Watering vehicle and watering operation system capable of automatically identifying road width

Abstract

The invention relates to the technical field of environmental sanitation equipment, and particularly discloses a watering cart and a watering operation system capable of automatically identifying road width, the watering cart comprises an acquisition module, an intelligent control module and a dynamic adjustment module, the acquisition module is used for continuously transmitting detection signals to the surroundings according to a sensor group, receiving reflected signals and sending the signals to the intelligent control module; calculating distance data with surrounding objects through the time difference and the intensity change of the signals; the intelligent control module is used for processing and analyzing the collected distance data, identifying the boundary position of the road by comparing the processing and analysis data of different sensors so as to determine the road width, and sending a control instruction to the water pump and the sprinkler head adjusting device according to the obtained road width; and the dynamic adjusting module is used for adjusting the flow of a water pump on the watering cart and the angle of a sprinkler head, so that the intelligent level of watering cart operation is improved, and the road surface cleaning effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sanitation equipment, and particularly to a sprinkler truck and an automatic road width recognition sprinkler operation system. Background Art

[0002] Currently, during the operation of traditional sprinkler trucks, they usually operate according to fixed sprinkler patterns and ranges. However, the widths of different roads vary, which may cause water to be splashed onto buildings, pedestrians, or vehicles on both sides of the road when sprinkling on narrower roads, resulting in unnecessary troubles and losses; while when sprinkling on wider roads, the sprinkling range may be insufficient to effectively clean the road surface. Moreover, most existing sprinkler trucks rely on manual operation to adjust the sprinkling range, with low efficiency and difficult to accurately control. Summary of the Invention

[0003] The purpose of the present invention is to provide a sprinkler truck and an automatic road width recognition sprinkler operation system, aiming to solve the technical problem that most existing sprinkler trucks rely on manual operation to adjust the sprinkling range, with low efficiency and difficult to accurately control.

[0004] To achieve the above purpose, a sprinkler truck and an automatic road width recognition sprinkler operation system adopted by the present invention include an acquisition module, an intelligent control module, and a dynamic adjustment module. The intelligent control module is electrically connected to the acquisition module, and the dynamic adjustment module is electrically connected to the intelligent control module.

[0005] The acquisition module is used for continuously emitting detection signals to the surroundings according to the sensor group and receiving the reflected signals, and calculating the distance data from surrounding objects through the time difference and intensity change of the signals.

[0006] The intelligent control module is used for processing and analyzing the acquired distance data, identifying the boundary positions of the road by comparing the processed and analyzed data of different sensors, thereby determining the road width, and sending control instructions to the water pump and the sprinkler head adjustment device based on the obtained road width.

[0007] The dynamic adjustment module is used for adjusting the flow rate of the water pump on the sprinkler truck and the angle of the sprinkler head.

[0008] Among them, the acquisition module includes an ultrasonic acquisition unit, a lidar acquisition unit, and a millimeter-wave radar acquisition unit. The ultrasonic acquisition unit, the lidar acquisition unit, and the millimeter-wave radar acquisition unit are all installed at the front, both sides, and rear of the sprinkler truck.

[0009] The ultrasonic acquisition unit is used for the ultrasonic sensor to detect the distance by emitting ultrasonic waves and receiving the reflected waves.

[0010] The lidar acquisition unit is used for the lidar sensor to determine the distance by emitting a laser beam and measuring the time and intensity of the reflected light;

[0011] The millimeter-wave radar acquisition unit is used for the millimeter-wave radar sensor to detect the distance, speed and angle information of the target object through electromagnetic waves in the millimeter-wave band.

[0012] Among them, the intelligent control module includes a processing unit and a road width data update unit, and the processing unit is connected to the road width data update unit.

[0013] The processing unit is used for processing the data collected by the sensor group to obtain road width data;

[0014] The road width data update unit is used for periodically updating the road width data.

[0015] Among them, the processing unit includes a preprocessing subunit and a road width identification and analysis processing subunit;

[0016] The preprocessing subunit is used for filtering the data collected by the sensor group;

[0017] The road width identification and analysis subunit is used for identifying and analyzing the road width by using clustering analysis algorithm and machine learning algorithm for the processed data to obtain road width data.

[0018] Among them, a sprinkler truck includes the automatic road width identification and sprinkling operation system of the sprinkler truck.

[0019] It also includes a vehicle body, a water storage tank, a water pump, a sprinkler head and an angle adjustment module. The dynamic adjustment module is electrically connected to the water pump and the angle adjustment module respectively. The water storage tank is communicated with the water pump through a water pipe. The water storage tank is located on one side of the water pump. The sprinkler head is communicated with the water pump through a water pipe and is located on the side of the water pump away from the water storage tank. The vehicle body is located on one side of the water storage tank.

[0020] For a sprinkler truck and an automatic road width identification and sprinkling operation system of the present invention, before the sprinkler truck operates, the system is started first, and the acquisition module starts to work for initial environmental scanning and data acquisition. When the vehicle is driving, the acquisition module continuously updates the surrounding environmental data. The intelligent control unit processes the data and calculates the road width at a certain time interval (such as 0.1 second) according to a predetermined algorithm program, and adjusts the sprinkling operation parameters in time through the dynamic adjustment module. At the same time, the system also has self-learning and self-adaptive functions, and can continuously optimize the algorithm and control parameters according to the operation experience in different regions and different road conditions, so as to improve the accuracy and efficiency of the sprinkling operation. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of an automatic road width recognition sprinkler operation system for a sprinkler truck provided by an embodiment of the present invention.

[0023] Figure 2 It is a schematic structural diagram of the acquisition module provided by an embodiment of the present invention.

[0024] Figure 3 It is a schematic structural diagram of the intelligent control module provided by an embodiment of the present invention.

[0025] Figure 4 It is a schematic structural diagram of the processing unit provided by an embodiment of the present invention.

[0026] Figure 5 It is a schematic structural diagram of a sprinkler truck of the present invention.

[0027] 101 - Acquisition module, 102 - Intelligent control module, 103 - Dynamic adjustment module, 104 - Ultrasonic acquisition unit, 105 - Lidar acquisition unit, 106 - Millimeter wave radar acquisition unit, 107 - Processing unit, 108 - Road width data update unit, 109 - Preprocessing sub - unit, 110 - Road width recognition and analysis sub - unit, 111 - Vehicle body, 112 - Water storage tank, 113 - Water pump, 114 - Sprinkler nozzle, 115 - Angle adjustment module. Detailed implementation manners

[0028] Please refer to Figures 1 to 4 , the present invention provides an automatic road width recognition sprinkler operation system for a sprinkler truck, including an acquisition module 101, an intelligent control module 102, and a dynamic adjustment module 103. The intelligent control module 102 is electrically connected to the acquisition module 101, and the dynamic adjustment module 103 is electrically connected to the intelligent control module 102.

[0029] The acquisition module 101 is used to continuously emit detection signals to the surroundings according to the sensor group, receive the reflected signals, and calculate the distance data from the surrounding objects through the time difference and intensity change information of the signals.

[0030] The intelligent control module 102 is used to first process and analyze the acquired signal data, identify the boundary positions of the road by comparing the data of different sensors, and thus determine the road width.

[0031] The dynamic adjustment module 103 is configured to send control instructions to the water pump and the sprinkler adjustment device based on the obtained road width, so as to adjust the flow rate of the water pump on the sprinkler truck and the angle of the sprinkler head.

[0032] In this embodiment, before the sprinkler truck operates, the system is started first, and the initial environmental scanning and data collection are performed through the acquisition module 101. When the vehicle is driving, the sensor group of the acquisition module 101 continuously emits detection signals (such as ultrasonic waves, lasers, etc.) to the surrounding area and receives the reflected signals. The distance data from the surrounding objects is calculated through information such as the time difference and intensity change of the signals. The above distance data is transmitted to the intelligent control module 102 in real time. Since the data may be affected by environmental interference (such as electromagnetic interference) and may have errors or fluctuations during the transmission process, therefore, the intelligent control module 102 will first process the data to remove abnormal data interference. Then, a specific algorithm is used to analyze the processed data to identify the boundary position of the road, thereby determining the road width. According to the calculated road width, control instructions are sent to the water pump and the sprinkler adjustment device, and then the dynamic adjustment module 103 adjusts the flow rate of the water pump on the sprinkler truck and the angle of the sprinkler head. For example, when the road surface width is relatively narrow, the flow rate output of the water pump is reduced, and at the same time, the angle of the sprinkler head is adjusted to narrow the spraying range and accurately cover the road surface; when the road surface width is relatively wide, the water pump flow rate is increased and the spraying angle of the sprinkler head is appropriately adjusted to ensure that the entire road surface is evenly and effectively watered. Therefore, the advantage of the present invention is that it can significantly improve the intelligent level of the sprinkler truck operation, reduce water resource waste, improve the road cleaning effect, and at the same time reduce the adverse effects on the surrounding environment, pedestrians and vehicles caused by improper watering, and has broad application prospects and market value.

[0033] Furthermore, the acquisition module 101 includes an ultrasonic acquisition unit 104, a lidar acquisition unit 105, and a millimeter-wave radar acquisition unit 106. The ultrasonic acquisition unit 104, the lidar acquisition unit 105, and the millimeter-wave radar acquisition unit 106 are all installed at the front, both sides, and rear of the sprinkler truck to obtain omnidirectional distance data around the vehicle. Usually, sensors are installed at positions close to the bottom on both sides of the vehicle to better detect the distance to the road edge.

[0034] The ultrasonic acquisition unit 104 is configured to use an ultrasonic sensor to detect the distance by emitting ultrasonic waves and receiving reflected waves;

[0035] The lidar acquisition unit 105 is configured to use a lidar sensor to determine the distance by emitting a laser beam and measuring the time and intensity of the reflected light;

[0036] The millimeter-wave radar acquisition unit 106 is used for the millimeter-wave radar sensor to detect the distance, speed, and angle information of the target object through electromagnetic waves in the millimeter-wave frequency band.

[0037] In this embodiment, the ultrasonic sensor in the ultrasonic acquisition unit 104 detects the distance by transmitting ultrasonic waves and receiving the reflected waves. For example, it emits high-frequency ultrasonic pulses around the vehicle. When the ultrasonic waves encounter a road boundary (such as a curb) or an obstacle, they will be reflected back. The ultrasonic sensor calculates the distance to the reflecting object based on the time difference between transmitting and receiving the ultrasonic waves. The formula is as follows

[0038]

[0039] where d is the distance between the sensor and the reflecting object, v is the speed of sound, and T is the total time from the ultrasonic wave being transmitted to being received. The lidar acquisition unit 105 determines the distance by emitting a laser beam through the lidar sensor and measuring the time and intensity of the reflected light. The lidar acquisition unit 105 can provide high-precision distance information and can quickly scan the area around the vehicle; the millimeter-wave radar acquisition unit 106 uses electromagnetic waves in the millimeter-wave frequency band through the millimeter-wave radar sensor to detect information such as the distance, speed, and angle of the target object, and it has characteristics such as strong anti-interference ability and long detection distance.

[0040] Further, the intelligent control module 102 includes a processing unit 107 and a road width data update unit 108, and the processing unit 107 is connected to the road width data update unit 108.

[0041] The processing unit 107 is used for processing the data collected by the sensor group to obtain road width data.

[0042] The road width data update unit 108 is used for periodically updating the road width data.

[0043] In this embodiment, first, the processing unit 107 processes and analyzes the distance data collected by the sensor group to identify the boundary positions of the road, thereby determining the road width. Then, under the action of the road width data updating unit 108, the road width data is updated in real time. At the same time, during the driving process of the sprinkler truck, the sensor group continuously collects new data because the road conditions may change, such as the road becoming narrower or wider. Therefore, the processing unit 107 processes the data and calculates the road width at regular time intervals (such as 0.1 second) according to a predetermined algorithm program, so that the road width data updating unit 108 periodically (for example, every few milliseconds or seconds) updates the road width again. According to the new road width data, the dynamic adjustment unit receives and sends control instructions to adjust the flow rate of the water pump and the angle of the sprinkler nozzles to dynamically adjust the sprinkling range. For example, if the road width becomes narrower, the dynamic adjustment unit reduces the flow rate of the water pump and at the same time adjusts the angle of the sprinkler nozzles to narrow the sprinkling range and prevent water from splashing outside the road area. If the road width becomes wider, the flow rate of the water pump and the angle of the sprinkler nozzles will be increased to ensure that the entire road surface can be effectively sprinkled. Secondly, when the road suddenly becomes narrower or there are obstacles, the system can quickly respond and adjust the sprinkling range within a very short time (such as within 0.5 second) to prevent water from splashing onto surrounding objects. At the same time, the system also has self-learning and self-adaptive functions, which can continuously optimize the algorithm and control parameters according to the operation experience in different regions and different road conditions to improve the accuracy and efficiency of the sprinkler operation.

[0044] Furthermore, the processing unit 107 includes a preprocessing subunit 109 and a road width identification and analysis subunit 110;

[0045] The preprocessing subunit 109 is used to perform filtering processing on the data collected by the sensors;

[0046] The road width identification and analysis subunit 110 is used to identify and analyze the road width by using a clustering analysis algorithm and a machine learning algorithm on the processed data to obtain road width data.

[0047] In this embodiment, since the data collected during the transmission process may be affected by environmental interference (such as electromagnetic interference) and thus have errors or fluctuations, the preprocessing subunit 109 processes the collected data through filtering operations. For example, a low-pass filter is used to remove high-frequency noise to make the data smoother. At the same time, data calibration is also performed, and according to the known error characteristics of the sensors, the collected data is corrected to ensure the accuracy of the data; the road width identification and analysis subunit 110 will identify the road width based on the preprocessed data. A common method is based on the identification of the two sides of the road boundary. Assume that the distance data from the sensors on both sides of the vehicle to the road edges are D left (the distance from the sensor on the left side of the vehicle to the left edge of the road) and Dright (Distance from the right - hand side sensor of the vehicle to the right edge of the road). The width of the vehicle itself is W vehicle (which is a known vehicle parameter), then W road The road width can be calculated by the formula

[0048] W road =D left +D right +W vehicle

[0049] However, the actual situation may be more complex. Since the road edge may not be a regular straight line and there may be obstacles affecting the distance data, the algorithm needs to consider various situations.

[0050] Among them, the road - width recognition and analysis sub - unit 110 uses a clustering analysis algorithm to distinguish the road boundary and obstacles: If the sensor group detects a series of distance data points, by analyzing the distribution law of these data points, the data points conforming to the road - boundary characteristics can be clustered together, excluding those isolated data points that may be obstacles. At the same time, machine - learning algorithms such as support vector machine (SVM) or neural network are used. By training on a large number of samples with labeled road widths and corresponding sensor data, the support vector machine (SVM) or neural network algorithm can learn the mapping relationship from sensor data to road width. In actual applications, when the collected sensor data is input into the trained model, an estimated value of the road width can be obtained.

[0051] The beneficial effects of an automatic road - width recognition and sprinkling operation system for a sprinkler truck of the present invention include:

[0052] 1. Improvement in intelligence and automation

[0053] Adaptive operation: Traditional sprinkler trucks usually rely on manual experience or fixed sprinkling patterns for operation, while a sprinkler truck with automatic road - width recognition can automatically adjust the sprinkling range according to different road widths, realizing the transformation from manual operation to intelligent automatic operation. For example, when encountering roads with different widths in the city, the vehicle can sense the road - width change in real time and accurately control the sprinkling range without manual intervention, which greatly improves the efficiency and accuracy of the sprinkling operation.

[0054] Reduction of manual dependence: In the past, drivers needed to constantly pay attention to the road - width change and manually adjust the sprinkling equipment, which not only increased the driver's workload but also easily led to uneven sprinkling or improper sprinkling range due to human negligence. The automatic road - width recognition system enables the sprinkler truck to independently complete the judgment of the road width and the adjustment of the sprinkling range, reducing the driver's work intensity and enabling them to focus more on the safe driving of the vehicle.

[0055] 2. Precise control and resource optimization

[0056] Precise sprinkling range control: By accurately identifying the road width, the sprinkler can precisely control the angle of the sprinkler nozzles and the flow rate of the water pump. For example, on a narrow road, the system can accurately control the sprinkling range within the road surface, preventing water from splashing onto pedestrians, vehicles, or buildings on the roadside. On a wide road, it can ensure that water is evenly sprinkled across the entire road surface, effectively utilizing water resources for road cleaning.

[0057] Optimal utilization of water resources: This precise control helps reduce water resource waste. Traditional sprinklers, unable to dynamically adjust according to road width, may sprinkle excessive water on narrow roads, resulting in ineffective use of water resources. In contrast, sprinklers with automatic road width recognition can reasonably allocate water volume based on the actual road width, achieving efficient utilization of water resources and conforming to the concepts of environmental protection and sustainable development.

[0058] 3. Improvement of operation quality and safety

[0059] Enhanced cleaning effect: The automatic road width recognition system can ensure that the sprinkler evenly sprinkles water on roads of different widths, thereby improving the quality of road cleaning. Whether it is a wide main road or a narrow alley, it can receive appropriate sprinkling operations, effectively suppressing road dust and enhancing the urban environmental hygiene level.

[0060] Enhanced safety performance: Precise sprinkling range control reduces the risk of safety accidents caused by water splashing onto pedestrians and vehicles. For example, in areas with high pedestrian flow such as schools and hospitals, it can prevent pedestrians from slipping due to being splashed with water and also prevent traffic accidents caused by obstructed vision of passing vehicles.

[0061] 4. Technology integration and system integration innovation

[0062] Multi-sensor fusion technology: The automatic road width recognition system integrates multiple sensors, such as ultrasonic sensors, lidar sensors, millimeter-wave radar sensors, etc. The data fusion of these sensors is an innovation point. By comprehensively utilizing the advantages of different sensors, such as the high precision of ultrasonic sensors at close range, the high-precision ranging of lidar sensors, and the strong anti-interference ability of millimeter-wave radar sensors, more accurate road boundary information can be obtained.

[0063] Integration of intelligent algorithms and control systems: The system combines advanced clustering analysis algorithms, machine learning algorithms (such as support vector machines, neural networks, etc.) with the sprinkler. These algorithms can efficiently process the data collected by the sensors, accurately identify the road width, and are closely integrated with the sprinkler's sprinkling system, realizing the integration of data collection, processing, decision-making, and execution.

[0064] Please refer to Figure 5, the present invention also provides a sprinkler truck, which includes the automatic road width recognition sprinkling operation system of the sprinkler truck described above, and further includes a vehicle body 111, a water storage tank 112, a water pump 113, a sprinkler head 114 and an angle adjustment module 115. The dynamic adjustment module 103 is electrically connected to the water pump 113 and the angle adjustment module 115 respectively. The water storage tank 112 is communicated with the water pump 113 through a water pipe. The water storage tank 112 is located on one side of the water pump 113. The sprinkler head 114 is communicated with the water pump 113 through a water pipe and is located on the side of the water pump 113 away from the water storage tank 112. The vehicle body 111 is located on one side of the water storage tank 112. The angle adjustment module 115 is used to adjust the angle of the sprinkler head 114 to achieve uniform and effective sprinkling operation on the road surface. The water pump 113 is used to generate pressure to suck water and also adjust the water flow rate.

[0065] When using the sprinkler truck of this embodiment, first start the water pump 113. The water pump 113 sucks the water in the water storage tank 112 and then flows to the sprinkler head 114 to achieve the spraying operation. When the dynamic adjustment module 103 receives the control instruction issued by the intelligent control module 102, the dynamic adjustment module 103 adjusts the flow rate of the water pump 113, and at the same time adjusts the angle of the sprinkler head 114 through the angle adjustment module 115, so as to ensure that the entire road surface is evenly and effectively sprinkled, significantly improving the intelligent level of the sprinkler truck operation, reducing water resource waste, improving the road cleaning effect, and at the same time reducing the adverse impact on the surrounding environment, pedestrians and vehicles caused by improper sprinkling. It has broad application prospects and market value.

[0066] The above-disclosed is only a preferred embodiment of the present invention. Of course, it cannot be used to limit the scope of the rights of the present invention. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A sprinkler truck automatic road width identification and watering system, characterized in that: It includes a collection module, an intelligent control module and a dynamic adjustment module, wherein the intelligent control module is electrically connected to the collection module, and the dynamic adjustment module is electrically connected to the intelligent control module. The acquisition module is used to continuously transmit detection signals to the surroundings according to the sensor group, and receive the reflected signals, and calculate the distance data to the surrounding objects through the time difference and intensity change of the signals; The intelligent control module is used to process and analyze the collected distance data, identify the boundary position of the road by comparing the processed and analyzed data of different sensors, thereby determining the road width, and send control instructions to the water pump and sprinkler nozzle adjustment device based on the obtained road width; The dynamic adjustment module is used to adjust the flow rate of the water pump on the sprinkler truck and the angle of the sprinkler nozzle.

2. The automatic road width identification and watering system of a watering truck as claimed in claim 1, characterized in that: The acquisition module includes an ultrasonic acquisition unit, a laser radar acquisition unit and a millimeter wave radar acquisition unit, and the ultrasonic acquisition unit, the laser radar acquisition unit and the millimeter wave radar acquisition unit are all installed at the front, both sides and the rear of the sprinkler truck. The ultrasonic collecting unit is used for the ultrasonic sensor to detect the distance by emitting ultrasonic waves and receiving reflected waves; The laser radar acquisition unit is used for the laser radar sensor to determine the distance by emitting a laser beam and measuring the time and intensity of the reflected light; The millimeter wave radar acquisition unit is used for the millimeter wave radar sensor to detect the distance, speed and angle information of the target object through electromagnetic waves in the millimeter wave frequency band.

3. The automatic road width identification and watering system of a watering truck as claimed in claim 1, characterized in that: The intelligent control module includes a processing unit and a road width data updating unit, and the processing unit is connected to the road width data updating unit. The processing unit is used to process the data collected by the sensor group to obtain road width data; The road width data updating unit is used to periodically update the road width data.

4. The automatic road width identification and watering system of a watering truck as claimed in claim 3, characterized in that: The processing unit includes a pre-processing sub-unit and a road width identification and analysis processing sub-unit; The pre-processing sub-unit is used to filter the data collected by the sensor group; The road width identification and analysis subunit is used to identify and analyze the road width using a cluster analysis algorithm and a machine learning algorithm on the processed data to obtain road width data.

5. A watering truck, comprising the automatic road width identification and watering operation system of a watering truck as claimed in any one of claims 1 to 4, characterized in that: It also includes a vehicle body, a water tank, a water pump, a sprinkler head and an angle adjustment module, the dynamic adjustment module is electrically connected to the water pump and the angle adjustment module respectively, the water tank is connected to the water pump through a water pipe, the water tank is located on one side of the water pump, the sprinkler head is connected to the water pump through a water pipe and is located on the side of the water pump away from the water tank, and the vehicle body is located on one side of the water tank.

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