship table of the first distance information and the first voltage signal value formed according to the first conversion relationship; the first distance information and the first voltage signal value present a one-to-one correspondence; wherein the first conversion relationship is a directly proportional conversion relationship between the first distance information and the first voltage signal value.

[0056] In this embodiment, the conversion correspondence between the first distance information and the first voltage signal value can be obtained according to the first conversion relationship to form a corresponding first logical relationship table, and then the first distance information is matched with the first logical relationship table to find the first voltage signal value corresponding to the first distance information.

[0057] Exemplarily, in order to better understand the first logical relationship table between distance information and voltage, Figure 3 1 is a logical relationship diagram of a first distance information and a first voltage signal value provided by an embodiment of the present invention, and Table 1 is a comparison table of a first distance information and a first voltage signal value provided by an embodiment of the present invention when the first distance information and the first voltage signal value are in a 2-fold positive proportional relationship. Figure 3 As shown, the X-axis is voltage, the Y-axis is distance, and the distance and voltage are in direct proportion.

[0058] Table 1: Comparison table of the first distance information and the first voltage signal value when the value is in direct proportion to each other by 2 times

[0059] First distance information The first voltage signal value 0 0 0.2 0.1 0.4 0.2 0.6 0.3 0.8 0.4 1.0 0.5 1.2 0.6 1.4 0.7 1.6 0.8 1.8 0.9 2.0 1.0

[0060] S230. The vehicle controller searches a preset second logical relationship table for second distance information that matches the first voltage signal value.

[0061] Among them, the first logical relationship table and the second logical relationship table are different expressions of the same logical relationship table; the preset second logical relationship table includes a logical relationship table of the first voltage signal value and the second distance information formed according to the second conversion relationship; the first voltage signal value and the second distance information present a one-to-one correspondence; wherein the second conversion relationship is a directly proportional conversion relationship between the first voltage signal value and the second distance information.

[0062] In this embodiment, the vehicle controller matches the first voltage signal value with the second logical relationship table to search for the second distance information corresponding to the first voltage signal value in the second logical relationship table. It can be understood that the vehicle controller converts the first voltage signal value into the second distance information corresponding to the first voltage signal value through the second logical relationship table.

[0063] It should be noted that the first logical relationship table and the second logical relationship table are different expressions of the same logical relationship table.

[0064] Exemplarily, in order to facilitate a better understanding of searching the second logical relationship table for target distance information corresponding to a voltage signal value, Table 2 is a logical relationship table of second distance information corresponding to a first voltage signal value provided in an embodiment of the present invention. The second logical relationship table and the first logical relationship table can be understood as the same table, except that the correspondence between the distance information and the voltage signal value is swapped.

[0065] Table 2: Logical relationship table of the second distance information corresponding to the first voltage signal value

[0066]

[0067] S240, matching the second distance information with a preset third logical relationship table, to find out the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin corresponding to the second distance information in the third logical relationship table, and taking the ratio as the current garbage loading amount.

[0068] In this embodiment, after the vehicle controller obtains the second distance information, it matches the second distance information with the third logical relationship table to find the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin corresponding to the second distance information in the third logical relationship table; wherein, the second distance information and the loading volume in the third logical relationship table present a one-to-one correspondence. It can be understood that the vehicle controller obtains the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin through the logical conversion between the distance and the loading volume of the second distance information.

[0069] Exemplarily, to facilitate a better understanding of the third logical relationship table, Figure 4 is a diagram showing the relationship between load and distance information provided by an embodiment of the present invention. Table 3 is a table showing the logical relationship between load and distance provided by an embodiment of the present invention. Figure 4 It can be seen that the distance and the load are inversely proportional.

[0070] Table 3: Logical relationship between load and distance

[0071] Loading capacity distance 90％ 0.1 80％ 0.2 70％ 0.3 60％ 0.4 50％ 0.5 40％ 0.6 30％ 0.7 20％ 0.8 10％ 0.9 0.0 1.0

[0072] The technical solution of the embodiment of the present invention is to use a photoelectric sensor to search for a first voltage signal value matching the first distance information in a preset first logical relationship table, and a vehicle controller to search for second distance information matching the first voltage signal value in a preset second logical relationship table; the second distance information is matched with a preset third logical relationship table to search in the third logical relationship table for the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin corresponding to the second distance information, and use the ratio as the current garbage loading amount, which can further realize accurate calculation of the garbage loading amount of the sanitation system installed on the vehicle, realize real-time monitoring and surveillance of the garbage loading amount, prevent garbage overflow, thereby reducing the difficulty of sanitation, increasing sanitation efficiency, and eliminating loading risks.

[0073] In order to better understand the intelligent detection method of garbage loading capacity suitable for unmanned sanitation vehicles, Figure 5A flowchart of another intelligent detection method for garbage loading amount of an unmanned sanitation vehicle provided in accordance with an embodiment of the present invention.

[0074] like Figure 5 As shown, the intelligent detection method of garbage loading capacity suitable for unmanned sanitation vehicles specifically includes the following steps:

[0075] a1. Determine whether the key on in the vehicle is valid. If it is valid, execute a3; if it is invalid, execute a2.

[0076] a2. End.

[0077] a3. Determine whether the cleaning system is started. If the cleaning system is started, continue to execute a5; if the cleaning system is not started, execute a4.

[0078] a4. Check the reason why the cleaning system did not start and restart it.

[0079] a5. The photoelectric sensor collects the first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, presets a first logical relationship table based on the first distance information to determine the first voltage signal value, and transmits the first voltage signal value to the vehicle controller.

[0080] a6. The CCU determines whether the first voltage signal value transmitted by the photoelectric sensor is collected. If so, execute a7; if not, execute a8.

[0081] a7. Determine that the photoelectric sensor is in an offline fault state, report the fault of the photoelectric sensor to the vehicle operation and maintenance management platform, and display the fault.

[0082] a8. After the CCU receives the first voltage signal value sent by the photoelectric sensor, it determines the second distance information according to the first voltage signal value and the preset second logical relationship table, and determines the ratio of the current loaded garbage volume to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, which is the loading capacity.

[0083] a9. CCU reports the current garbage loading volume to the operation display screen in the vehicle operation and maintenance management platform, so that the user can remotely control the unmanned sanitation vehicle to return when the current garbage loading volume reaches the preset second loading volume threshold, or dump the garbage and restart the operation.

[0084] a10. The CCU determines whether to proceed to the next garbage loading point based on the current cruising range of the unmanned sanitation vehicle, the current garbage loading volume, and a preset first loading volume threshold.

[0085] In one embodiment, Figure 6A structural block diagram of a garbage loading intelligent detection system suitable for an unmanned sanitation vehicle provided in one embodiment of the present invention.

[0086] like Figure 6 As shown, the garbage loading intelligent detection system includes: a power distribution box 610, a cleaning system 620, a vehicle controller 640 and a photoelectric sensor 630; the photoelectric sensor 630 is installed on the loading garbage box in the cleaning system 620;

[0087] The power distribution box 610 is used to supply power to the vehicle controller 640 and the photoelectric sensor 630 in response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system 620;

[0088] The photoelectric sensor 630 is used to collect first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determine a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmit the first voltage signal value to the vehicle controller 640;

[0089] The vehicle controller 640 is used to determine the second distance information based on the first voltage signal value and the preset second logical relationship table, and to determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin based on the second distance information and the preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

[0090] In one embodiment, the power distribution box is connected to the vehicle controller and the photoelectric sensor respectively; and the photoelectric sensor is connected to the vehicle controller.

[0091] In an embodiment of the present invention, a photoelectric sensor is used to collect first distance information from the top of a loading garbage bin corresponding to an unmanned sanitation vehicle to the currently loaded garbage, a first voltage signal value is determined based on the first distance information and a preset first logical relationship table, and then, a whole vehicle controller is used to determine second distance information according to the first voltage signal value and a preset second logical relationship table, and a current garbage loading amount is determined according to the second distance information and a preset third logical relationship table, thereby enabling accurate calculation of the garbage loading amount of the whole vehicle-mounted sanitation system, achieving real-time monitoring and surveillance of the garbage loading amount, preventing garbage overflow, thereby reducing the difficulty of sanitation and eliminating loading risks.

[0092] In one embodiment, the vehicle controller is used to determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, and further includes:

[0093] The vehicle controller is also used to determine whether to go to the next garbage loading point based on the current cruising range of the unmanned sanitation vehicle, the current garbage loading volume and a preset first loading volume threshold.

[0094] In one embodiment, the vehicle controller is used to determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, and further includes:

[0095] The vehicle controller is also used to report the current garbage loading volume to the operation display screen in the vehicle operation and maintenance management platform, so that the user can remotely control the unmanned sanitation vehicle to be turned back when the current garbage loading volume reaches a preset second loading volume threshold, or restart the operation after dumping the garbage.

[0096] In one embodiment, the preset first logical relationship table includes a logical relationship table of the first distance information and the first voltage signal value formed according to a first conversion relationship; the first distance information and the first voltage signal value present a one-to-one correspondence; wherein the first conversion relationship is a directly proportional conversion relationship between the first distance information and the first voltage signal value;

[0097] Accordingly, the photoelectric sensor is used to determine the first voltage signal value based on the first distance information and a preset first logical relationship table, including:

[0098] The photoelectric sensor searches the preset first logical relationship table for a first voltage signal value that matches the first distance information.

[0099] In one embodiment, the first logic relationship table and the second logic relationship table are different expressions of the same logic relationship table; the preset second logic relationship table includes a logic relationship table of the first voltage signal value and the second distance information formed according to a second conversion relationship; the first voltage signal value and the second distance information present a one-to-one correspondence; wherein the second conversion relationship is a direct proportional conversion relationship between the first voltage signal value and the second distance information;

[0100] The preset third logical relationship table includes a logical relationship table formed by the current garbage loading amount and the second distance information according to a third conversion relationship; wherein the third conversion relationship is an inverse proportional conversion relationship between the current garbage loading amount and the second distance information.

[0101] In one embodiment, the vehicle controller is used to determine the second distance information according to the first voltage signal value and a preset second logical relationship table, and determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and a preset third logical relationship table, including:

[0102] The vehicle controller searches the preset second logical relationship table for second distance information matching the first voltage signal value;

[0103] The second distance information is matched with the preset third logical relationship table to find the ratio of the current loaded garbage volume to the loading volume of the loading garbage bin corresponding to the second distance information in the third logical relationship table, and the ratio is used as the current garbage loading amount.

[0104] In one embodiment, before the vehicle controller is used to determine the second distance information according to the first voltage signal value and the preset second logical relationship table, it also includes:

[0105] The vehicle controller is used to determine that the photoelectric sensor is in an offline fault state if the first voltage signal value is not received, report the fault of the photoelectric sensor to the vehicle operation and maintenance management platform, and display the fault.

[0106] The intelligent detection system for garbage loading capacity of unmanned sanitation vehicles provided in the embodiment of the present invention can execute the intelligent detection method for garbage loading capacity of unmanned sanitation vehicles provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0107] In one embodiment, Figure 7The structural block diagram of an unmanned sanitation vehicle provided by an embodiment of the present invention. The unmanned sanitation vehicle includes a garbage loading intelligent detection system as described in any embodiment of the present invention. Specifically, the unmanned sanitation vehicle includes a garbage loading intelligent detection system adapted to the unmanned sanitation vehicle, and the garbage loading intelligent detection system adapted to the unmanned sanitation vehicle further includes: a power distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on the loading garbage bin in the cleaning system; in this embodiment, the power distribution box is connected to the vehicle controller and the photoelectric sensor respectively; the photoelectric sensor is connected to the vehicle controller. The photoelectric sensor collects the distance from the top of the loading garbage bin to the garbage, and the photoelectric sensor converts the detected distance into an analog voltage signal and sends it to the CCU; after the CCU receives the analog voltage signal sent by the photoelectric sensor, it calculates the distance between the top of the loading garbage bin and the garbage at this time; the CCU converts the garbage volume at this time to the proportion of the loading volume of the loading garbage bin; the CCU reports the garbage loading volume at this time to the vehicle operation and maintenance platform and the operation display screen in real time.

[0108] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0109] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent detection method for garbage loading capacity of an unmanned sanitation vehicle, characterized in that: An intelligent garbage loading detection system is used, which includes a power distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on the loading garbage box in the cleaning system; The intelligent detection method of garbage loading amount comprises: In response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system, the power distribution box supplies power to the vehicle controller and the photoelectric sensor; The photoelectric sensor collects first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determines a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmits the first voltage signal value to the vehicle controller; The vehicle controller determines the second distance information based on the first voltage signal value and a preset second logical relationship table, and determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage box based on the second distance information and a preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

2. The method according to claim 1, characterized in that: After the vehicle controller determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, the vehicle controller further includes: The vehicle controller determines whether to go to the next garbage loading point according to the current cruising range of the unmanned sanitation vehicle, the current garbage loading volume and a preset first loading volume threshold.

3. The method according to claim 1, characterized in that: After the vehicle controller determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and the preset third logical relationship table, the vehicle controller further includes: The vehicle controller reports the current garbage loading volume to the operation display screen in the vehicle operation and maintenance management platform, so that the user can remotely control the unmanned sanitation vehicle to return when the current garbage loading volume reaches a preset second loading volume threshold, or restart operation after dumping the garbage.

4. The method according to claim 1, characterized in that: The preset first logical relationship table includes a logical relationship table of the first distance information and the first voltage signal value formed according to a first conversion relationship; the first distance information and the first voltage signal value present a one-to-one correspondence; wherein the first conversion relationship is a direct proportional conversion relationship between the first distance information and the first voltage signal value; Correspondingly, the photoelectric sensor determines the first voltage signal value based on the first distance information and a preset first logical relationship table, including: The photoelectric sensor searches the preset first logical relationship table for a first voltage signal value that matches the first distance information.

5. The method according to claim 1, characterized in that The first logic relationship table and the second logic relationship table are different expressions of the same logic relationship table; the preset second logic relationship table includes a logic relationship table of the first voltage signal value and the second distance information formed according to a second conversion relationship; The first voltage signal value and the second distance information present a one-to-one correspondence; wherein the second conversion relationship is a directly proportional conversion relationship between the first voltage signal value and the second distance information; The preset third logical relationship table includes a logical relationship table formed by the current garbage loading amount and the second distance information according to a third conversion relationship; wherein the third conversion relationship is an inverse proportional conversion relationship between the current garbage loading amount and the second distance information.

6. The method according to claim 5, characterized in that The vehicle controller determines the second distance information according to the first voltage signal value and a preset second logic relationship table, and determines the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage bin according to the second distance information and a preset third logic relationship table, including: The vehicle controller searches the preset second logical relationship table for second distance information matching the first voltage signal value; The second distance information is matched with the preset third logical relationship table to find the ratio of the current loaded garbage volume corresponding to the second distance information to the loading volume of the loading garbage bin in the third logical relationship table, and the ratio is used as the current garbage loading amount.

7. The method according to claim 1, characterized in that Before the vehicle controller determines the second distance information according to the first voltage signal value and the preset second logical relationship table, the method further includes: If the first voltage signal value is not received, it is determined that the photoelectric sensor is in an offline fault state, and the fault of the photoelectric sensor is reported to the vehicle operation and maintenance management platform, and the fault is displayed.

8. An intelligent garbage loading detection system suitable for unmanned sanitation vehicles, characterized in that: The intelligent detection system for garbage loading volume comprises: a power distribution box, a cleaning system, a vehicle controller and a photoelectric sensor; the photoelectric sensor is installed on the loading garbage box in the cleaning system; The power distribution box is used to supply power to the vehicle controller and the photoelectric sensor in response to the vehicle power-on operation of the unmanned sanitation vehicle and the start-up operation of the cleaning system; The photoelectric sensor is used to collect first distance information from the top of the loading garbage bin corresponding to the unmanned sanitation vehicle to the currently loaded garbage, determine a first voltage signal value based on the first distance information and a preset first logical relationship table, and transmit the first voltage signal value to the vehicle controller; The vehicle controller is used to determine the second distance information based on the first voltage signal value and a preset second logical relationship table, and to determine the ratio of the volume of the currently loaded garbage to the loading volume of the loading garbage box based on the second distance information and a preset third logical relationship table; wherein the ratio represents the current garbage loading amount.

9. The system according to claim 8, characterized in that The power distribution box is connected to the vehicle controller and the photoelectric sensor respectively; the photoelectric sensor is connected to the vehicle controller.

10. An unmanned sanitation vehicle, characterized in that: The unmanned sanitation vehicle comprises a garbage loading intelligent detection system as described in any one of claims 8 to 9.

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