Sweeping disc posture self-adaptive adjusting system and method based on visual system and storage medium

Abstract

The invention discloses a disk sweeping posture self-adaptive adjusting system and method based on a visual system and a storage medium. The disk sweeping posture self-adaptive adjusting method comprises the steps that S1, disk sweeping posture information is obtained; s2, the visual processing unit collects disk scanning attitude information and road surface information in real time by using a visual sensor arranged on the visual processing unit, and provides real-time disk scanning attitude data for the control system; s3, the control system receives the current disk scanning attitude data, calculates the deviation between the current disk scanning attitude data and the preset optimal disk scanning attitude data according to an intelligent algorithm, and issues a deviation correction instruction; s4, the multi-degree-of-freedom disk sweeping posture adjusting device adjusts the disk sweeping posture according to the deviation rectifying instruction; and S5, the control system judges whether the disk sweeping brush reaches the optimal posture according to the received disk sweeping posture real-time information, if not, the deviation is continuously calculated, a deviation correction instruction is issued, and if yes, deviation correction adjustment is ended. The sweeping postures of the sweeping disc are adjusted according to the road surface state and the sweeping abrasion degree, and the sweeping effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of sanitation sweepers, and more specifically, to a method mounted on a (movable or fixed) platform that uses sensor perception, intelligent algorithm analysis, and multi-degree-of-freedom adjustment of the sweeper's posture, and in particular to a sweeper's posture adaptive adjustment system, method, and storage medium based on a visual system. Background Art

[0002] The sweeping disc posture of a sweeper is an important factor affecting the sweeping effect of the sweeper. At present, the sweeping disc and brush posture of sweeping vehicles are mostly adjusted manually through fixed spring pull rods and cylinder mechanisms to adjust the height and tilt angle of the sweeping disc and brush from the ground. To ensure the sweeping effect, the sweeping disc posture needs to be adjusted manually as the sweeping disc and brush wear during operation. This adjustment method is cumbersome and inaccurate. In addition, due to the irregularity of some road surfaces, the sweeping disc and brush cannot be cleaned effectively.

[0003] In the prior art, CN114137964B discloses a method, device, equipment and special vehicle for controlling the vehicle posture and following of a sweeping disc and a curb, and provides a method, device, equipment and special vehicle for controlling the vehicle posture and following of a sweeping disc and a curb. The method first obtains the distance value between the front of the vehicle and the curb and the distance value between the rear of the vehicle and the curb in real time; then, according to the distance value between the front of the vehicle and the curb, the distance value between the rear of the vehicle and the curb, the vehicle body length, and the installation position of the sweeping disc in the length direction of the vehicle body, the current distance value between the vehicle body and the curb at the installation location of the sweeping disc and the current vehicle posture; then, according to the current vehicle speed value, the current vehicle posture, and the current distance value between the vehicle body and the curb at the installation location of the sweeping disc, the predicted distance value between the vehicle body and the curb after the predicted driving time is calculated; finally, according to the predicted distance value, a control instruction is sent to the sweeping disc execution system to control the distance value between the sweeping disc and the curb in real time to always maintain an ideal distance value with the best cleaning effect, and dynamically adjust the fitting relationship between the sweeping disc and the curb so that the sweeping disc is always close to the curb or maintains a certain pre-pressure overlap. When controlling the distance between the sweeping disc and the curb, the present application simultaneously considers the impact of the current vehicle speed value, the current vehicle posture and the current distance between the vehicle body and the curb on the anti-collision control. Specifically, the present application predicts the distance between the front of the vehicle and the curb in advance through the curb recognition system, and reserves executable time for the curb recognition system detection and the sweeping disc execution system, so that the distance control between the sweeping disc and the curb is more accurate. Compared with the existing passive avoidance technology, the present application not only has a passive avoidance function, but also can sense the deviation between the sweeping operation and the curb in advance, and automatically control the distance between the sweeping disc and the curb through the controller to avoid scratches or collisions between the sweeping disc and the curb. The present application can sense and control the pre-compression overlap between the sweeping disc and the curb during the sweeping operation of the sweeping vehicle in advance, so that the sweeping hair is close to the curb and there will be no missed sweeping. The present application can greatly reduce the labor intensity of the driver, improve the driving safety of the vehicle during high-speed sweeping operations, and avoid or reduce the occurrence of major traffic accidents.

[0004] This patent is mainly aimed at improving the compatibility between the sweeping disc and the curb, and cannot solve the problem of unsatisfactory cleaning quality caused by irregular road surface. Summary of the invention

[0005] In order to solve the above problems of the prior art solutions, the present invention proposes a method, system and storage medium for automatically adjusting the optimal cleaning posture through a sweeping disc and a sweeping brush to solve the above technical problems.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a method for adaptively adjusting the scanning posture of a disk based on a visual system, comprising the following steps:

[0007] S1, obtaining the sweeping brush posture information;

[0008] S2, the visual processing unit uses its visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) to collect the scanning posture information and road surface information in real time, and provide the control system with real-time scanning posture data;

[0009] S3, the control system receives the current sweeping disk posture data (including but not limited to the sweeping disk height, tilt angle, etc.), calculates the deviation from the preset optimal sweeping disk posture data according to the intelligent algorithm, and issues a deviation correction instruction;

[0010] S4, the multi-degree-of-freedom sweeping plate posture adjustment device adjusts the sweeping plate posture according to the deviation correction instruction;

[0011] S5, the control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, the deviation correction adjustment is ended.

[0012] Furthermore, in S2, the sweeping disc posture and road surface information are continuously scanned by a visual sensor to detect and identify the sweeping disc posture information, that is, the sweeping disc height and inclination angle information relative to the road surface.

[0013] Furthermore, in S3, the control system establishes a three-dimensional coordinate system based on the real-time scanning disk posture data, matches the acquired real-time scanning disk posture data with the trained model, calculates the scanning disk distance optimal cleaning posture deviation in real time, and generates correction instructions to adjust the scanning disk relative height h and the X-axis inclination angle α, and the Y-axis inclination angle β.

[0014] Furthermore, in S4, the multi-degree-of-freedom scanning disk posture adjustment device adjusts the corresponding push rod telescopic length of the multi-degree-of-freedom scanning disk posture adjustment device according to the control system correction instruction, wherein the first push rod adjusts the scanning disk height h, the second push rod adjusts the X-axis inclination angle α, and the third push rod adjusts the Y-axis inclination angle β, and then continuously corrects the deviation through the real-time position and angle feedback from the visual processing unit to achieve the target posture, thereby realizing closed-loop adjustment control.

[0015] The present invention also provides a visual system-based sweeping disk posture adaptive adjustment system, comprising:

[0016] An initial data acquisition device for obtaining information on the sweeping disk and brushing posture;

[0017] The visual processing unit is equipped with visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) for collecting the scanning posture information and road surface information in real time, and providing the control system with real-time scanning posture data;

[0018] The control system receives the current sweeping disk posture data (including but not limited to the sweeping disk height, tilt angle, etc.), calculates the deviation from the preset optimal sweeping disk posture data based on the intelligent algorithm, and issues a correction instruction;

[0019] A multi-degree-of-freedom sweeping plate posture adjustment device is used to adjust the sweeping plate posture according to the deviation correction instruction;

[0020] The control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, it ends the deviation correction adjustment.

[0021] Furthermore, the visual processing unit continuously scans the sweeping disc posture and road surface information through the visual sensor, and detects and identifies the sweeping disc posture information, namely the sweeping disc height and inclination angle information relative to the road surface.

[0022] Furthermore, the control system establishes a three-dimensional coordinate system based on the real-time scanning disk posture data, matches the acquired real-time scanning disk posture data with the trained model, calculates the scanning disk distance optimal cleaning posture deviation in real time, and generates correction instructions to adjust the scanning disk relative height h and the X-axis inclination angle α, and the Y-axis inclination angle β.

[0023] Furthermore, the multi-degree-of-freedom scanning disk posture adjustment device adjusts the telescopic length of the corresponding push rods provided in the multi-degree-of-freedom scanning disk posture adjustment device according to the correction instruction of the control system, wherein the first push rod adjusts the scanning disk height h, the second push rod adjusts the X-axis inclination angle α, and the third push rod adjusts the Y-axis inclination angle β, and then continuously corrects the deviation through the real-time position and angle feedback from the visual processing unit to achieve the target posture, thereby realizing closed-loop adjustment control.

[0024] Furthermore, S1-S4 are specifically:

[0025] S1, using visual sensors to capture the road surface image in front of the sweeping disc operation area and the sweeping disc and brush shape image in real time, the visual processing unit uses the above information to identify the lowest point of the road pit or the highest point of the bulge through feature matching, the feature point a1 of the horizontal plane of the pit or bulge edge parallel to the concave and convex feature point a1, the feature point a2 of the lowest position of the sweeping brush, the feature point a3 of the sweeping disc center, the feature point a4 of the sweeping disc longitudinal diameter tangent point, and the feature point a5 of the sweeping disc longitudinal diameter tangent point, and the lateral tangent point a6 of the sweeping brush. After conversion, the depth information is combined with the image pixel coordinates to establish a three-dimensional coordinate system centered on the visual sensor and obtain the feature point a1 coordinates (x1, y1, z1), a2 coordinates (x2, y2, z2), a3 (x3, y3, z3), a4 (x4, y4, z4), a5 (x5, y5, z5), a6 (x6, y6, z6);

[0026] S2, the main controller receives the coordinate information of the feature points of the visual processing unit in real time and performs data analysis and processing. According to the coordinates of the road feature points a1 (x1, y1, z1) and a2 (x2, y2, z2), the inclination angle α1 from the deepest position of the pit or protrusion to the position of the lateral edge plane is calculated: α1 = arctan (|z2-z1| / |x2-x1|). When there are multiple pit or protrusion feature point coordinates on the same horizontal axis, the maximum processing angle α1max = (α1, α2, .., αn) is selected; according to the scanning disk feature points a4 (x4, y4, z4) and a5 (x5, y5, z5), the scanning disk inclination angle α is calculated in real time: α = arctan (|z5-z4| / |x5-x4|).

[0027] S3, the longitudinal distance between the characteristic point a1 and the transverse tangent point a6 of the sweeping brush is L = |y6-y1|, L1 is a preset distance value, which can be adjusted according to the cleaning effect; when L≥L1, the servo electric push rod 3 starts closed-loop control of the inclination angle. The main controller uses the incremental PID closed-loop control algorithm to calculate the angle increment △U(t), and adjusts the sweeping disc inclination angle α by controlling the servo electric push rod 3 to extend and retract until the target value α1 is reached;

[0028] △U(t)=Kp·[2.△U(t)=Kp·[e(t)-e(t-1)]+Ki·e(t)+Kd·[e(t)-2e(t-1)+e(t-2)];

[0029] Among them, e(t) = α-α1 is the deviation at the current moment;

[0030] Kp, Ki, and Kd are the proportional, integral, and differential coefficients, respectively;

[0031] △U(t) represents the control output increment at the current moment;

[0032] According to the real-time coordinates of the sweeping brush feature point a3 (x3, y3, z3) and the coordinates of the road feature point a1 (x1, y1, z1), the main controller calculates the lifting distance h = |z3-z1| that the sweeping brush needs to adjust, and uses the incremental PID closed-loop control algorithm to control the servo electric push rod 1 to adjust the sweeping brush height until z3 = z1. At this time, the sweeping brush reaches the best cleaning posture;

[0033] S4, the relative moving distance L2 of the vertical coordinate of the road feature point a1: L2 = |y1-yt|; when the moving distance L2≥L3 or after t1 time (L3, t1 are preset distance and time values ​​respectively, which can be adjusted according to the effect), the vertical axis coordinate z3 of the sweeping disc feature point a3 has not reached the vertical axis coordinate z1 position of the feature point a1, indicating that the sweeping brush is severely worn and the remaining bristles are short. The main controller sends an alarm signal to prompt the personnel to replace the sweeping disc and the sweeping brush.

[0034] The present invention also provides a computer-readable storage medium containing a computer program, which, when executed by one or more processors, implements any of the above-mentioned methods for adaptively adjusting the scanning disk posture based on a visual system.

[0035] The present invention has the following advantages:

[0036] (1) According to the unevenness of the road surface and the degree of brush wear, as well as the real-time relative data value between the two, the sweeping disc and brush posture are adjusted to improve the cleaning effect;

[0037] (2) The sweeping brush can automatically adjust the sweeping disc posture after it is worn. When it is seriously worn, an alarm will be issued to prompt replacement, thus reducing the labor intensity of the sweeper operator;

[0038] (3) The sweeping disc and brush are at the optimal height to reduce abnormal wear of the sweeping brush and extend the replacement time;

[0039] (4) Modular products can be equipped with different hardware platforms (mobile / fixed) and have high portability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 and Figure 2 A schematic diagram of a flow chart of a method for adaptively adjusting a scanning disk posture based on a visual system according to the present invention;

[0041] Figure 3 and Figure 4 A schematic diagram of a scanning disk posture adaptive adjustment system based on a visual system of the present invention;

[0042] Figure 5 It is a schematic diagram of the multi-degree-of-freedom sweeping disk posture adjustment device of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0044] like Figure 1 As shown, a method for adaptively adjusting the scanning posture of a disk based on a visual system comprises the following steps:

[0045] S1, obtaining the sweeping brush posture information;

[0046] S2, the visual processing unit uses its visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) to collect the scanning posture information and road surface information in real time, and provide the control system with real-time scanning posture data;

[0047] S3, the control system receives the current sweeping disk posture data (including but not limited to the sweeping disk height, tilt angle, etc.), calculates the deviation from the preset optimal sweeping disk posture data according to the intelligent algorithm, and issues a deviation correction instruction;

[0048] S4, the multi-degree-of-freedom sweeping plate posture adjustment device adjusts the sweeping plate posture according to the deviation correction instruction;

[0049] S5, the control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, the deviation correction adjustment is ended.

[0050] In S2, the sweeper attitude and road information are continuously scanned by the visual sensor to detect and identify the sweeper attitude information, i.e., the height and inclination angle of the sweeper relative to the road surface. For example, if there are potholes or local ridges on the ground, the visual sensor will scan the data in real time, including the height information of the current sweeper (mainly used to calculate the distance between the sweeper working surface and the ground), the inclination angle of the sweeper (the inclination angle between the sweeper axis and the vertical line or horizontal plane, which is the angle in the four quadrants of the horizontal plane in three-dimensional space), and the real-time data of the ground topography (such as the depth and area data of the pits, the height change data of the ridges and the coverage area, etc.).

[0051] In S3, the control system establishes a three-dimensional coordinate system based on the real-time sweeping disc posture data, matches the acquired real-time sweeping disc posture data with the trained model, calculates the sweeping disc distance optimal sweeping posture deviation in real time, and generates deviation correction instructions to adjust the sweeping disc relative height h and the X-axis inclination angle α and the Y-axis inclination angle β. For example, the visual sensor obtains the road surface data slightly ahead of the sweeping disc in the direction of travel, takes the road surface at the current position of the sweeping disc as the reference value, and obtains the positive and negative change values ​​of the road surface ahead (negative changes for pits or concave surfaces, positive changes for ridges), and the change amount is one of the parameters that need to be adjusted. For example, the position of the ridge or concave surface that the sweeping disc will pass through is different. For the same concave surface or ridge, the height and inclination angle that the sweeping disc 5 needs to adjust will also be different, so that the working surface of the sweeping disc can better fit the road surface shape, thereby ensuring the cleaning quality.

[0052] like Figure 5As shown, in S4, the multi-degree-of-freedom sweeping disk posture adjustment device adjusts the corresponding push rod telescopic length of the multi-degree-of-freedom sweeping disk posture adjustment device according to the control system correction instruction, wherein the first push rod 1 adjusts the sweeping disk height h, the second push rod 2 adjusts the X-axis tilt angle α, and the third push rod 3 adjusts the Y-axis tilt angle β, and then the real-time position and angle feedback from the visual processing unit are continuously corrected to achieve the target posture, thereby realizing closed-loop adjustment control. In addition, a pair of push rods 4 and corresponding rotating suspension structures can be added to push the two sweeping disks to rotate toward or away from each other, adjust the distance between the two sweeping disks, provide more control means, meet the needs of different application scenarios, and expand the scope of application of the equipment.

[0053] like Figure 2 and Figure 4 As shown, in one embodiment, S1-S4 are specifically:

[0054] S1, using a visual sensor installed at the front end of the sweeping disc (or installed at an appropriate position where the corresponding image information can be obtained), the road surface image in front of the sweeping disc operation area and the sweeping disc brush shape image are captured in real time. The visual processing unit uses the above information to identify the lowest point of the road pit or the highest point of the protrusion through feature matching, the feature point a1 of the horizontal plane of the pit or protrusion edge parallel to the concave and convex feature point a1, the feature point a2 of the lowest position of the sweeping brush, the feature point a3 of the sweeping disc center, the feature point a4 of the sweeping disc longitudinal diameter tangent point, and the feature point a5 of the sweeping disc longitudinal diameter tangent point, and the transverse tangent point a6 of the sweeping brush. After conversion, the depth information is combined with the image pixel coordinates to establish a three-dimensional coordinate system centered on the visual sensor and obtain the feature point a1 coordinates (x1, y1, z1), a2 coordinates (x2, y2, z2), a3 (x3, y3, z3), a4 (x4, y4, z4), a5 (x5, y5, z5), a6 (x6, y6, z6);

[0055] S2, the main controller receives the coordinate information of the feature points of the visual processing unit in real time and performs data analysis and processing. According to the coordinates of the road feature points a1 (x1, y1, z1) and a2 (x2, y2, z2), the inclination angle α1 from the deepest position of the pit or protrusion to the position of the lateral edge plane is calculated: α1 = arctan (|z2-z1| / |x2-x1|). When there are multiple pit or protrusion feature point coordinates on the same horizontal axis, the maximum processing angle α1max = (α1, α2, .., αn) is selected; according to the scanning disk feature points a4 (x4, y4, z4) and a5 (x5, y5, z5), the scanning disk inclination angle α is calculated in real time: α = arctan (|z5-z4| / |x5-x4|).

[0056] S3, the longitudinal distance between the characteristic point a1 and the transverse tangent point a6 of the sweeping brush is L = |y6-y1|, L1 is a preset distance value, which can be adjusted according to the cleaning effect; when L≥L1, the servo electric push rod 3 starts closed-loop control of the inclination angle. The main controller uses the incremental PID closed-loop control algorithm to calculate the angle increment △U(t), and adjusts the sweeping disc inclination angle α by controlling the servo electric push rod 3 to extend and retract until the target value α1 is reached;

[0057] △U(t)=Kp·[2.△U(t)=Kp·[e(t)-e(t-1)]+Ki·e(t)+Kd·[e(t)-2e(t-1)+e(t-2)];

[0058] Among them, e(t) = α-α1 is the deviation at the current moment;

[0059] Kp, Ki, and Kd are the proportional, integral, and differential coefficients, respectively;

[0060] △U(t) represents the control output increment at the current moment;

[0061] According to the real-time coordinates of the sweeping brush feature point a3 (x3, y3, z3) and the coordinates of the road feature point a1 (x1, y1, z1), the main controller calculates the lifting distance h = |z3-z1| that the sweeping brush needs to adjust, and uses the incremental PID closed-loop control algorithm to control the servo electric push rod 1 to adjust the sweeping brush height until z3 = z1. At this time, the sweeping brush reaches the best cleaning posture;

[0062] S4, the relative moving distance L2 of the vertical coordinate of the road feature point a1: L2 = |y1-yt|; when the moving distance L2≥L3 or after t1 time (L3, t1 are preset distance and time values ​​respectively, which can be adjusted according to the effect), the vertical axis coordinate z3 of the sweeping disc feature point a3 has not reached the vertical axis coordinate z1 position of the feature point a1, indicating that the sweeping brush is severely worn and the remaining bristles are short. The main controller sends an alarm signal to prompt the personnel to replace the sweeping disc and the sweeping brush.

[0063] In some embodiments, Figure 3 (You can also follow Figure 4 Configuration) and Figure 5 As shown, the present invention also provides a scanning disk posture adaptive adjustment system based on a visual system, comprising:

[0064] An initial data acquisition device for obtaining information on the sweeping disk and brushing posture;

[0065] The visual processing unit is equipped with visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) for collecting the scanning posture information and road surface information in real time, and providing the control system with real-time scanning posture data;

[0066] The control system (VCU) receives the current scanning posture data (including but not limited to the scanning height, tilt angle, etc.), calculates the deviation from the preset optimal scanning posture data based on the intelligent algorithm, and issues a correction instruction;

[0067] A multi-degree-of-freedom sweeping plate posture adjustment device is used to adjust the sweeping plate posture according to the deviation correction instruction;

[0068] The control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, it ends the deviation correction adjustment.

[0069] In practical applications, the visual processing unit continuously scans the sweeping disc posture and road surface information through a visual sensor, and detects and identifies the sweeping disc posture information, namely, the sweeping disc height and inclination angle information relative to the road surface.

[0070] The control system establishes a three-dimensional coordinate system based on the real-time sweeping disk posture data, matches the acquired real-time sweeping disk posture data with the trained model, calculates the sweeping disk distance optimal sweeping posture deviation in real time, and generates correction instructions to adjust the sweeping disk relative height h and the X-axis inclination angle α and the Y-axis inclination angle β.

[0071] The multi-degree-of-freedom sweeping disk posture adjustment device adjusts the corresponding push rod telescopic length of the multi-degree-of-freedom sweeping disk posture adjustment device according to the control system correction instruction, wherein the first push rod adjusts the sweeping disk height h, the second push rod adjusts the X-axis inclination angle α, and the third push rod adjusts the Y-axis inclination angle β, and then continuously corrects the deviation through the real-time position and angle feedback from the visual processing unit to achieve the target posture, thereby realizing closed-loop adjustment control.

[0072] The present invention also provides a computer-readable storage medium containing a computer program, which, when executed by one or more processors, implements any of the above-mentioned methods for adaptively adjusting the scanning disk posture based on a visual system.

[0073] The present invention has the following advantages:

[0074] (1) According to the unevenness of the road surface and the degree of brush wear, as well as the real-time relative data value between the two, the sweeping disc and brush posture are adjusted to improve the cleaning effect;

[0075] (2) The sweeping brush can automatically adjust the sweeping disc posture after it is worn. When it is seriously worn, an alarm will be issued to prompt replacement, thus reducing the labor intensity of the sweeper operator;

[0076] (3) The sweeping disc and brush are at the optimal height to reduce abnormal wear of the sweeping brush and extend the replacement time;

[0077] (4) Modular products can be equipped with different hardware platforms (mobile / fixed) and have high portability.

[0078] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for adaptively adjusting the scanning posture of a disk based on a visual system, characterized in that: The following steps are involved: S1, obtaining the sweeping brush posture information; S2, the visual processing unit uses its visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) to collect the scanning posture information and road surface information in real time, and provide the control system with real-time scanning posture data; S3, the control system receives the current sweeping disk posture data (including but not limited to the sweeping disk height, tilt angle, etc.), calculates the deviation from the preset optimal sweeping disk posture data according to the intelligent algorithm, and issues a deviation correction instruction; S4, the multi-degree-of-freedom sweeping plate posture adjustment device adjusts the sweeping plate posture according to the deviation correction instruction; S5, the control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, the deviation correction adjustment is ended.

2. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to claim 1, characterized in that: In S2, the sweeping disc posture and road surface information are continuously scanned by a visual sensor to detect and identify the sweeping disc posture information, that is, the sweeping disc height and inclination angle information relative to the road surface.

3. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to claim 2 is characterized in that: In S3, the control system establishes a three-dimensional coordinate system based on the real-time sweeping disk posture data, matches the acquired real-time sweeping disk posture data with the trained model, calculates the optimal sweeping disk posture deviation in real time, and generates correction instructions to adjust the sweeping disk relative height h and the X-axis inclination angle α and the Y-axis inclination angle β.

4. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to claim 3 is characterized in that: In S4, the multi-degree-of-freedom scanning disk posture adjustment device adjusts the corresponding push rod telescopic length of the multi-degree-of-freedom scanning disk posture adjustment device according to the control system correction instruction, wherein the first push rod adjusts the scanning disk height h, the second push rod adjusts the X-axis inclination angle α, and the third push rod adjusts the Y-axis inclination angle β, and then continuously corrects the deviation through the real-time position and angle feedback from the visual processing unit to achieve the target posture, thereby realizing closed-loop adjustment control.

5. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to any one of claims 1 to 4, characterized in that: S1-S4 are as follows: S1, using visual sensors to capture the road surface image in front of the sweeping disc operation area and the sweeping disc and brush shape image in real time, the visual processing unit uses the above information to identify the lowest point of the road pit or the highest point of the bulge through feature matching, the feature point a1 of the horizontal plane of the pit or bulge edge parallel to the concave and convex feature point a1, the feature point a2 of the lowest position of the sweeping brush, the feature point a3 of the sweeping disc center, the feature point a4 of the sweeping disc longitudinal diameter tangent point, and the feature point a5 of the sweeping disc longitudinal diameter tangent point, and the lateral tangent point a6 of the sweeping brush. After conversion, the depth information is combined with the image pixel coordinates to establish a three-dimensional coordinate system centered on the visual sensor and obtain the feature point a1 coordinates (x1, y1, z1), a2 coordinates (x2, y2, z2), a3 (x3, y3, z3), a4 (x4, y4, z4), a5 (x5, y5, z5), a6 (x6, y6, z6); S2, the main controller receives the coordinate information of the feature points of the visual processing unit in real time and performs data analysis and processing. According to the coordinates of the road feature points a1 (x1, y1, z1) and a2 (x2, y2, z2), the inclination angle α1 from the deepest position of the pit or protrusion to the position of the lateral edge plane is calculated: α1 = arctan (|z2-z1| / |x2-x1|). When there are multiple pit or protrusion feature point coordinates on the same horizontal axis, the maximum processing angle α1max = (α1, α2, .., αn) is selected; according to the scanning disk feature points a4 (x4, y4, z4) and a5 (x5, y5, z5), the scanning disk inclination angle α is calculated in real time: α = arctan (|z5-z4| / |x5-x4|). S3, the longitudinal distance between the characteristic point a1 and the transverse tangent point a6 of the sweeping brush is L = |y6-y1|, L1 is a preset distance value, which can be adjusted according to the cleaning effect; when L≥L1, the servo electric push rod 3 starts closed-loop control of the inclination angle. The main controller uses the incremental PID closed-loop control algorithm to calculate the angle increment △U(t), and adjusts the sweeping disc inclination angle α by controlling the servo electric push rod 3 to extend and retract until the target value α1 is reached; △U(t)=Kp·[2.△U(t)=Kp·[e(t)-e(t-1)]+Ki·e(t)+Kd·[e(t)-2e(t-1)+e(t-2)]; Among them, e(t) = α-α1 is the deviation at the current moment; Kp, Ki, and Kd are the proportional, integral, and differential coefficients, respectively; △U(t) represents the control output increment at the current moment; According to the real-time coordinates of the sweeping brush feature point a3 (x3, y3, z3) and the coordinates of the road feature point a1 (x1, y1, z1), the main controller calculates the lifting distance h = |z3-z1| that the sweeping brush needs to adjust, and uses the incremental PID closed-loop control algorithm to control the servo electric push rod 1 to adjust the sweeping brush height until z3 = z1. At this time, the sweeping brush reaches the best cleaning posture; S4, the relative moving distance L2 of the vertical coordinate of the road feature point a1: L2 = |y1-yt|; when the moving distance L2≥L3 or after t1 time (L3, t1 are preset distance and time values ​​respectively, which can be adjusted according to the effect), the vertical axis coordinate z3 of the sweeping disc feature point a3 has not reached the vertical axis coordinate z1 position of the feature point a1, indicating that the sweeping brush is severely worn and the remaining bristles are short. The main controller sends an alarm signal to prompt the personnel to replace the sweeping disc and the sweeping brush.

6. A scanning disk posture adaptive adjustment system based on a visual system, characterized in that: include: An initial data acquisition device for obtaining information on the sweeping disk and brushing posture; The visual processing unit is equipped with visual sensors (including but not limited to cameras, laser radars, infrared sensors, ultrasonic sensors, etc.) for collecting the scanning posture information and road surface information in real time, and providing the control system with real-time scanning posture data; The control system receives the current sweeping disk posture data (including but not limited to the sweeping disk height, tilt angle, etc.), calculates the deviation from the preset optimal sweeping disk posture data based on the intelligent algorithm, and issues a correction instruction; A multi-degree-of-freedom sweeping plate posture adjustment device is used to adjust the sweeping plate posture according to the deviation correction instruction; The control system determines whether the sweeping brush of the sweeping disc has reached the optimal posture according to the received real-time information of the sweeping disc posture. If not, it continues to calculate the deviation and issues a deviation correction instruction. If so, it ends the deviation correction adjustment.

7. The self-adaptive adjustment system for scanning disk posture based on visual system according to claim 6, characterized in that: The visual processing unit continuously scans the sweeping disc posture and road surface information through the visual sensor, and detects and identifies the sweeping disc posture information, namely the sweeping disc height and inclination angle information relative to the road surface.

8. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to claim 7, characterized in that: The control system establishes a three-dimensional coordinate system based on the real-time sweeping disk posture data, matches the acquired real-time sweeping disk posture data with the trained model, calculates the sweeping disk distance optimal sweeping posture deviation in real time, and generates correction instructions to adjust the sweeping disk relative height h and the X-axis inclination angle α and the Y-axis inclination angle β.

9. The method for adaptively adjusting the scanning posture of a disk based on a visual system according to claim 8, characterized in that: The multi-degree-of-freedom sweeping disk posture adjustment device adjusts the corresponding push rod telescopic length of the multi-degree-of-freedom sweeping disk posture adjustment device according to the control system correction instruction, wherein the first push rod adjusts the sweeping disk height h, the second push rod adjusts the X-axis inclination angle α, and the third push rod adjusts the Y-axis inclination angle β, and then continuously corrects the deviation through the real-time position and angle feedback from the visual processing unit to achieve the target posture, thereby realizing closed-loop adjustment control.

10. A computer-readable storage medium containing a computer program, characterized in that: When the computer program is executed by one or more processors, the method for adaptively adjusting the scanning posture based on a visual system as described in any one of claims 1 to 4 is implemented.

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