Water sprinkler control method, device and equipment and water sprinkler

Abstract

The invention provides a watering cart control method, device and equipment and a watering cart, and relates to the technical field of automobiles, in the operation process of the watering cart, the distance value between the current position of the watering cart and a target zebra crossing is calculated, and when the distance value is smaller than a first target distance and the vehicle speed is larger than the target vehicle speed, prompt information used for prompting vehicle deceleration is generated; and when the distance value between the first target distance and the second target distance is smaller than the second target distance, the water valve of the watering cart is closed to prevent the watering cart from spraying water to the zebra crossing and keep the zebra crossing in a dry state, so that the friction coefficient of the zebra crossing cannot be reduced, the vehicle can be reliably braked, and the occurrence probability of traffic accidents is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a sprinkler truck control method, device, equipment and a sprinkler truck. Background Art

[0002] Highways are often marked with various road markings, such as speed reduction arrows, zebra crossings, and lane dividers. The paint used for these markings is very smooth, with a coefficient of sliding friction of approximately 0.6 when dry. This makes it easy for vehicles to slip if they accelerate rapidly on the markings. However, after the markings are sprayed with water, the coefficient of friction drops dramatically to 0.3-0.4. At this point, if a vehicle (such as a car or electric vehicle) is traveling too fast and encounters an emergency, the braking distance will be too long, making it difficult to brake effectively and effectively, which can easily lead to traffic accidents. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a sprinkler truck control method, device, equipment, and sprinkler truck to prevent traffic accidents caused by a reduction in the friction coefficient of a zebra crossing due to the sprinkler truck spraying water on the zebra crossing.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] A sprinkler truck control method, comprising:

[0006] Calculate the distance between the current position of the sprinkler truck and the target zebra crossing, where the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel;

[0007] Determining whether the distance value is greater than a first target distance;

[0008] When the speed is less than the first target distance, determining whether the current speed of the sprinkler truck is greater than the target speed;

[0009] If the speed is greater than the target vehicle speed, generating a prompt message for prompting the vehicle to decelerate;

[0010] determining whether the distance value is greater than a second target distance;

[0011] When the distance is greater than the second target distance, the water valve state of the sprinkler truck is kept unchanged;

[0012] When the distance is not greater than the second target distance, the water valve of the sprinkler truck is closed.

[0013] Optionally, in the above sprinkler truck control method, when the distance is not greater than the second target distance, closing the water valve of the sprinkler truck includes:

[0014] When the distance is not greater than the second target distance, obtaining a flow rate value of the current time period of the current road on which the sprinkler truck is traveling, wherein the flow rate value is used to characterize the traffic flow on the road, and a larger flow rate value indicates a larger traffic flow on the road;

[0015] When the flow rate value is greater than the target flow rate value, closing the water valve of the sprinkler truck;

[0016] When the flow rate value is not greater than the target flow rate value, identifying the cleanliness level of the zebra crossing based on the zebra crossing image captured by the image capture device;

[0017] Based on the cleanliness level, it is determined whether the zebra crossing needs to be cleaned. When cleaning is required, the water valve state of the sprinkler truck is kept unchanged.

[0018] Optionally, in the above sprinkler truck control method, when cleaning is required, after maintaining the water valve state of the sprinkler truck unchanged, the method further includes:

[0019] When it is detected that the water valve is in an open state, a control signal for controlling the start of the fan is generated. The fan is located between the sprinkler head of the sprinkler truck and the tail of the sprinkler truck, and the air outlet direction of the fan faces the ground.

[0020] Optionally, in the above-mentioned sprinkler truck control method, the step of calculating the distance between the current position of the sprinkler truck and the target zebra crossing includes:

[0021] The distance between the current position of the sprinkler truck and the target zebra crossing is calculated based on the binocular perception method.

[0022] Optionally, in the above-mentioned sprinkler truck control method, the distance value between the current position of the sprinkler truck and the target zebra crossing is calculated based on the binocular perception method, including:

[0023] Obtain road images captured by the binocular camera;

[0024] Converting the image captured by the binocular camera into a grayscale image;

[0025] Correcting the grayscale image based on the intrinsic parameters and distortion coefficients of the binocular camera;

[0026] Calculate a first distance between the target zebra crossing coordinates in the corrected grayscale image and the binocular camera based on a matching algorithm;

[0027] Determining whether an error value between the first distance and a second distance is within a preset threshold, where the second distance is the distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm;

[0028] If the error value is within the preset threshold, the first distance is used as the distance between the current position of the sprinkler truck and the target zebra crossing;

[0029] If the error value is not within the preset threshold, the road image captured by the binocular camera is reacquired, and subsequent steps are performed until the error value is within the preset threshold.

[0030] Optionally, in the above-mentioned sprinkler truck control method, the distance value between the current position of the sprinkler truck and the target zebra crossing is calculated based on the binocular perception method, including:

[0031] Obtain road images captured by the binocular camera;

[0032] Converting the image captured by the binocular camera into a grayscale image;

[0033] Correcting the grayscale image based on the intrinsic parameters and distortion coefficients of the binocular camera;

[0034] Calculate a first distance between the target zebra crossing coordinates in the corrected grayscale image and the binocular camera based on a matching algorithm;

[0035] Obtaining a second distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm;

[0036] When the current lighting intensity is greater than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on the first formula, where the first formula is S=(1-μ1)×S1+μS2;

[0037] When the current lighting intensity is less than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on the second formula, where the second formula is S=(1-μ2)×S1+μS2;

[0038] Wherein, S1 is the second distance, S2 is the first distance, μ1 and μ2 are weight coefficients, and μ1>μ2.

[0039] A sprinkler truck control device, comprising:

[0040] a distance calculation unit, configured to calculate the distance between the current position of the sprinkler truck and a target zebra crossing, wherein the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel;

[0041] a first judging unit, configured to judge whether the distance value is greater than a first target distance;

[0042] a vehicle speed prompting unit, configured to determine whether the current speed of the sprinkler truck is greater than a target speed when the current speed is less than the first target distance, and to generate a prompting message for prompting the vehicle to decelerate if the current speed is greater than the target speed;

[0043] a second judging unit, configured to judge whether the distance value is greater than a second target distance;

[0044] A water valve state control unit is used to keep the water valve state of the sprinkler truck unchanged when the distance is greater than the second target distance; and to close the water valve of the sprinkler truck when the distance is not greater than the second target distance.

[0045] A computer program product includes computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the above-mentioned sprinkler truck control methods.

[0046] An electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0047] The memory is used to store computer programs;

[0048] The processor is used to execute the computer program so that the electronic device can implement any one of the above-mentioned sprinkler truck control methods.

[0049] A computer storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any one of the above-mentioned sprinkler truck control methods.

[0050] Based on the above technical solution, the above solution provided by the embodiment of the present invention calculates the distance value between the current position of the sprinkler truck and the target zebra crossing during the operation of the sprinkler truck. When the distance value between the two is less than the first target distance and the vehicle speed is greater than the target speed, a prompt message is generated to prompt the vehicle to slow down. When the distance value between the two is less than the second target distance, the water valve of the sprinkler truck is closed to prevent the sprinkler truck from spraying water onto the zebra crossing, keeping the zebra crossing in a dry state. As a result, the friction coefficient of the zebra crossing will not be reduced, ensuring that the vehicle can brake reliably and reducing the probability of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0052] Figure 1 A schematic flow chart of a sprinkler truck control method disclosed in an embodiment of the present application;

[0053] Figure 2 This is a flow chart of a sprinkler truck control method disclosed in another embodiment of the present application;

[0054] Figure 3 This is a flow chart of a sprinkler truck control method disclosed in yet another embodiment of the present application;

[0055] Figure 4 This is a flow chart of a sprinkler truck control method disclosed in another embodiment of the present application;

[0056] Figure 5 This is a schematic structural diagram of a sprinkler truck control device disclosed in an embodiment of the present application;

[0057] Figure 6 This is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0059] In order to prevent traffic accidents caused by the zebra crossing friction coefficient being reduced due to the spraying and cleaning operation of the zebra crossing, the present application discloses a sprinkler control method. Figure 1 , the method may include:

[0060] Step S101: Calculate the distance between the current position of the sprinkler truck and the target zebra crossing, where the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel of the sprinkler truck.

[0061] In this embodiment, the distance value between the current position of the sprinkler truck and the target zebra crossing can be calculated based on the binocular perception method, or the distance value between the sprinkler truck and the target zebra crossing can be calculated based on the map information fusion algorithm. In this scheme, in order to improve the reliability of the calculation results, the present application can combine the binocular perception method with the map information fusion algorithm to jointly calculate the distance value between the sprinkler truck and the target zebra crossing.

[0062] For example, see Figure 2 In one embodiment of the present application, the specific process of calculating the distance between the sprinkler truck and the target zebra crossing based on the binocular perception method and the map information fusion algorithm includes:

[0063] Step S201: Acquire a road image captured by a binocular camera.

[0064] Binocular cameras can mimic human binocular vision, capturing slightly different images with two cameras to simulate what each eye sees, enabling features like 3D reconstruction and depth perception. When capturing road images, binocular cameras can capture key elements such as road structure, traffic participants, obstacles, and environmental information. By identifying these elements, they can identify zebra crossings in the captured images. This information is crucial for vehicle navigation, autonomous driving, and driving decision-making. By comparing the differences between the images captured by the two cameras, binocular cameras can also calculate the depth information of objects in the scene, further enhancing the vehicle's understanding and perception of the road environment. In the field of autonomous driving, road images captured by binocular cameras are widely used in various advanced driver assistance systems and autonomous driving functions. Combined with other sensors, they achieve more comprehensive and accurate road perception, providing strong support for safe driving.

[0065] Step S202: converting the image captured by the binocular camera into a grayscale image.

[0066] Color images of road scenes captured by a binocular camera system can be converted to grayscale images using a grayscale conversion algorithm. This process typically involves applying a weighted average method to each camera image separately, calculating the grayscale value of each pixel based on the weights of the RGB channels (R: 0.299, G: 0.587, B: 0.114). After the grayscale values ​​of all pixels are calculated, a new grayscale image is generated and saved. This process is irreversible; once color information is converted to grayscale, it cannot be restored. For binocular camera systems, grayscale conversion must be performed on each viewpoint separately, taking into account any parallax issues that may exist, to facilitate subsequent image processing tasks such as feature extraction and stereo matching.

[0067] Step S203: Correcting the grayscale image based on the internal parameters and distortion coefficients of the binocular camera.

[0068] Correcting grayscale images based on the binocular camera's intrinsic parameters (including focal length, optical center coordinates, etc.) and distortion coefficients ([k1, k2, p1, p2, k3], which describe image distortion caused by lens shape and manufacturing defects) is a key step aimed at improving image quality and the accuracy of subsequent processing. This process involves applying a distortion correction algorithm to each grayscale image captured by the camera, adjusting pixel positions based on the distortion coefficients to eliminate distortion, and using the intrinsic parameters to transform the image from the camera coordinate system to the standard image coordinate system. This corrects the grayscale image and generates a new grayscale image.

[0069] Step S204: Calculate a first distance between the coordinates of the target zebra crossing in the corrected grayscale image and the binocular camera based on a matching algorithm.

[0070] After the corrected grayscale image is determined, the corrected grayscale image is identified based on the BM matching algorithm, and the first distance between the target zebra crossing coordinates and the binocular camera can be measured.

[0071] After confirming that the corrected grayscale image quality meets the requirements, the BM (Block Matching) algorithm is applied to the left and right grayscale images of the binocular camera to identify the target zebra crossing and measure its initial distance from the camera. This process includes grayscale image preprocessing to enhance the accuracy and robustness of the matching algorithm, applying the BM matching algorithm to generate a disparity map, identifying the zebra crossing in the disparity map based on its features, and calculating the distance between the zebra crossing and the camera based on triangulation principles using the disparity and camera baseline distance.

[0072] Step S205: determining whether an error value between the first distance and the second distance is within a preset threshold, where the second distance is the distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm.

[0073] This solution calculates the distance between the water truck and the target zebra crossing based on a map information fusion algorithm, recording this distance as the second distance. This process involves acquiring high-precision map data, integrating it with the vehicle's real-time positioning information, and possibly integrating sensor data (such as cameras and radar). First, the location of the target zebra crossing is identified by matching traffic sign information in the map, while image processing techniques are used to assist in this identification. Next, the distance from the current position of the water truck to the zebra crossing is measured on the map, dynamically updated to take into account the vehicle's speed and direction of movement, as well as traffic conditions. Finally, the information from these different sources is fused and verified to ensure the accuracy of the distance information, and the result is output to the system implementing this method.

[0074] After obtaining the first distance and the second distance, the difference between the two is compared to determine whether the difference is within a preset threshold. Based on the size of the difference between the two, it can be determined whether the calculated first distance is reliable.

[0075] Step S206: If the error value is within the preset threshold, the first distance is used as the distance value between the current position of the sprinkler truck and the target zebra crossing.

[0076] In this embodiment, when it is detected that the error value between the first distance and the second distance is within a preset threshold, it indicates that the first distance value is reliable. At this time, the first distance can be used as the distance value between the current position of the sprinkler truck and the target zebra crossing.

[0077] If the error value is not within the preset threshold, the road image captured by the binocular camera is reacquired, and subsequent steps are performed until the error value is within the preset threshold.

[0078] If the error value is not within the preset threshold, continue to execute the step of acquiring the road image captured by the binocular camera and subsequent steps until the error value is within the preset threshold.

[0079] Step S102: Determine whether the distance value is greater than a first target distance.

[0080] The present application can pre-set a first target distance. When the distance between the current position of the sprinkler truck and the target zebra crossing is detected to be less than the first target distance, it indicates that the vehicle is approaching the zebra crossing. Since there are more pedestrians at the zebra crossing than at other road locations, in order to give pedestrians sufficient reaction time and prevent them from not having enough time to avoid the water sprayed by the sprinkler truck, it is necessary to reduce the speed. If the distance between the current position of the sprinkler truck and the target zebra crossing is not less than the first target distance, it indicates that the sprinkler truck is far away from the target zebra crossing and there is no need to intervene in the sprinkler truck status. For example, the first target distance can be 45 meters, 50 meters, or other distances.

[0081] Step S103: When the distance is less than the first target distance, it is determined whether the current speed of the sprinkler truck is greater than the target speed.

[0082] When the distance between the current position of the sprinkler truck and the target zebra crossing is less than the first target distance, the driver needs to be reminded to control the speed of the sprinkler truck. If the speed is greater than the target speed, it indicates that the speed is too fast. If the speed is not greater than the target speed, it indicates that the speed is normal. The target speed is a pre-configured speed, for example, 30 km / h, 40 km / h, etc.

[0083] Step S104: If the speed is greater than the target vehicle speed, a prompt message is generated to prompt the vehicle to decelerate.

[0084] When the current speed of the sprinkler truck is greater than the target speed, a prompt message is generated to prompt the driver to slow down the vehicle. When the driver receives the prompt message, he can judge whether the sprinkler truck needs to be slowed down based on the actual situation.

[0085] Step S105: Determine whether the distance value is greater than a second target distance.

[0086] After determining that the distance between the current position of the sprinkler truck and the target zebra crossing is less than the first target distance, determine whether the distance between the current position of the sprinkler truck and the target zebra crossing is greater than the second target distance. If the second target distance is less than the first target distance and the distance between the current position of the sprinkler truck and the target zebra crossing is not greater than the second target distance, it indicates that the sprinkler truck is too close to the target zebra crossing and needs to stop spraying to prevent water from being sprayed onto the target zebra crossing. If the distance between the current position of the sprinkler truck and the target zebra crossing is greater than the second target distance, the sprinkler truck can maintain the watering state unchanged. The second target distance can be 5 meters or other distances.

[0087] When the distance is greater than the second target distance, the water valve state of the sprinkler truck is kept unchanged, and step S105 is continued.

[0088] Step S106: When the distance is not greater than the second target distance, the water valve of the sprinkler truck is closed.

[0089] According to the technical solution disclosed in the above-mentioned embodiment of the present application, during the operation of the sprinkler truck, the distance value between the current position of the sprinkler truck and the target zebra crossing is calculated. When the distance value between the two is less than the first target distance and the vehicle speed is greater than the target speed, a prompt message is generated to prompt the vehicle to slow down. When the distance value between the two is less than the second target distance, the water valve of the sprinkler truck is closed to prevent the sprinkler truck from spraying water onto the zebra crossing, thereby keeping the zebra crossing in a dry state. As a result, the friction coefficient of the zebra crossing will not be reduced, ensuring that the vehicle can brake reliably and reducing the probability of traffic accidents.

[0090] In this embodiment, when the distance between the current position of the sprinkler truck and the target zebra crossing is not greater than the second target distance, the sprinkler truck can automatically determine whether to close the water valve according to the traffic volume on the road and the cleanliness of the zebra crossing. For example, when the traffic volume on the road is small and the cleanliness of the zebra crossing is low, the water valve can be kept open to clean the zebra crossing. When the traffic volume is large or the zebra crossing is clean, it indicates that the zebra crossing does not need to be cleaned. At this time, the water valve of the sprinkler truck can be closed. For details, see Figure 3 In the above process, closing the water valve of the sprinkler truck may specifically include:

[0091] Step S301: When the distance is not greater than the second target distance, the flow value of the current time period of the current driving road of the sprinkler truck is obtained. The flow value is used to characterize the traffic flow on the road. The larger the flow value, the greater the traffic flow on the road.

[0092] To obtain traffic flow values ​​for the current time period on the route the water truck is traveling, third-party data providers (such as electronic map services) can also be used. These providers typically use specialized equipment to collect and process traffic data, providing real-time traffic information. For personal or small-scale applications, real-time navigation software or traffic broadcasts are also convenient ways to obtain real-time traffic flow. If the water truck is equipped with onboard sensors, such as radar or cameras, these devices can directly collect data and calculate traffic flow.

[0093] Step S302: When the flow rate value is greater than the target flow rate value, the water valve of the sprinkler truck is closed.

[0094] When the flow rate value detected is greater than the preset target flow rate value, it indicates that there are more vehicles on the road. At this time, the water valve of the sprinkler truck needs to be closed to prevent the friction coefficient of the zebra crossing from decreasing.

[0095] Step S303: When the flow rate value is not greater than the target flow rate value, the cleanliness level of the zebra crossing is identified based on the zebra crossing image captured by the image capture device.

[0096] When the flow value is detected to be no greater than the target flow value, it indicates that the traffic volume on the road is not large and the probability of a vehicle braking on the zebra crossing is low. Therefore, the cleanliness of the zebra crossing can be further judged, and whether the water valve needs to be closed can be determined based on the cleanliness of the zebra crossing.

[0097] The overall process may include:

[0098] 1. Image Preprocessing

[0099] Image denoising:

[0100] Use denoising algorithms such as Gaussian filtering and median filtering to remove noise and interference in the image.

[0101] Grayscale:

[0102] Convert color images to grayscale images to simplify subsequent processing steps.

[0103] Image enhancement:

[0104] Use histogram equalization, contrast adjustment and other methods to enhance the contrast and clarity of the image so that the details of the zebra crossing can be better identified.

[0105] 2. Edge Detection

[0106] Apply edge detection algorithm:

[0107] Edge detection algorithms such as Canny and Sobel are used to detect edge information in the image. These edge information usually corresponds to the boundaries of zebra crossings.

[0108] Set an appropriate threshold:

[0109] Adjust the threshold of the edge detection algorithm according to factors such as ambient lighting conditions and the contrast between the zebra crossing color and the road color to obtain the best edge detection effect.

[0110] 3. Zebra Crossing Feature Extraction

[0111] Straight line detection:

[0112] Using line detection algorithms such as Hough transform, we can extract line information from the edge image. These lines usually correspond to the line segments of the zebra crossing.

[0113] Feature screening:

[0114] According to the geometric characteristics (such as parallelism, spacing, etc.) and color characteristics (such as white or yellow) of the zebra crossing, the straight lines that meet the conditions are screened out, which are the zebra crossings.

[0115] 4. Cleanliness Assessment

[0116] Calculate the pollution index:

[0117] Count the number or area of ​​pixels on the zebra crossing that are contaminated (such as stains, dirt, etc.) and calculate the pollution index. The pollution index can be defined as the ratio of the number of contaminated pixels to the total number of pixels on the zebra crossing.

[0118] Setting cleanliness standards:

[0119] Different cleanliness standards can be set based on actual needs. For example, a zebra crossing with a pollution index below a certain threshold can be considered clean, one above another threshold can be considered severely polluted, and one between the two can be considered lightly polluted.

[0120] Output:

[0121] According to the cleanliness standards, the cleanliness assessment results of the zebra crossing are output.

[0122] Step S304: determining whether the zebra crossing needs cleaning based on the cleanliness level; if cleaning is required, maintaining the water valve state of the sprinkler truck unchanged.

[0123] After detecting the cleanliness of the zebra crossing, it is compared with the pre-configured cleanliness. When the detected cleanliness of the zebra crossing is higher than the pre-configured cleanliness, it indicates that the zebra crossing is relatively clean and does not need to be cleaned. Otherwise, it indicates that the zebra crossing needs to be cleaned. When cleaning is required, the water valve state of the sprinkler truck is kept unchanged, that is, there is no need to actively switch the open / close state of the water valve at this time, and the water valve state can be kept unchanged.

[0124] When it is detected that the zebra crossing needs to be cleaned, the water valve of the sprinkler truck needs to remain in the same state. At this time, if the water valve is detected to be in the open state, in order to prevent water stains on the zebra crossing after cleaning is completed, and to quickly remove the water stains on the zebra crossing, thereby restoring the friction coefficient of the zebra crossing, a control signal for controlling the start of the fan can be generated. The fan is located between the sprinkler head and the rear of the sprinkler truck, and the air outlet direction of the fan faces the ground. When the fan is started, the direction of the fan faces the ground, and the wind force quickly removes the water stains on the zebra crossing, thereby restoring the friction coefficient of the zebra crossing.

[0125] In the technical solution disclosed in this embodiment, in order to ensure the reliability of the calculated distance value between the current position of the sprinkler truck and the target zebra crossing, the distance value between the current position of the sprinkler truck and the target zebra crossing is calculated in the above process, specifically including: calculating the distance value between the current position of the sprinkler truck and the target zebra crossing based on the binocular perception method, and the distance value between the current position of the sprinkler truck and the target zebra crossing can be calculated by the binocular perception method.

[0126] This embodiment discloses a specific solution for calculating the distance between the current position of the sprinkler truck and the target zebra crossing based on binocular perception method. Figure 4 The program may include:

[0127] Step S201: Acquire a road image captured by a binocular camera;

[0128] Step S202: converting the image captured by the binocular camera into a grayscale image;

[0129] Step S203: correcting the grayscale image based on the intrinsic parameters and distortion coefficients of the binocular camera;

[0130] Step S204: calculating a first distance between the coordinates of the target zebra crossing in the corrected grayscale image and the binocular camera based on a matching algorithm;

[0131] Step S401: obtaining a second distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm;

[0132] Step S402: When the current lighting intensity is greater than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on a first formula, where the first formula is S=(1-μ1)×S1+μS2;

[0133] Step S403: When the current lighting intensity is less than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on a second formula, where the second formula is S=(1-μ2)×S1+μS2;

[0134] Wherein, S1 is the second distance, S2 is the first distance, μ1 and μ2 are weight coefficients, and μ1>μ2. The values ​​of μ1 and μ2 can be set according to user needs. For example, in a specific embodiment of the present application, μ1 is 0.8 and μ2 is 0.5.

[0135] This embodiment discloses a sprinkler truck control device. For the specific working contents of each unit in the device, please refer to the contents of the above method embodiment.

[0136] The following describes a sprinkler truck control device provided by an embodiment of the present invention. The sprinkler truck control device described below and the sprinkler truck control method described above can be referenced to each other.

[0137] See also Figure 5 , the sprinkler truck control device may include:

[0138] A distance calculation unit 10 is used to calculate the distance between the current position of the sprinkler truck and a target zebra crossing, where the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel of the sprinkler truck;

[0139] A first judging unit 20 is configured to judge whether the distance value is greater than a first target distance;

[0140] a vehicle speed prompting unit 30 for determining whether the current speed of the sprinkler truck is greater than a target speed when the current speed is less than the first target distance, and generating a prompting message for prompting the vehicle to decelerate if the current speed is greater than the target speed;

[0141] A second judging unit 40 is configured to judge whether the distance value is greater than a second target distance;

[0142] The water valve state control unit 50 is used to keep the water valve state of the sprinkler truck unchanged when the distance is greater than the second target distance; and to close the water valve of the sprinkler truck when the distance is not greater than the second target distance.

[0143] The specific implementation functions of each unit in the sprinkler truck control device can be found in the introduction of the above method embodiment, which will not be repeated here.

[0144] A computer program product includes computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the above-mentioned sprinkler truck control methods.

[0145] An electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0146] The memory is used to store computer programs;

[0147] The processor is used to execute the computer program so that the electronic device can implement any one of the sprinkler truck control methods described above.

[0148] An electronic device is also provided in an embodiment of the present application. Figure 6 As shown, it shows a structural schematic diagram of an electronic device suitable for implementing the embodiments of the present application.

[0149] Specifically, such as Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 602 or programs loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing device 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0150] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Figure 6 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0151] The electronic devices in the embodiments of the present application may include but are not limited to fixed terminals such as servers, ECUs (Electronic Control Units), VCUs (Vehicle Control Units), MCUs (MicroController Units), and HCUs (Hybrid Control Units). Figure 6 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0152] A computer storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any one of the above-mentioned sprinkler truck control methods.

[0153] A water sprinkler truck is provided with the above-mentioned electronic device.

[0154] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0155] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0156] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0157] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0158] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0159] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sprinkler truck control method, characterized in that: include: Calculate the distance between the current position of the sprinkler truck and the target zebra crossing, where the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel; Determining whether the distance value is greater than a first target distance; When the speed is less than the first target distance, determining whether the current speed of the sprinkler truck is greater than the target speed; If the speed is greater than the target vehicle speed, generating a prompt message for prompting the vehicle to decelerate; determining whether the distance value is greater than a second target distance; When the distance is greater than the second target distance, the water valve state of the sprinkler truck is kept unchanged; When the distance is not greater than the second target distance, the water valve of the sprinkler truck is closed.

2. The sprinkler truck control method according to claim 1, characterized in that: When the distance is not greater than the second target distance, closing the water valve of the sprinkler truck comprises: When the distance is not greater than the second target distance, obtaining a flow rate value of the current time period of the current road on which the sprinkler truck is traveling, wherein the flow rate value is used to characterize the traffic flow on the road, and a larger flow rate value indicates a larger traffic flow on the road; When the flow rate value is greater than the target flow rate value, closing the water valve of the sprinkler truck; When the flow rate value is not greater than the target flow rate value, identifying the cleanliness level of the zebra crossing based on the zebra crossing image captured by the image capture device; Based on the cleanliness level, it is determined whether the zebra crossing needs to be cleaned. When cleaning is required, the water valve state of the sprinkler truck is kept unchanged.

3. The sprinkler truck control method according to claim 2, characterized in that: When cleaning is required, after keeping the water valve state of the sprinkler truck unchanged, the following steps are also included: When it is detected that the water valve is in an open state, a control signal for controlling the start of the fan is generated. The fan is located between the sprinkler head of the sprinkler truck and the tail of the sprinkler truck, and the air outlet direction of the fan faces the ground.

4. The sprinkler truck control method according to claim 1, characterized in that: The calculation of the distance between the current position of the sprinkler truck and the target zebra crossing includes: The distance between the current position of the sprinkler truck and the target zebra crossing is calculated based on the binocular perception method.

5. The sprinkler truck control method according to claim 4, characterized in that: The method of calculating the distance between the current position of the sprinkler truck and the target zebra crossing based on the binocular perception method includes: Obtain road images captured by the binocular camera; Converting the image captured by the binocular camera into a grayscale image; Correcting the grayscale image based on the intrinsic parameters and distortion coefficients of the binocular camera; Calculate a first distance between the target zebra crossing coordinates in the corrected grayscale image and the binocular camera based on a matching algorithm; Determining whether an error value between the first distance and a second distance is within a preset threshold, where the second distance is the distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm; If the error value is within the preset threshold, the first distance is used as the distance between the current position of the sprinkler truck and the target zebra crossing; If the error value is not within the preset threshold, the road image captured by the binocular camera is reacquired, and subsequent steps are performed until the error value is within the preset threshold.

6. The sprinkler truck control method according to claim 4, characterized in that: The sprinkler truck control method according to claim 4, characterized in that the step of calculating the distance between the current position of the sprinkler truck and the target zebra crossing based on the binocular perception method comprises: Obtain road images captured by the binocular camera; Converting the image captured by the binocular camera into a grayscale image; Correcting the grayscale image based on the intrinsic parameters and distortion coefficients of the binocular camera; Calculate a first distance between the target zebra crossing coordinates in the corrected grayscale image and the binocular camera based on a matching algorithm; Obtaining a second distance between the sprinkler truck and the target zebra crossing calculated based on a map information fusion algorithm; When the current lighting intensity is greater than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on the first formula, where the first formula is S=(1-μ1)×S1+μS2; When the current lighting intensity is less than a preset value, the distance S between the current position of the sprinkler truck and the target zebra crossing is calculated based on the second formula, where the second formula is S=(1-μ2)×S1+μS2; Wherein, S1 is the second distance, S2 is the first distance, μ1 and μ2 are weight coefficients, and μ1>μ2.

7. A sprinkler truck control device, characterized in that: include: a distance calculation unit, configured to calculate the distance between the current position of the sprinkler truck and a target zebra crossing, wherein the target zebra crossing is the zebra crossing closest to the sprinkler truck in the direction of travel; a first judging unit, configured to judge whether the distance value is greater than a first target distance; a vehicle speed prompting unit, configured to determine whether the current speed of the sprinkler truck is greater than a target speed when the current speed is less than the first target distance, and to generate a prompting message for prompting the vehicle to decelerate if the current speed is greater than the target speed; a second judging unit, configured to judge whether the distance value is greater than a second target distance; a water valve state control unit, configured to maintain the water valve state of the sprinkler truck unchanged when the distance is greater than the second target distance; When the distance is not greater than the second target distance, the water valve of the sprinkler truck is closed.

8. A computer program product, characterized in that The method comprises computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the sprinkler truck control method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: comprising at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the sprinkler truck control method according to any one of claims 1 to 6.

10. A computer storage medium, characterized in that The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the sprinkler truck control method according to any one of claims 1 to 6.

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