Intelligent urban guardrail cleaning system and method

Abstract

The invention relates to the technical field of urban guardrail cleaning, and discloses an intelligent urban guardrail cleaning system and method, and the method comprises the steps: obtaining an urban road network, taking a road intersection as a node, taking a road section between two road intersections as an edge, building an urban road network model, adding an attribute label and a corresponding numerical value for each edge, the attribute label comprises a distance value, estimated passing time and cleaning times of the day; obtaining the remaining electric quantity, the remaining water quantity, the current position information and the destination information of all the cleaning vehicles; and according to the residual electric quantity, the residual water quantity, the current position information, the destination information and the attribute label of the cleaning vehicle, selecting a traveling route of the cleaning vehicle. By comprehensively controlling the residual electric quantity, the water quantity, the road attribute and the traffic condition of the cleaning vehicle, the cleaning efficiency is improved, and the waste of energy and water resources is effectively reduced; and through the early warning module, the power shortage condition can be recognized in advance, and cleaning interruption is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of urban guardrail cleaning, and in particular to an intelligent urban guardrail cleaning system and method. Background Art

[0002] With the vigorous development of advanced technologies such as big data, cloud computing, and artificial intelligence, smart city planning and construction will usher in a new stage of rapid growth. The municipal guardrail cleaning system under the background of smart cities is the result of the organic combination and application of various high-tech technologies. It can significantly improve the cleaning efficiency and operation methods of the urban guardrail cleaning system, and greatly optimize the cleaning efficiency of municipal guardrails. Real-time monitoring and optimization of municipal guardrail cleaning can be achieved, so that resources such as vehicles and employees can be better arranged, providing vitality for the development of the city, and allowing people to experience safer, more convenient, and more comfortable urban life with the help of intelligent systems under the background of smart cities.

[0003] However, the current urban guardrail cleaning system still has some urgent problems to be solved in practical applications: such as low resource utilization: during operation, the cleaning vehicle fails to make dynamic adjustments based on the real-time remaining power and water conditions, which can easily lead to cleaning interruptions due to resource exhaustion, affecting operation efficiency; there is a lack of effective early warning mechanism, and the existing system lacks real-time early warning function. When the cleaning vehicle is low on power or water, it cannot promptly remind the operator to make adjustments, which may cause the cleaning vehicle to stagnate during operation. Summary of the invention

[0004] In view of this, the present invention proposes an intelligent urban guardrail cleaning system and method, aiming to solve the problems of low resource utilization and lack of effective early warning mechanism in current technology.

[0005] On the one hand, the present invention provides an intelligent urban guardrail cleaning method, comprising:

[0006] Obtain an urban road network, take road intersections as nodes and road segments between two road intersections as edges, establish an urban road network model, and add attribute labels and their corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time, and number of cleaning times on the day;

[0007] Obtain the remaining power, remaining water, current location and destination information of all cleaning vehicles;

[0008] Selecting a route for the cleaning vehicle according to the remaining power, remaining water, current location information, destination information and attribute tags of the cleaning vehicle;

[0009] The selecting of the route of the cleaning vehicle includes: presetting the initial route of the cleaning vehicle, calculating the power consumption and water consumption of each edge in the initial route according to the estimated passing time and distance value, calculating the number of nodes in the initial route, and judging whether the preset initial route can be completed according to the total power consumption, total water consumption and number of nodes of all edges that have not been passed in the initial route;

[0010] If the judgment result is no, then judging the magnitude relationship between the remaining power and the total power consumption;

[0011] If the remaining power is greater than the total power consumption, the water spray flow of the cleaning vehicle is adjusted and the preset initial route is executed;

[0012] If the remaining power is less than the total power consumption, the cleaning vehicle sends out a warning signal.

[0013] Furthermore, the urban road network is obtained, and the road intersections are used as nodes and the road segments between two road intersections are used as edges to establish an urban road network model, including:

[0014] Extracting the coordinate data of road intersections and road sections of the urban road network based on public map data sources;

[0015] Using the coordinate data of the road intersection, the road intersection is defined as a node;

[0016] Define all road segments as edges, which connect two nodes;

[0017] Add the attribute label to the edge.

[0018] Furthermore, the method for obtaining the attribute tag includes:

[0019] The distance value d is calculated according to the coordinate data of the nodes at both ends of the edge;

[0020] The estimated passing time t is calculated according to the following formula:

[0021]

[0022] Among them, d is the distance value; v0 is the initial speed of the cleaning vehicle in the absence of traffic congestion; q is the current traffic flow, in units of vehicles per hour; c is the traffic capacity, in units of vehicles per hour; α and β are both empirical coefficients;

[0023] The current position information and the destination information of the cleaning vehicle are obtained, and the number of cleaning times on the day of all edges on the path from the current position to the destination is marked as 0, and the number of cleaning times on the day of the remaining edges is marked as 1.

[0024] Furthermore, when calculating the power consumption and water consumption of each edge in the initial travel route,

[0025] Each edge is divided into n segments, and the power consumption satisfies the following relationship:

[0026]

[0027] The water consumption satisfies the following relationship:

[0028]

[0029] Among them, E represents power consumption, n is the number of segments of the edge, vi is the speed of the i-th segment, Pi is the power consumption of the cleaning vehicle in the i-th segment, and di is the length of the i-th segment; W represents water consumption, and Q is the water spray flow rate of the cleaning vehicle.

[0030] Furthermore, the number of nodes in the initial route is calculated based on the total power consumption, total water consumption and number of nodes of all untraveled edges in the initial route, including:

[0031] The amount of electricity consumed by the cleaning vehicle passing through the node is preset, and the total amount of electricity consumption is the sum of the electricity consumption of each edge and the preset amount of electricity consumed by the node; the total amount of water consumption is the sum of the water consumption of each edge.

[0032] Furthermore, determining whether the preset initial route can be completed includes:

[0033] A minimum water storage threshold for the cleaning vehicle is preset, and the remaining power of the cleaning vehicle is obtained. If the remaining power is greater than the total power consumption, it is determined that the cleaning vehicle can complete the preset initial route. At this time, the total remaining water volume of the cleaning vehicle is obtained, and the water spray flow rate is re-determined; if the remaining power is less than the total power consumption, it is determined that the cleaning vehicle cannot complete the preset initial route, and the cleaning vehicle sends a power warning signal.

[0034] Furthermore, the water spray flow rate is re-determined, including:

[0035] The re-determined water spray flow Q is (the total remaining water volume-the minimum water storage threshold) / the sum of the distance values ​​d of all the edges from the current position to the destination.

[0036] Furthermore, if the remaining power is less than the total power consumption, the relationship between the remaining power and the total power consumption is determined by the following formula:

[0037] Relationship value R = remaining power / total power consumption*100%;

[0038] A first-level relationship value R1, a second-level relationship value R2, and a third-level relationship value R3 are preset, and 0.9<R1<R2<R3<1; a first water spray flow rate adjustment coefficient x1, a second water spray flow rate adjustment coefficient x2, and a third water spray flow rate adjustment coefficient x3 are preset, and 0<x1<x2<x3<1;

[0039] According to the magnitude relationship between the relationship value and the preset relationship values ​​of each level, the adjustment coefficient of the water spray flow is determined, and the water spray flow Q of the cleaning vehicle is adjusted according to the adjustment coefficient of the water spray flow.

[0040] Further, when R is less than or equal to R2 and greater than R1, the first water spray flow adjustment coefficient x1 is selected, and the water spray flow of the cleaning vehicle is Q*x1; when R is less than or equal to R3 and greater than R2, the second water spray flow adjustment coefficient x2 is selected, and the water spray flow of the cleaning vehicle is Q*x2; when R is greater than R3, the third water spray flow adjustment coefficient x3 is selected, and the water spray flow of the cleaning vehicle is Q*x3.

[0041] On the other hand, the present invention proposes an intelligent urban guardrail cleaning system applied to the above-mentioned intelligent urban guardrail cleaning method, comprising:

[0042] The model building module is configured to obtain an urban road network, and establish an urban road network model by taking road intersections as nodes and road segments between two road intersections as edges, and adding attribute labels and corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time, and number of cleaning times on the day;

[0043] An information collection module is configured to obtain the remaining power, remaining water, current location information and destination information of all cleaning vehicles;

[0044] A calculation processing module is configured to select a route for the cleaning vehicle according to the remaining power, remaining water, current location information and the attribute tag of the cleaning vehicle;

[0045] The early warning module is configured to receive the early warning signal sent by the cleaning vehicle.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] By acquiring and analyzing the data of the urban road network and establishing an urban road network model, a scientific and reasonable route can be provided for the cleaning vehicle, which can reduce repeated cleaning and ineffective driving and improve work efficiency. According to the remaining power and water volume information of the cleaning vehicle, the route and water spray flow of the cleaning vehicle can be dynamically adjusted to ensure maximum utilization under limited resources. By calculating the estimated passing time and real-time traffic flow, the cleaning vehicle can avoid traffic congestion and choose the best driving path to reduce operation time and improve cleaning efficiency. When the remaining power or water volume of the cleaning vehicle is insufficient, the system can issue an early warning signal in time to remind the operator to make adjustments to avoid the cleaning vehicle from stagnating during operation and ensure the smooth completion of the cleaning task. By calculating and adjusting the water spray flow, the system can optimize according to the real-time situation during the cleaning process, ensuring the cleaning effect while saving water and improving environmental protection benefits. Through the collaborative work of the model building module, information acquisition module, calculation processing module and early warning module, the system can carry out cleaning tasks comprehensively and efficiently, and realize intelligent management and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0049] Figure 1 This is a flow chart of an intelligent urban guardrail cleaning method according to an embodiment of the present invention;

[0050] Figure 2 This is a framework diagram of an intelligent urban guardrail cleaning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] like Figure 1 As shown, an embodiment of the present invention provides an intelligent urban guardrail cleaning method, which includes:

[0053] S100: Obtain an urban road network, take road intersections as nodes and road segments between two road intersections as edges, establish an urban road network model, and add attribute labels and their corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time, and number of cleaning times on the day;

[0054] S200: Obtaining the remaining power, remaining water, current location information and destination information of all cleaning vehicles;

[0055] S300: selecting a route for the cleaning vehicle according to the remaining power, remaining water, current location information, destination information and attribute tags of the cleaning vehicle;

[0056] The selection of the route of the cleaning vehicle includes: presetting the initial route of the cleaning vehicle, calculating the power consumption and water consumption of each edge in the initial route according to the estimated passing time and distance value, calculating the number of nodes in the initial route, and judging whether the preset initial route can be completed according to the total power consumption, total water consumption and number of nodes of all edges that have not been passed in the initial route;

[0057] If the judgment result is no, then the relationship between the remaining power and the total power consumption is judged;

[0058] If the remaining power is greater than the total power consumption, the water spray flow of the cleaning vehicle is adjusted and the preset initial route is executed;

[0059] If the remaining power is less than the total power consumption, the cleaning vehicle will send out a warning signal.

[0060] It should be noted that by acquiring and analyzing the data of the urban road network, the optimal route can be provided for the cleaning vehicle, which can reduce repeated cleaning and ineffective driving and improve work efficiency. According to the remaining power and water volume information of the cleaning vehicle, the route and water spray flow of the cleaning vehicle can be dynamically adjusted to ensure maximum utilization under limited resources, improve overall operation efficiency, and avoid cleaning interruptions caused by resource exhaustion. Avoid traffic congestion: By calculating the estimated passing time and real-time traffic flow, the cleaning vehicle can avoid traffic congestion sections, choose the best driving path, reduce operation time, and improve cleaning efficiency. Real-time warning mechanism: When the remaining power or water volume of the cleaning vehicle is insufficient, the system can issue a warning signal in time to remind the operator to make adjustments to avoid the cleaning vehicle from stagnating during the operation and ensure the smooth completion of the cleaning task. Intelligent adjustment of water spray flow: By calculating and adjusting the water spray flow, the system can optimize according to the real-time situation during the cleaning process, ensuring the cleaning effect while saving water and improving environmental benefits.

[0061] In some embodiments of the present invention, an urban road network is obtained, and a road intersection is used as a node and a road segment between two road intersections is used as an edge to establish an urban road network model, including:

[0062] Extracting the coordinate data of road intersections and road sections of the urban road network based on public map data sources;

[0063] Using the coordinate data of the road intersection, the road intersection is defined as a node;

[0064] Define all road segments as edges, which connect two nodes;

[0065] Add attribute labels to edges.

[0066] It should be noted that by using accurate road intersection and road section coordinate data, the cleaning vehicle can plan the optimal route, reduce driving distance and cleaning time, and improve work efficiency. Based on the real-time estimated passing time and the number of cleanings on the day, the system can dynamically adjust the route of the cleaning vehicle to avoid repeated cleaning and traffic congestion, and optimize the cleaning effect. Accurate distance values ​​and traffic flow data help calculate the power and water consumption of the cleaning vehicle, ensuring maximum utilization when resources are limited, saving electricity and water resources. By establishing a detailed urban road network model, municipal management departments can better monitor and manage urban road cleaning work and improve the intelligence and refinement of urban management.

[0067] In some embodiments of the present invention, the method for obtaining the attribute tag includes:

[0068] The distance value d is calculated based on the coordinate data of the nodes at both ends of the edge;

[0069] The estimated passing time t is calculated according to the following formula:

[0070]

[0071] Among them, d is the distance value; v0 is the initial speed of the cleaning vehicle in the absence of traffic congestion; q is the current traffic flow, in units of vehicles per hour; c is the traffic capacity, in units of vehicles per hour; α and β are both empirical coefficients;

[0072] Get the current location information and destination information of the cleaning vehicle, mark the number of cleaning times of all edges on the path from the current location to the destination as 0, and mark the number of cleaning times of the remaining edges as 1.

[0073] In some embodiments of the present invention, when calculating the power consumption and water consumption of each edge in the initial travel route,

[0074] Split each edge into n segments, and the power consumption satisfies the following relationship:

[0075]

[0076] The water consumption satisfies the following relationship:

[0077]

[0078] Among them, E represents power consumption, n is the number of segments of the edge, vi is the speed of the i-th segment, Pi is the power consumption of the cleaning vehicle in the i-th segment, and di is the length of the i-th segment; W represents water consumption, and Q is the water spray flow rate of the cleaning vehicle.

[0079] It should be noted that through detailed distance calculation and estimated passing time calculation, the cleaning car can accurately predict the power and water consumption of each section of the journey. Such precise calculation helps optimize the resource use of the cleaning car, ensures that no power and water resources are wasted during the cleaning process, and improves the overall operation efficiency. Based on real-time traffic flow data and the current position of the cleaning car, the system can dynamically adjust the route of the cleaning car to avoid traffic congestion and improve cleaning efficiency. If resources are insufficient, the cleaning car can issue a warning signal in time to ensure that the cleaning task will not be interrupted due to resource exhaustion, ensuring the continuity and reliability of the operation. Each road section is divided into multiple sections for power and water consumption calculation, making the path planning more refined and improving the overall cleaning efficiency. Accurately calculating the consumption of each section under different speeds and power consumption conditions helps to formulate a more reasonable cleaning plan and avoid resource waste. By recording the number of cleaning times on the day, the system can avoid repeated cleaning of the same section of road. This not only improves work efficiency, but also reduces unnecessary resource waste. The cleaning car can concentrate on cleaning the uncleaned road sections, making resource utilization more reasonable. By presetting the minimum water storage threshold and total power consumption of the cleaning vehicle, the system can determine whether the cleaning vehicle can complete the preset route. When the remaining power is insufficient, the cleaning vehicle can reasonably allocate the remaining resources by adjusting the water spray flow rate to ensure the smooth completion of the cleaning task. According to the relationship between the remaining power and the total power consumption, the system can adjust the water spray flow rate of the cleaning vehicle in stages through multiple preset relationship values ​​and adjustment coefficients. This refined control method helps to maximize the operating time of the cleaning vehicle when resources are limited, and improves the flexibility and adaptability of cleaning operations.

[0080] In some embodiments of the present invention, the number of nodes in the initial route is calculated based on the total power consumption, the total water consumption and the number of nodes of all untraveled edges in the initial route, including:

[0081] The amount of electricity consumed by the cleaning vehicle when passing through the node is preset, and the total amount of electricity consumption is the sum of the electricity consumption of each edge and the preset amount of electricity consumed by the node; the total amount of water consumption is the sum of the water consumption of each edge.

[0082] In some embodiments of the present invention, determining whether the preset initial route can be completed includes:

[0083] The minimum water storage threshold of the cleaning vehicle is preset, and the remaining power of the cleaning vehicle is obtained. If the remaining power is greater than the total power consumption, it is judged that the cleaning vehicle can complete the preset initial route. At this time, the total remaining water volume of the cleaning vehicle is obtained, and the water spraying flow rate is re-determined; if the remaining power is less than the total power consumption, it is judged that the cleaning vehicle cannot complete the preset initial route, and the cleaning vehicle sends a power warning signal.

[0084] It should be noted that a minimum water storage threshold is set in the system, which ensures that the cleaning vehicle has enough water to spray before completing the cleaning task. This is to avoid interrupting the task due to insufficient water during the cleaning process. The system obtains the current remaining power of the cleaning vehicle in real time through sensors and data acquisition modules. These data are sent to the central control system for subsequent calculations and judgments. The system calculates the total power consumption of each road section in the preset initial route of the cleaning vehicle. If the remaining power of the cleaning vehicle is greater than the total power consumption, it is judged that the cleaning vehicle can complete the preset initial route. In the case of judging that the cleaning vehicle can complete the preset route, the system obtains the total remaining water volume of the cleaning vehicle and re-determines the water spray flow rate based on the remaining water volume. The recalculated water spray flow rate is based on the remaining water volume minus the minimum water storage threshold, and then divided by the sum of the distances of all road sections from the current location to the destination to ensure the reasonable allocation of water resources. If the system determines that the remaining power of the cleaning vehicle is less than the total power consumption, the system immediately issues a power warning signal. This warning signal prompts the operator or dispatch system that the current power of the cleaning vehicle is insufficient to complete the preset route and needs to be adjusted or supplemented with power.

[0085] By presetting the minimum water storage threshold, the system ensures that the cleaning vehicle will not interrupt its task due to insufficient water during the cleaning process. The steps of redetermining the water spray flow rate help to reasonably allocate the remaining water resources, avoid waste, and ensure the smooth progress of the task. The remaining power of the cleaning vehicle is obtained and monitored in real time, and compared with the power consumption of the preset route to ensure that the cleaning vehicle performs the task when the power is sufficient. This can greatly improve the completion rate of the task and reduce the interruption of the task due to insufficient power. By issuing a power warning signal, the system can promptly notify the operator or the dispatching system to take measures to prevent the cleaning vehicle from being stuck on the road due to exhaustion of power. This function enhances the reliability and safety of the entire system. The process of redetermining the water spray flow rate enables the cleaning vehicle to maximize the completion of more cleaning tasks under limited resources and improve the work efficiency. At the same time, it avoids the waste of resources caused by excessive water spraying. The intelligent judgment and adjustment process reduces the need for manual intervention and enables the cleaning vehicle to complete the task more autonomously. This not only reduces the workload of the operator, but also improves the automation level of the entire cleaning system.

[0086] Through reasonable resource allocation and optimized operation process, the system reduces the waste of water and electricity, achieving the goals of cost saving and environmental protection. This is of great significance to the sustainable development of smart cities.

[0087] In some embodiments of the present invention, re-determining the water spray flow rate includes:

[0088] The re-determined water spray flow Q is (the total remaining water volume - the minimum water storage threshold) / the sum of the distance values ​​d of all edges from the current position to the destination.

[0089] In some embodiments of the present invention, if the remaining power is less than the total power consumption, the relationship between the remaining power and the total power consumption is determined by the following formula:

[0090] Relationship value R = remaining power / total power consumption*100%;

[0091] A first-level relationship value R1, a second-level relationship value R2, and a third-level relationship value R3 are preset, and 0.9<R1<R2<R3<1; a first water spray flow rate adjustment coefficient x1, a second water spray flow rate adjustment coefficient x2, and a third water spray flow rate adjustment coefficient x3 are preset, and 0<x1<x2<x3<1;

[0092] According to the magnitude relationship between the relationship value and the preset relationship values ​​of each level, the adjustment coefficient of the water spray flow is determined, and the water spray flow Q of the cleaning vehicle is adjusted according to the adjustment coefficient of the water spray flow.

[0093] In some embodiments of the present invention, when R is less than or equal to R2 and greater than R1, the first water spray flow adjustment coefficient x1 is selected, and the water spray flow of the cleaning vehicle is Q*x1; when R is less than or equal to R3 and greater than R2, the second water spray flow adjustment coefficient x2 is selected, and the water spray flow of the cleaning vehicle is Q*x2; when R is greater than R3, the third water spray flow adjustment coefficient x3 is selected, and the water spray flow of the cleaning vehicle is Q*x3.

[0094] It should be noted that the water spray flow rate Q is re-determined by calculating the total remaining water volume minus the minimum water storage threshold, and then dividing it by the sum of the distance values ​​of all road segments from the current location to the destination to determine the new water spray flow rate Q. This method ensures that the cleaning vehicle can scientifically and reasonably allocate water resources when the remaining water volume is limited, ensuring that the cleaning task can be completed as smoothly as possible, while avoiding the waste of water resources.

[0095] Calculation and use of the relationship value R: The relationship value R between the remaining power and the total power consumption is calculated using the formula R = remaining power / total power consumption*100%, and three relationship value levels of R1, R2, and R3 are set.

[0096] Beneficial effects: This mechanism enables the system to dynamically determine the power situation and provides a flexible water spray flow adjustment plan, thereby optimizing power usage and ensuring the continuity of cleaning tasks.

[0097] Preset first-level, second-level, and third-level relationship values ​​and adjustment coefficients: According to the size of the relationship value R, compare it with the preset R1, R2, and R3 to determine the corresponding water spray flow adjustment coefficients x1, x2, and x3, and then adjust the water spray flow of the cleaning vehicle. This hierarchical adjustment mechanism can extend the battery life of the cleaning vehicle by reducing the water spray flow when the power is insufficient to avoid task interruption. Different adjustment coefficients provide multi-level response plans to ensure that the system can be flexibly adjusted under various power conditions to maintain efficient operation.

[0098] It is understandable that by re-determining the water spray flow rate, the system can scientifically and reasonably allocate water resources when the water volume is insufficient, ensuring the continuity and effectiveness of the cleaning task. Calculating the relationship value R and adjusting the water spray flow rate according to the preset level can flexibly adjust the water spray volume when the power is tight, thereby optimizing the use of power and extending the operation time of the cleaning vehicle. By real-time monitoring the relationship between the remaining power and the total power consumption, the system can issue a warning signal in time to prevent the cleaning vehicle from being stuck on the road due to power exhaustion. This early warning mechanism significantly improves the reliability and safety of the system. The mechanism of dynamically adjusting the water spray flow rate ensures that the cleaning vehicle can maximize its operating efficiency under limited water and power conditions. Different adjustment coefficients (x1, x2, x3) enable the system to flexibly adjust the water spray flow rate under different power states to ensure the efficient completion of the cleaning task. By reasonably allocating water resources and optimizing power use, the system reduces resource waste, thereby reducing operation and maintenance costs. This not only improves economic benefits, but also meets the requirements of environmental protection. The mechanism of automatically judging the power and water volume and adjusting the water spray flow rate reduces the need for manual intervention and improves the automation level of the system. The cleaning vehicle can complete more tasks autonomously, reducing the workload of operators.

[0099] like Figure 2 As shown, in another preferred embodiment based on the above embodiment, this embodiment provides a method applied to the above intelligent urban guardrail cleaning system, including:

[0100] The model building module is configured to obtain the urban road network, and use the road intersections as nodes and the road segments between two road intersections as edges to build an urban road network model, and add attribute labels and their corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time and number of cleaning times on the day;

[0101] An information collection module is configured to obtain the remaining power, remaining water, current location information and destination information of all cleaning vehicles;

[0102] The calculation processing module is configured to select a route for the cleaning vehicle according to the remaining power, remaining water, current location information and attribute tags of the cleaning vehicle;

[0103] The early warning module is configured to receive the early warning signal sent by the cleaning vehicle.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An intelligent urban guardrail cleaning method, characterized in that: include: Obtain an urban road network, take road intersections as nodes and road segments between two road intersections as edges, establish an urban road network model, and add attribute labels and their corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time, and number of cleaning times on the day; Obtain the remaining power, remaining water, current location and destination information of all cleaning vehicles; Selecting a route for the cleaning vehicle according to the remaining power, remaining water, current location information, destination information and attribute tags of the cleaning vehicle; The selecting of the route of the cleaning vehicle includes: presetting the initial route of the cleaning vehicle, calculating the power consumption and water consumption of each edge in the initial route according to the estimated passing time and distance value, calculating the number of nodes in the initial route, and judging whether the preset initial route can be completed according to the total power consumption, total water consumption and number of nodes of all edges that have not been traveled in the initial route; If the judgment result is no, then judging the magnitude relationship between the remaining power and the total power consumption; If the remaining power is greater than the total power consumption, the water spray flow of the cleaning vehicle is adjusted and the preset initial route is executed; If the remaining power is less than the total power consumption, the cleaning vehicle sends out a warning signal.

2. An intelligent urban guardrail cleaning method according to claim 1, characterized in that: Obtain the urban road network, take the road intersections as nodes and the road segments between two road intersections as edges, and establish an urban road network model, including: Extracting the coordinate data of road intersections and road sections of the urban road network based on public map data sources; Using the coordinate data of the road intersection, the road intersection is defined as a node; Define all road segments as edges, which connect two nodes; Add the attribute label to the edge.

3. An intelligent urban guardrail cleaning method according to claim 2, characterized in that: The method for obtaining the attribute tag includes: The distance value d is calculated based on the coordinate data of the nodes at both ends of the edge; The estimated passing time t is calculated according to the following formula: Among them, d is the distance value; v0 is the initial speed of the cleaning vehicle in the absence of traffic congestion; q is the current traffic flow, in units of vehicles per hour; c is the traffic capacity, in units of vehicles per hour; α and β are both empirical coefficients; The current position information and the destination information of the cleaning vehicle are obtained, and the number of cleaning times on the day of all edges on the path from the current position to the destination is marked as 0, and the number of cleaning times on the day of the remaining edges is marked as 1.

4. The intelligent urban guardrail cleaning method according to claim 3 is characterized in that: When calculating the power consumption and water consumption of each edge in the initial route, Each edge is divided into n segments, and the power consumption satisfies the following relationship: The water consumption satisfies the following relationship: Among them, E represents power consumption, n is the number of segments of the edge, vi is the speed of the i-th segment, Pi is the power consumption of the cleaning vehicle in the i-th segment, and di is the length of the i-th segment; W represents water consumption, and Q is the water spray flow rate of the cleaning vehicle.

5. An intelligent urban guardrail cleaning method according to claim 4, characterized in that: Calculate the number of nodes in the initial route based on the total power consumption, total water consumption and number of nodes of all untraveled edges in the initial route, including: The amount of electricity consumed by the cleaning vehicle when passing through the node is preset, and the total amount of electricity consumption is the sum of the electricity consumption of each edge and the preset amount of electricity consumed when passing through the node; the total amount of water consumption is the sum of the water consumption of each edge.

6. An intelligent urban guardrail cleaning method according to claim 5, characterized in that: Determine whether the preset initial route can be completed, including: A minimum water storage threshold for the cleaning vehicle is preset, and the remaining power of the cleaning vehicle is obtained. If the remaining power is greater than the total power consumption, it is determined that the cleaning vehicle can complete the preset initial route. At this time, the total remaining water volume of the cleaning vehicle is obtained, and the water spray flow rate is re-determined; if the remaining power is less than the total power consumption, it is determined that the cleaning vehicle cannot complete the preset initial route, and the cleaning vehicle sends a power warning signal.

7. An intelligent urban guardrail cleaning method according to claim 6, characterized in that: Re-determine the water spray flow rate, including: The re-determined water spray flow Q is (the total remaining water volume-the minimum water storage volume threshold) / the sum of the distance values ​​d of all the edges from the current position to the destination.

8. An intelligent urban guardrail cleaning method according to claim 7, characterized in that: If the remaining power is less than the total power consumption, the relationship between the remaining power and the total power consumption is determined by the following formula: Relationship value R = remaining power / total power consumption*100%; A first-level relationship value R1, a second-level relationship value R2, and a third-level relationship value R3 are preset, and 0.9<R1<R2<R3<1; a first water spray flow rate adjustment coefficient x1, a second water spray flow rate adjustment coefficient x2, and a third water spray flow rate adjustment coefficient x3 are preset, and 0<x1<x2<x3<1; According to the magnitude relationship between the relationship value and the preset relationship values ​​of each level, the adjustment coefficient of the water spray flow is determined, and the water spray flow Q of the cleaning vehicle is adjusted according to the adjustment coefficient of the water spray flow.

9. An intelligent urban guardrail cleaning method according to claim 8, characterized in that: When R is less than or equal to R2 and greater than R1, the first water spray flow adjustment coefficient x1 is selected, and the water spray flow of the cleaning vehicle is Q*x1; when R is less than or equal to R3 and greater than R2, the second water spray flow adjustment coefficient x2 is selected, and the water spray flow of the cleaning vehicle is Q*x2; when R is greater than R3, the third water spray flow adjustment coefficient x3 is selected, and the water spray flow of the cleaning vehicle is Q*x3.

10. An intelligent city guardrail cleaning system applied to the intelligent city guardrail cleaning method according to any one of claims 1 to 9, characterized in that: include: The model building module is configured to obtain an urban road network, and establish an urban road network model by taking road intersections as nodes and road segments between two road intersections as edges, and adding attribute labels and corresponding values ​​to each edge, wherein the attribute labels include: distance value, estimated passing time, and number of cleaning times on the day; An information collection module is configured to obtain the remaining power, remaining water, current location information and destination information of all cleaning vehicles; A calculation processing module is configured to select a route for the cleaning vehicle according to the remaining power, remaining water, current location information and the attribute tag of the cleaning vehicle; The early warning module is configured to receive the early warning signal sent by the cleaning vehicle.

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