Electric sweeper control system and energy-saving method

Abstract

The invention discloses an electric sweeper control system and an energy saving method, and belongs to the field of sweeper intelligent control, and the electric sweeper control system comprises a cloud module which is used for setting a sweeping route of an electric sweeper and recording the current position of the electric sweeper; the sensing module is used for acquiring the current working condition of the vehicle; the control module is used for receiving the working condition information and sending an instruction; the traveling driving unit is used for adjusting the traveling speed of the electric sweeper after receiving the traveling instruction; and the sweeping operation unit is used for adjusting the rotating speeds of a disc brush motor and a dust collection fan of the electric sweeper after receiving the sweeping instruction. According to the energy-saving method of the electric sweeper, the running speed of the electric sweeper can be adjusted in real time according to the current vehicle working condition, and the operation power is optimized according to actual sweeping requirements. According to the invention, the limitation of fixed parameter operation of a traditional sweeper is overcome, and an efficient and energy-saving technical solution is provided for the field of intelligent environmental sanitation.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent control of cleaning vehicles, and in particular relates to an electric cleaning vehicle control system and an energy-saving method. Background Art

[0002] A cleaning vehicle is a type of high-efficiency cleaning equipment that integrates road surface garbage cleaning, collection, and transportation. Along with the development of electrification technology in the automotive industry, electric cleaning vehicles use electric drive systems, replacing the hydraulic systems and internal combustion engine drive systems of traditional cleaning vehicles, effectively reducing exhaust emissions. In an increasingly deteriorating environment, energy-saving and environmentally friendly electric cleaning vehicles are highly favored by urban builders. However, currently, electric cleaning vehicles generally have the problem of low intelligence level, do not consider the impact of actual working conditions changes on the overall vehicle energy consumption, and cannot adjust the output power of the operation motor in a timely manner according to the changes in road surface cleanliness and vehicle speed, resulting in unnecessary energy losses when operating at a constant power as before when the road surface is relatively clean or the cleaning demand is low. Therefore, how to solve the above technical problems and improve the energy utilization efficiency of electric cleaning vehicles is an urgent problem for those skilled in the art at present. Summary of the Invention

[0003] The purpose of the present invention is to provide an electric cleaning vehicle control system and an energy-saving method, aiming to overcome the limitations of traditional cleaning vehicles operating with fixed parameters, realize real-time adjustment of the driving speed of electric cleaning vehicles according to the current working conditions, and optimize the operation power according to the actual cleaning requirements, thereby overall improving the operation efficiency and energy-saving effect of electric cleaning vehicles.

[0004] To achieve the above purpose, the present invention provides an electric cleaning vehicle control system, including a cloud module. The cloud module is built with a high-precision map service and is connected to an in-vehicle terminal through a wireless communication network (such as 5G or LTE), and is used to set the cleaning route of the electric cleaning vehicle and record the current position of the electric cleaning vehicle;

[0005] A sensing module, used to obtain the current vehicle working conditions;

[0006] A control module, used to receive the working condition information sent by the sensing module and send driving instructions and cleaning instructions;

[0007] A driving unit, used to adjust the driving speed of the electric cleaning vehicle after receiving the driving instruction;

[0008] A cleaning operation unit, used to adjust the rotation speeds of the disk brush motor and the dust suction fan of the electric cleaning vehicle after receiving the cleaning instruction.

[0009] Preferably, the sensing module includes a V2X communication module. The V2X communication module is responsible for communicating with other vehicles or road infrastructure based on the DSRC dedicated short-range communication technology, and is used to obtain the road traffic conditions ahead, including the speed of the vehicle in front, road type, and signal light status;

[0010] A speed sensor, which is used to obtain the driving speed of the electric road sweeper;

[0011] A vision sensor, which is used to obtain the cleanliness of the swept road surface.

[0012] Preferably, the cloud module is connected to the sensing module, the sensing module is connected to the control module, and the control module is connected to the driving unit and the cleaning operation unit.

[0013] An energy-saving method for an electric road sweeper provided by the present invention uses the above-mentioned electric road sweeper control system, and includes the following steps:

[0014] S1, set the cleaning route of the electric road sweeper through the cloud module and record the current position of the vehicle, start the electric road sweeper, and the electric road sweeper goes to the cleaning route;

[0015] S2, the electric road sweeper drives into the cleaning route and starts to execute the cleaning task, and the sensing module provides vehicle working condition information;

[0016] S3, the control module calculates the cleaning vehicle speed according to the current working condition information, and issues a vehicle speed adjustment instruction to the driving unit, and at the same time sends a cleaning instruction to the cleaning operation unit according to the vehicle speed and the road surface cleanliness;

[0017] S4, after receiving the driving instruction, the driving unit adjusts the driving speed of the electric road sweeper;

[0018] S5, after receiving the cleaning instruction, the cleaning operation unit adjusts the rotating speeds of the disk brush motor and the dust suction fan of the electric road sweeper, realizes optimizing the operation power according to the actual cleaning requirements, and reduces the operation energy consumption.

[0019] Preferably, in S3, the control module stores a road surface cleanliness evaluation model, which uses the YOLOv8-seg algorithm to process the road surface image information obtained by the vision sensor, identifies the types and coverage areas of road surface garbage, and calculates the road surface cleanliness through calculation.

[0020] Preferably, the calculation formula for the road surface cleanliness is:

[0021]

[0022] Among them, C represents the road surface cleanliness, N represents the type of garbage, w i represents the weight coefficient of the i-th type of garbage, s irepresents the coverage area of the i-th type of garbage, and K represents the road cleanliness correction coefficient;

[0023] Garbage coverage area s i The target object segmentation mask M is output through the YOLOv8-seg segmentation algorithm. 1 represents the garbage area, 0 represents the background area, and it is calculated by combining the number of pixels and the area within the mask. The formula for calculating the garbage coverage area is:

[0024]

[0025] where p represents the pixel area of a single mask image, and H and W represent the number of pixel rows and columns of the road surface image respectively;

[0026] Garbage weight coefficient w i It is obtained by assigning corresponding weights to various types of garbage based on the type, size of the garbage, and the degree of impact on road cleaning.

[0027] Preferably, in S3, the control module calculates the cleaning vehicle speed according to the current working condition information, and the speed adjustment formula is:

[0028] V = fC, V0, V b , D, S;

[0029] where V0 is the speed of the vehicle itself; V b is the speed of the vehicle in front; D is the road type; S is the signal light status.

[0030] Preferably, among them

[0031]

[0032] where, when the road cleanliness C is low, low-speed and high-efficiency cleaning is required. When the cleanliness C is high, the vehicle speed can be appropriately increased to avoid unnecessary low-speed operation;

[0033] When V b <V0, the speed of the vehicle itself is faster than the vehicle in front, take a negative value, and the vehicle speed can be appropriately slowed down. When V b ≥V0, the speed of the vehicle itself is slower than the vehicle in front, is 0, which does not affect the speed change;

[0034] The road type D ∈ [0, 1], and different values correspond to different road condition characteristics. The larger the value, the better the traffic conditions of the road. The cleaning vehicle can appropriately increase the driving speed under such road conditions;

[0035] The signal light status S ∈ [0, 1], 0 represents stopping and waiting due to red lights in front and behind, 1 represents no impact, and k1, k2, k3, k4 are adjustment coefficients.

[0036] Preferably, in S5, the rotational speed n1 of the disk brush motor is calculated according to the vehicle driving speed V and the road surface cleanliness C, and the formula is as follows:

[0037]

[0038] where n'1 represents the initial rotational speed of the disk brush motor, and k5 represents the correction coefficient of the rotational speed of the disk brush motor.

[0039] Preferably, in S5, the rotational speed n2 of the dust suction fan is calculated according to the vehicle driving speed V and the road surface cleanliness C, and the formula is as follows

[0040]

[0041] where n'2 represents the initial rotational speed of the dust suction fan, and k6 represents the correction coefficient of the rotational speed of the dust suction fan.

[0042] Therefore, the present invention adopts the above-mentioned electric sweeper control system and energy-saving method, aiming to break through the limitations of the traditional sweeper with fixed parameters for operation, realize real-time adjustment of the driving speed of the electric sweeper according to the current working conditions, and optimize the operation power according to the actual cleaning requirements, so as to overall improve the operation efficiency and energy-saving effect of the electric sweeper.

[0043] Next, through the drawings and embodiments, the technical solutions of the present invention will be further described in detail. Description of the Drawings

[0044] Figure 1 It is a schematic structural diagram of a system of an electric sweeper control system and an energy-saving method of the present invention;

[0045] Figure 2 It is an implementation flowchart of an electric sweeper control system and an energy-saving method of the present invention. Detailed Embodiments

[0046] Embodiment

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0049] It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0051] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "arrangement", "installation", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The following will describe in detail some embodiments of the present invention with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0053] As Figure 1 shown, the present invention provides an electric sweeper control system, including a cloud module. The cloud module is built with a high-precision map service and is connected to a vehicle-mounted terminal through a wireless communication network (such as 5G or LTE), and is used to set the cleaning route of the electric sweeper and record the current position of the electric sweeper;

[0054] a sensing module, which is used to obtain the current vehicle working conditions. The sensing module includes a V2X communication module. The V2X communication module is responsible for communicating with other vehicles or road infrastructure based on the DSRC dedicated short-range communication technology, and is used to obtain the road traffic conditions ahead, including the speed of the vehicle in front, the road type, and the signal light status; a speed sensor, which is used to obtain the driving speed of the electric sweeper; a vision sensor, which is used to obtain the cleaning degree of the cleaned road surface.

[0055] a control module, which is used to receive the working condition information sent by the sensing module and send driving instructions and cleaning instructions;

[0056] a driving unit, which is used to adjust the driving speed of the electric sweeper after receiving the driving instruction;

[0057] The cleaning operation unit is used to adjust the rotation speeds of the disk brush motor and the dust suction fan of the electric road sweeper after receiving a cleaning instruction.

[0058] The cloud module is connected to the sensing module, the sensing module is connected to the control module, and the control module is connected to the driving unit and the cleaning operation unit.

[0059] As Figure 2 shown, an energy-saving method for an electric road sweeper adopts the above-mentioned electric road sweeper control system, including the following steps:

[0060] S1. Set the cleaning route of the electric road sweeper through the cloud module and record the current position of the vehicle, start the electric road sweeper, and the electric road sweeper travels to the cleaning route;

[0061] S2. The electric road sweeper drives into the cleaning route and starts to perform the cleaning task, and the sensing module provides vehicle working condition information;

[0062] S3. The control module calculates the cleaning vehicle speed according to the current working condition information, issues a vehicle speed adjustment instruction to the driving unit, and at the same time sends a cleaning instruction to the cleaning operation unit according to the vehicle speed and the road surface cleanliness;

[0063] The control module stores a road surface cleanliness evaluation model, which uses the YOLOv8-seg algorithm to process the cleaning road surface image information obtained by the vision sensor, identifies the types and coverage areas of road surface garbage, and calculates the road surface cleanliness.

[0064] The calculation formula for the road surface cleanliness is:

[0065]

[0066] Among them, C represents the road surface cleanliness, N represents the type of garbage, w i represents the weight coefficient of the i-th type of garbage, s i represents the coverage area of the i-th type of garbage, and K represents the road surface cleanliness correction coefficient.

[0067] The garbage coverage area s i is calculated by outputting the target object segmentation mask M through the YOLOv8-seg segmentation algorithm, where 1 represents the garbage area and 0 represents the background area, and combining the number of pixels and the area inside the mask. The calculation formula for the garbage coverage area is:

[0068]

[0069] Among them, p represents the pixel area of a single mask image; H and W respectively represent the number of pixel rows and columns of the road surface image.

[0070] The garbage weight coefficient w iIt is obtained by assigning corresponding weights to various types of garbage based on the type, size of the garbage, and the degree of impact on road cleaning. The garbage weight coefficient w i As shown in Table 1, it can effectively quantify the impact of various types of garbage on road cleanliness.

[0071] In this embodiment, the types of road garbage identified include but are not limited to the garbage categories in the garbage weight coefficient w i in the table.

[0072] Table 1 Garbage weight coefficient w i Table

[0073] Types of road surface garbage Weight coefficient Cigarette butts <![CDATA[w1]]> Fallen leaves <![CDATA[w2]]> Waste paper <![CDATA[w3]]> Plastic bags <![CDATA[w4]]> Plastic bottles <![CDATA[w5]]> Aluminum cans <![CDATA[w6]]> … …

[0074] The control module calculates the cleaning vehicle speed according to the current working condition information, and the speed adjustment formula is:

[0075] V = f(C, V0, V b , D, S);

[0076] where, V0 is the speed of the own vehicle; V b is the speed of the vehicle in front; D is the road type; S is the signal light state.

[0077]

[0078] Among them, when the road cleanliness C is low, low-speed and high-efficiency cleaning is required. When the cleanliness C is high, the vehicle speed can be appropriately increased to avoid unnecessary low-speed operation; when V b < V0, the speed of the own vehicle is faster than that of the vehicle in front, take a negative value, and the vehicle speed can be appropriately reduced, is 0, which does not affect the speed change; the road type D ∈ [0, 1], different values correspond to different road condition characteristics, and the larger the value, the better the traffic conditions of the road. The cleaning vehicle can appropriately increase the driving speed under such road conditions; the signal light state S ∈ [0, 1], 0 represents stopping and waiting due to red lights in the front and rear, 1 represents no impact, and k1, k2, k3, k4 are adjustment coefficients.

[0079] S4, after receiving the driving instruction, the driving unit adjusts the driving speed of the electric cleaning vehicle;

[0080] S5, after receiving the cleaning instruction, the cleaning operation unit adjusts the rotation speeds of the disc brush motor and the dust suction fan of the electric cleaning vehicle to optimize the operation power according to the actual cleaning requirements and reduce the operation energy consumption.

[0081] The control module outputs a cleaning instruction according to the generated vehicle speed and road surface cleanliness. When the road surface cleanliness is low and the vehicle speed is fast, the difficulty of road cleaning increases. At this time, it is necessary to increase the motor speed to ensure the cleaning effect. On the contrary, when the road surface cleanliness is high and the vehicle speed is slow, the difficulty of road cleaning decreases, and the motor speed can be appropriately reduced to reduce energy consumption.

[0082] Calculate the rotary brush motor speed n1 according to the vehicle driving speed V and the road surface cleanliness C. The formula is as follows:

[0083]

[0084] Where n'1 represents the initial speed of the rotary brush motor, and k5 represents the correction coefficient of the rotary brush motor speed.

[0085] Calculate the suction fan speed n2 according to the vehicle driving speed V and the road surface cleanliness C. The formula is as follows:

[0086]

[0087] Where n'2 represents the initial speed of the suction fan, and k6 represents the correction coefficient of the suction fan speed.

[0088] Different from the fixed-power operation mode of previous road sweepers, the present invention can dynamically adjust the power output of the rotary brush motor and the suction fan of the electric road sweeper according to the real-time obtained cleaning working conditions, such as the changes in vehicle speed and road surface cleanliness, overcomes the limitations of the previous fixed-power operation mode, and reduces unnecessary energy consumption.

[0089] In addition, the electric road sweeper control system proposed by the present invention can independently judge whether it enters the cleaning work area, automatically adjust the vehicle driving speed and the output power of the cleaning operation unit, quickly adapt to various working conditions, reduce the degree of manual intervention, and improve work efficiency.

[0090] Therefore, the present invention adopts the above-mentioned electric road sweeper control system and energy-saving method, overcomes the limitations of the traditional road sweeper with fixed parameters operation, realizes real-time adjustment of the driving speed of the electric road sweeper according to the current working conditions and automatically optimizes the operation power according to the actual cleaning requirements, thereby overall improving the operation efficiency and energy-saving effect of the electric road sweeper.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An electric sweeper control system, characterized in that: Includes a cloud module for setting the cleaning route of the electric sweeper and recording the current position of the electric sweeper; A sensor module is used to obtain the current vehicle working conditions; A control module, used for receiving the working condition information sent by the sensor module and sending driving instructions and cleaning instructions; A driving unit, used to adjust the driving speed of the electric sweeper after receiving driving instructions; The cleaning operation unit is used to adjust the speed of the electric sweeper's disc brush motor and dust suction fan after receiving the cleaning instruction.

2. The electric sweeper control system according to claim 1, characterized in that: The sensor module includes a V2X communication module to obtain traffic conditions on the road ahead; Speed ​​sensor, used to obtain the driving speed of the electric sweeper; Vision sensor, used to obtain the cleanliness of the swept road surface.

3. The electric sweeper control system according to claim 2, characterized in that: The cloud module is connected to the sensor module, the sensor module is connected to the control module, and the control module is connected to the vehicle driving unit and the cleaning operation unit.

4. An energy-saving method for an electric sweeper, characterized in that: The electric sweeper control system according to any one of claims 1 to 3 comprises the following steps: S1, setting the cleaning route of the electric sweeper through the cloud module and recording the current location of the vehicle, starting the electric sweeper, and the electric sweeper goes to the cleaning route; S2, the electric sweeper enters the cleaning route and starts to perform the cleaning task, and the sensor module provides vehicle working condition information; S3, the control module calculates the cleaning vehicle speed according to the current working condition information, and sends a speed adjustment instruction to the driving unit, and sends a cleaning instruction to the cleaning operation unit according to the vehicle speed and road cleanliness; S4, the driving unit adjusts the driving speed of the electric sweeper after receiving the driving instruction; S5, after receiving the cleaning instruction, the cleaning operation unit adjusts the speed of the electric sweeper's disc brush motor and the dust suction fan to optimize the operation power according to the actual cleaning needs and reduce the operation energy consumption.

5. The energy-saving method for an electric sweeper according to claim 4, characterized in that: In S3, the control module stores a road surface cleanliness assessment model, which uses the YOLOv8-seg algorithm to process the cleaned road surface image information obtained by the visual sensor, identifies the type of road garbage and the coverage area, and obtains the road surface cleanliness through calculation.

6. The energy-saving method for an electric sweeper according to claim 5, characterized in that: The calculation formula for road surface cleanliness is: Among them, C represents the cleanliness of the road, N represents the type of garbage, and w i Represents the weight coefficient of the i-th type of garbage, s i represents the coverage area of ​​the i-th type of garbage, and K represents the road cleanliness correction factor; Garbage coverage area i The target object segmentation mask M is output by the YOLOv8-seg segmentation algorithm, with 1 representing the garbage area and 0 representing the background area. The garbage coverage area is calculated by combining the number of pixels and area in the mask: Where p represents the pixel area of ​​a single mask image, H and W represent the number of pixel rows and columns of the road image respectively; Garbage weight coefficient w i The weights are assigned to each type of garbage based on its type, size and impact on road cleaning.

7. The energy-saving method for an electric sweeper according to claim 6, characterized in that: In S3, the control module calculates the cleaning vehicle speed according to the current working condition information, and the speed adjustment formula is: V=f(C,V0,V b ,D,S); Among them, V0 is the vehicle speed; V b is the speed of the vehicle in front; D is the road type; S is the status of the traffic light.

8. The energy-saving method for an electric sweeper according to claim 7, characterized in that: in When the road surface cleanliness C is low, low-speed and efficient cleaning is required. When the cleanliness C is high, the vehicle speed can be appropriately increased to avoid unnecessary low-speed operation. When V b When <V0, the vehicle's speed is faster than the vehicle ahead. Take a negative value and slow down the vehicle speed appropriately. b ≥V0, the vehicle's speed is slower than the vehicle ahead, When it is 0, it does not affect the speed change; Road type D∈[0,1], different values ​​correspond to different road conditions. The larger the value, the better the road conditions. The road sweeper can increase the driving speed appropriately under such road conditions. Traffic light status S∈[0,1], 0 represents immediate stop and wait due to front and rear red lights, 1 represents no effect, k1, k2, k3, k4 are adjustment coefficients.

9. The energy-saving method for an electric sweeper according to claim 8, characterized in that: In S5, the rotation speed n1 of the disc brush motor is calculated according to the vehicle speed V and the road surface cleanliness C. The formula is as follows: Among them, n1 represents the initial speed of the disc brush motor, and k5 represents the correction coefficient of the disc brush motor speed.

10. The energy-saving method for an electric sweeper according to claim 9, characterized in that: In S5, the dust suction fan speed n2 is calculated according to the vehicle speed V and the road cleanliness C, and the formula is as follows: Wherein, n'2 represents the initial speed of the dust suction fan, and k6 represents the speed correction coefficient of the dust suction fan.

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