Intelligent watering device and method for sanitation vehicle

Abstract

The invention provides an intelligent water sprinkling device and method for a sanitation vehicle, belongs to the technical field of water sprinkling of sanitation vehicles, and can control a water sprinkling nozzle group to work according to the motion state of a moving target within the water sprinkling range of the sanitation vehicle and near the sanitation vehicle so as to prevent the occurrence of an event that water is sprinkled to pedestrians due to the fact that the water sprinkling nozzles are not closed in time. The device comprises a sprinkler head group, a water supply module, an electromagnetic valve, a camera module, a camera controller, a master controller, a control panel and a display screen.

Description

Technical Field

[0001] The present invention relates to the technical field of sprinkler technology for sanitation vehicles, and particularly to an intelligent sprinkler device and method for sanitation vehicles. Background Art

[0002] Sanitation vehicles are the core equipment for urban environmental sanitation management, mainly used for operations such as garbage collection and transportation, road cleaning, sprinkler dust suppression, and sewage treatment. With the progress of technology, sanitation vehicles are developing towards electrification, intelligence, and automation.

[0003] Currently, the sprinkling of sanitation vehicles is mainly controlled by the driver manually operating the switch of the sprinkler nozzles. When the sprinkler nozzles are about to spray on moving targets such as pedestrians during the sprinkling process, the driver needs to observe and manually operate to close the sprinkler nozzles in time. However, due to the visual blind spots in human eye observation, manual operation is prone to operational errors, and incidents often occur where the sprinkler nozzles are not closed in time and spray on pedestrians. Summary of the Invention

[0004] The present invention proposes an intelligent sprinkler device and method for sanitation vehicles, which can control the operation of the sprinkler nozzle group according to the movement state of moving targets within and near the sprinkling range of the sanitation vehicle, preventing the occurrence of incidents where the sprinkler nozzles are not closed in time and spray on pedestrians.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides an intelligent sprinkler device for sanitation vehicles, including:

[0007] A sprinkler nozzle group for sprinkling, the sprinkler nozzle group includes a plurality of first sprinkler nozzles arranged in front of the sanitation vehicle, a plurality of second sprinkler nozzles arranged on the left side of the sanitation vehicle, and a plurality of third sprinkler nozzles arranged on the right side of the sanitation vehicle. Each sprinkler nozzle in the sprinkler nozzle group is equipped with an electro-pneumatic valve;

[0008] A water supply module for supplying water to the sprinkler nozzle group;

[0009] A solenoid valve for controlling the operation of the sprinkler nozzle group, the solenoid valve is arranged at the longitudinal beam of the vehicle position of the sanitation vehicle;

[0010] A camera module for monitoring within the sprinkling range of the sanitation vehicle, the camera module includes: a first camera arranged in front of the sprinkling sanitation vehicle, a second camera arranged on the left side of the sanitation vehicle, and a third camera arranged on the right side of the sanitation vehicle;

[0011] A camera controller for controlling the operation of the camera module, the camera controller is arranged in the cab of the sanitation vehicle;

[0012] A total controller for controlling the operation of a sprinkler head group according to the motion state of a moving target in the monitoring screen of a camera module. The total controller is set in the cab of a sanitation vehicle. The total controller is electrically connected to a camera controller and a solenoid valve.

[0013] A control panel for adjusting the working mode of the intelligent sprinkler control device of the sanitation vehicle; a display screen for displaying the monitoring range of the camera module. The control panel and the display screen are both set in the cab of the sanitation vehicle, and the control panel and the display screen are both electrically connected to the total controller.

[0014] As an aspect of the present invention, controlling the operation of the sprinkler head group according to the motion state of a moving target in the monitoring screen of the camera module includes:

[0015] During the sprinkler operation of the sanitation vehicle, set the sprinkler range within the monitoring screen of the target camera as a rectangular sprinkler area, and use an intelligent recognition model to obtain the motion state of the moving target close to the rectangular sprinkler area in the monitoring screen of the target camera.

[0016] Among them, the target camera is any one of the first camera, the second camera, and the third camera; the rectangular sprinkler area includes the sprinkler range; the motion state of the moving target includes the distance between the moving target and the rectangular sprinkler area, and the moving speed of the moving target relative to the sanitation vehicle.

[0017] Calculate the touch time required for the moving target to enter the rectangular sprinkler area. When the touch time is greater than the minimum collision time, it is determined that the moving target will not enter the rectangular sprinkler area, and the sprinkler head group maintains the sprinkling state; otherwise, it is determined that the moving target will enter the rectangular sprinkler area, and the total controller controls the closing of multiple sprinkler heads within the sprinkler range in the monitoring screen of the target camera through the solenoid valve. Among them, the minimum collision time is the time required for the moving target to reach the edge of the rectangular sprinkler area at the standard speed.

[0018] In the state where multiple sprinkler heads within the sprinkler range in the monitoring screen of the target camera are closed, when the moving target in the monitoring screen of the target camera moves away from the rectangular sprinkler area, the total controller controls the opening of multiple sprinkler heads within the sprinkler range in the monitoring screen of the target camera through the solenoid valve.

[0019] As an aspect of the present invention, the distance between the moving target and the rectangular sprinkler area includes: the distance between the moving target and the long side of the rectangular sprinkler area close to the moving target, and the distance between the moving target and the short side of the rectangular sprinkler area close to the moving target.

[0020] The moving speed of the moving target relative to the sanitation vehicle includes: the speed component of the moving speed on the long side of the rectangular sprinkler area, and the speed component of the moving speed on the short side of the rectangular sprinkler area.

[0021] The time value that is smaller between the time when the moving target touches the long side of the rectangular sprinkling area on the side close to the moving target and the time when the moving target touches the short side of the rectangular sprinkling area on the side close to the moving target is the touch time.

[0022] As an aspect of the present invention, the intelligent recognition model is a TTC model, a Transformer-based model, a FlowNet / RAFT model, or a spatio-temporal graph neural network.

[0023] As an aspect of the present invention, the water supply module includes a water supply pipeline communicated with the sprinkler head group. The water supply pipeline is connected to a water tank through a power take-off pump, and the water tank is arranged behind the cab of the sanitation vehicle.

[0024] As an aspect of the present invention, a pipeline overpressure protection pneumatic ball valve is arranged on the water supply pipeline, and the pipeline overpressure protection pneumatic ball valve is electrically connected to the total controller.

[0025] As an aspect of the present invention, the working principle of the pipeline overpressure protection pneumatic ball valve is as follows:

[0026] When all the sprinkler heads in the sprinkler head group are in the closed state, the total controller controls the pipeline overpressure protection pneumatic ball valve to open, and the power take-off pump returns the water in the water supply pipeline to the water tank; when there are open sprinkler heads in the sprinkler head group, the total controller controls the pipeline overpressure protection pneumatic ball valve to close, and the power take-off pump continues to transport the water in the water tank to the water supply pipeline.

[0027] As an aspect of the present invention, the working modes include a manual control sprinkling mode and an automatic control sprinkling mode.

[0028] The present invention also provides a method for intelligent sprinkling of a sanitation vehicle. Based on the above-mentioned intelligent sprinkling device for a sanitation vehicle, it includes:

[0029] The sanitation vehicle starts the sprinkler head group to sprinkle water;

[0030] During the sprinkling process of the sanitation vehicle, the water supply module supplies water to the sprinkler head group, and the camera module monitors the sprinkling range of the sanitation vehicle;

[0031] The total controller controls the working of the sprinkler head group according to the motion state of the moving target in the monitoring picture of the camera module.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] (1) The present invention monitors the sprinkling ranges in front of, on the left side, and on the right side of the sanitation vehicle through the camera module, and controls the operation of the sprinkler head group according to the motion states of moving targets in the monitoring images of the camera module, enabling the intelligent sprinkling control device of the sanitation vehicle to accurately control the operation of the sprinkler head group automatically without manual operation, thereby preventing the occurrence of incidents where the sprinkler heads are not closed in time and spraying pedestrians.

[0034] (2) The present invention controls the pipeline pressure of the water supply pipeline of the sprinkler head group automatically through the master controller in combination with the overpressure protection pneumatic ball valve. After the intelligent sprinkling control device of the sanitation vehicle finishes sprinkling, the master controller reduces the pipeline pressure of the water supply pipeline, avoiding the occurrence of incidents where the pipeline pressure of the water supply pipeline is too high due to manual operation errors and causing the water supply pipeline to burst. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of an intelligent sprinkling device for a sanitation vehicle provided by an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of an intelligent sprinkling method for a sanitation vehicle provided by an embodiment of the present application. Detailed Embodiments

[0037] If there are terms such as "first" and "second" in the description and claims of the present invention, they are used to distinguish different objects, rather than to describe a specific order of the objects.

[0038] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0039] In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" refers to two or more. For example, a plurality of first sprinkler heads refers to two or more first sprinkler heads; a plurality of second sprinkler heads refers to two or more second sprinkler heads; a plurality of third sprinkler heads refers to two or more third sprinkler heads.

[0040] Embodiment 1: This embodiment provides an intelligent sprinkling device for a sanitation vehicle, including: a sprinkler head group, a water supply module, a solenoid valve, a camera module, a camera controller, a master controller, a control panel, and a display screen.

[0041] In this embodiment, the above-mentioned sprinkler head group is used for sprinkling water. The sprinkler head group includes a plurality of first sprinkler heads arranged in front of the sanitation vehicle, a plurality of second sprinkler heads arranged on the left side of the sanitation vehicle, and a plurality of third sprinkler heads arranged on the right side of the sanitation vehicle. Each sprinkler head in the sprinkler head group is equipped with an electronically controlled pneumatic valve.

[0042] The above-mentioned water supply module is used to supply water to the sprinkler head group. The water supply module includes a water supply pipeline communicated with the sprinkler head group. The water supply pipeline is connected to a water tank through a power take-off pump. The water tank is arranged behind the cab of the sanitation vehicle. A pipeline overpressure protection pneumatic ball valve is arranged on the water supply pipeline. The pipeline overpressure protection pneumatic ball valve is electrically connected to the master controller. It should be noted that since the pipeline overpressure protection pneumatic ball valve is a commonly used technical means in this technical field, the specific structure of the pipeline overpressure protection pneumatic ball valve is not further described in this embodiment.

[0043] The working principle of the above-mentioned pipeline overpressure protection pneumatic ball valve is as follows: when all the sprinkler heads in the sprinkler head group are in the closed state, the master controller controls the pipeline overpressure protection pneumatic ball valve to open, and the power take-off pump returns the water in the water supply pipeline to the water tank; when there are open sprinkler heads in the sprinkler head group, the master controller controls the pipeline overpressure protection pneumatic ball valve to close, and the power take-off pump continues to transport the water in the water tank to the water supply pipeline.

[0044] The above-mentioned solenoid valve is used to control the operation of the sprinkler head group. The solenoid valve is arranged at the longitudinal beam of the parking space of the sanitation vehicle.

[0045] The above-mentioned camera module is used for monitoring within the sprinkling range of the sanitation vehicle. The camera module includes: a first camera arranged in front of the sprinkling sanitation vehicle, a second camera arranged on the left side of the sanitation vehicle, and a third camera arranged on the right side of the sanitation vehicle.

[0046] The above-mentioned camera controller is used to control the operation of the camera module. The camera controller is arranged in the cab of the sanitation vehicle.

[0047] The above-mentioned master controller is used to control the operation of the sprinkler head group according to the motion state of the moving target in the monitoring screen of the camera module. The master controller is arranged in the cab of the sanitation vehicle. The master controller is electrically connected to the camera controller and the solenoid valve.

[0048] The above-mentioned control panel is used to adjust the working mode of the intelligent sprinkler control device of the sanitation vehicle, and the above-mentioned display screen is used to display the monitoring range of the camera module.

[0049] The above-mentioned working modes include a manual sprinkling control mode and an automatic sprinkling control mode. It can be understood that the manual sprinkling control mode is a mode in which the driver manually controls the switch of the sprinkler head group, and the automatic sprinkling control mode is a mode in which the master controller controls the operation of the sprinkler head group according to the motion state of the moving target in the monitoring screen of the camera module.

[0050] Both the above-mentioned control panel and the above-mentioned display screen are arranged in the cab of the sanitation vehicle, and both the control panel and the display screen are electrically connected to the main controller.

[0051] Specifically, the main controller controls the sprinkler head group to work according to the motion state of the moving target in the monitoring screen of the camera module, including:

[0052] Step 1: During the sprinkling operation of the sanitation vehicle, set the sprinkling range in the monitoring screen of the target camera as a rectangular sprinkling area, and use an intelligent recognition model to obtain the motion state of the moving target near the rectangular sprinkling area in the monitoring screen of the target camera.

[0053] Among them, the target camera is any one of the first camera, the second camera, and the third camera; the rectangular sprinkling area includes the sprinkling range; the motion state of the moving target includes the distance between the moving target and the rectangular sprinkling area, and the moving speed of the moving target relative to the sanitation vehicle. The intelligent recognition model is the TTC model.

[0054] Furthermore, the distance between the moving target and the rectangular sprinkling area includes: the distance a between the moving target and the long side of the rectangular sprinkling area close to the moving target, and the distance b between the moving target and the short side of the rectangular sprinkling area close to the moving target.

[0055] The moving speed of the above-mentioned moving target relative to the sanitation vehicle includes: the speed component v1 of the moving speed on the long side of the rectangular sprinkling area, and the speed component v2 of the moving speed on the short side of the rectangular sprinkling area.

[0056] Step 2: Calculate the touch time required for the moving target to enter the rectangular sprinkling area. When the touch time is greater than the minimum collision time, it is judged that the moving target will not enter the rectangular sprinkling area, and the sprinkler head group remains in the sprinkling state; otherwise, it is judged that the moving target will enter the rectangular sprinkling area, and the main controller controls multiple sprinkler heads within the sprinkling range in the monitoring screen of the target camera to close through the solenoid valve.

[0057] Determine the smaller time value among the time t1 when the moving target touches the long side of the rectangular sprinkling area close to the moving target and the time t2 when the moving target touches the short side of the rectangular sprinkling area close to the moving target as the touch time. In this embodiment, it is set that the moving target keeps moving uniformly close to the rectangular sprinkling area, then the time t1 when the above-mentioned moving target touches the long side of the rectangular sprinkling area close to the moving target = a / v1; the time when the above-mentioned moving target touches the short side of the rectangular sprinkling area close to the moving target is t2 = b / v2.

[0058] Among them, the minimum collision time is the time t3 required for the moving target to reach the edge of the rectangular sprinkler area at the standard speed v3. Specifically, when the time t1 when the above-mentioned moving target touches the long side of the rectangular sprinkler area close to the moving target is the touch time, t3 = a / v3; when the time t2 when the above-mentioned moving target touches the short side of the rectangular sprinkler area close to the moving target is the touch time, t3 = b / v3.

[0059] In this embodiment, the above-mentioned standard speed v3 is 3 m / s. It can be understood that the above-mentioned standard speed v3 can also be set to 2 m / s or 5 m / s. The above-mentioned minimum collision time t3 can also be obtained from industry experience and vehicle calibration, and this embodiment does not make further limitations.

[0060] Step 3: When the moving target in the monitoring screen of the target camera moves away from the rectangular sprinkler area while multiple sprinkler nozzles within the sprinkler range in the monitoring screen of the target camera are in the closed state, the total controller controls multiple sprinkler nozzles within the sprinkler range in the monitoring screen of the target camera to open through the solenoid valve.

[0061] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the intelligent recognition model is a Transformer-based model.

[0062] Embodiment 3: The difference between this embodiment and Embodiment 1 is that the intelligent recognition model is a FlowNet / RAFT model.

[0063] Embodiment 4: The difference between this embodiment and Embodiment 1 is that the intelligent recognition model is a spatio-temporal graph neural network.

[0064] Embodiment 5: This embodiment describes a method for intelligent sprinkling of a sanitation vehicle. Based on the intelligent sprinkling device of a sanitation vehicle described in Embodiment 1, it includes the following steps.

[0065] S1. The control panel sets the working mode of the intelligent sprinkling control device of the sanitation vehicle to the automatic sprinkling mode.

[0066] S2. The sanitation vehicle starts the sprinkler nozzle group to sprinkle water.

[0067] Specifically, the main controller controls all the sprinkler nozzles in the sprinkler nozzle group to start through the solenoid valve. During the process of sprinkling water by the above-mentioned sprinkler nozzle group, multiple first sprinkler nozzles in the sprinkler nozzle group sprinkle water on the ground in front of the sanitation vehicle, multiple second sprinkler nozzles in the sprinkler nozzle group sprinkle water on the ground on the left side of the sanitation vehicle, and multiple third sprinkler nozzles in the sprinkler nozzle group sprinkle water on the ground on the right side of the sanitation vehicle.

[0068] S3. During the process of the sanitation vehicle spraying water, the water supply module supplies water to the sprinkler head group, and the camera module monitors the area within the spraying range of the sanitation vehicle.

[0069] During the process of the sanitation vehicle spraying water, the power take-off pump pumps water from the water tank and supplies water to all the sprinklers of the sprinkler head group through the water supply pipeline. During the process of the above-mentioned camera module monitoring the area within the spraying range of the sanitation vehicle, the master controller activates the camera module through the camera controller. The first camera monitors the spraying range in front of the sanitation vehicle; the second camera monitors the spraying range on the left side of the sanitation vehicle; the third camera monitors the spraying range on the right side of the sanitation vehicle. The first camera, the second camera, and the third camera transmit the monitored images to the master controller and the display screen, and the display screen shows the monitoring range of the camera module.

[0070] S4. The master controller controls the operation of the sprinkler head group according to the motion state of the moving target in the monitoring image of the camera module.

[0071] Specifically, the above S4 includes the following steps.

[0072] Step 1. During the process of the sanitation vehicle spraying water, set the spraying range within the monitoring image of the target camera as a rectangular spraying area, and use an intelligent recognition model to obtain the motion state of the moving target close to the rectangular spraying area within the monitoring image of the target camera.

[0073] Among them, the target camera is any one of the first camera, the second camera, and the third camera; the rectangular spraying area includes the spraying range; the motion state of the moving target includes the distance between the moving target and the rectangular spraying area, and the moving speed of the moving target relative to the sanitation vehicle. The intelligent recognition model is the TTC model.

[0074] Furthermore, the distance between the moving target and the rectangular spraying area includes: the distance a between the moving target and the long side of the rectangular spraying area close to the moving target, and the distance b between the moving target and the short side of the rectangular spraying area close to the moving target.

[0075] The above-mentioned moving speed of the moving target relative to the sanitation vehicle includes: the speed component v1 of the moving speed on the long side of the rectangular spraying area, and the speed component v2 of the moving speed on the short side of the rectangular spraying area.

[0076] Step 2. Calculate the touch time required for the moving target to enter the rectangular spraying area. When the touch time is greater than the minimum collision time, it is judged that the moving target will not enter the rectangular spraying area, and the sprinkler head group maintains the spraying state; otherwise, it is judged that the moving target will enter the rectangular spraying area, and the master controller controls the closing of multiple sprinklers within the spraying range within the monitoring image of the target camera through the solenoid valve.

[0077] The smaller of the time t1 when the above-mentioned moving target touches the long side of the rectangular sprinkler area close to the moving target and the time t2 when the moving target touches the short side of the rectangular sprinkler area close to the moving target is the touch time. In this embodiment, it is set that the moving target keeps approaching the rectangular sprinkler area at a constant speed. Then, the time t1 when the above-mentioned moving target touches the long side of the rectangular sprinkler area close to the moving target is t1 = a / v1; the time when the above-mentioned moving target touches the short side of the rectangular sprinkler area close to the moving target is t2 = b / v2.

[0078] Among them, the minimum collision time is the time t3 required for the moving target to reach the edge of the rectangular sprinkler area at the standard speed v3. Specifically, when the time t1 when the above-mentioned moving target touches the long side of the rectangular sprinkler area close to the moving target is the touch time, t3 = a / v3; when the time t2 when the above-mentioned moving target touches the short side of the rectangular sprinkler area close to the moving target is the touch time, t3 = b / v3.

[0079] In this embodiment, the above-mentioned standard speed v3 is 3 m / s.

[0080] Step 3: When the moving target in the monitored picture of the target camera moves away from the rectangular sprinkler area while multiple sprinkler nozzles within the sprinkler range in the monitored picture of the target camera are in the closed state, the total controller controls the multiple sprinkler nozzles within the sprinkler range in the monitored picture of the target camera to open through the solenoid valve.

[0081] S5: After the sprinkling is over, the water supply pipeline is decompressed through the overpressure protection pneumatic ball valve of the pipeline.

[0082] Specifically, when all the sprinkler nozzles in the sprinkler nozzle group are in the closed state, the total controller controls the overpressure protection pneumatic ball valve of the pipeline to open, and the power take-off water pump returns the water in the water supply pipeline to the water tank to realize the decompression of the water supply pipeline.

[0083] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

[0084] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent sprinkling device for a sanitation vehicle, characterized in that, Including: A sprinkler head group for sprinkling water, the sprinkler head group includes a plurality of first sprinkler heads arranged in front of the sanitation vehicle, a plurality of second sprinkler heads arranged on the left side of the sanitation vehicle, and a plurality of third sprinkler heads arranged on the right side of the sanitation vehicle. Each sprinkler head in the sprinkler head group is equipped with an electro-pneumatic valve; A water supply module for supplying water to the sprinkler head group; A solenoid valve for controlling the operation of the sprinkler head group, the solenoid valve is arranged at the longitudinal beam of the parking space of the sanitation vehicle; A camera module for monitoring within the sprinkling range of the sanitation vehicle, the camera module includes: a first camera arranged in front of the sprinkling sanitation vehicle, a second camera arranged on the left side of the sanitation vehicle, and a third camera arranged on the right side of the sanitation vehicle; A camera controller for controlling the operation of the camera module, the camera controller is arranged in the cab of the sanitation vehicle; A total controller for controlling the operation of the sprinkler head group according to the motion state of the moving target in the monitoring image of the camera module, the total controller is arranged in the cab of the sanitation vehicle; the total controller is electrically connected to the camera controller and the solenoid valve; A control panel for adjusting the working mode of the intelligent sprinkling control device of the sanitation vehicle; a display screen for displaying the monitoring range of the camera module; the control panel and the display screen are both arranged in the cab of the sanitation vehicle, and the control panel and the display screen are both electrically connected to the total controller.

2. The intelligent sprinkling device for a sanitation vehicle according to claim 1, characterized in that, Controlling the operation of the sprinkler head group according to the motion state of the moving target in the monitoring image of the camera module includes: During the process of the sanitation vehicle performing sprinkling work, setting the sprinkling range in the monitoring image of the target camera as a rectangular sprinkling area, and using an intelligent recognition model to obtain the motion state of the moving target near the rectangular sprinkling area in the monitoring image of the target camera; Wherein, the target camera is any one of the first camera, the second camera, and the third camera; the rectangular sprinkling area includes the sprinkling range; the motion state of the moving target includes the distance between the moving target and the rectangular sprinkling area, and the moving speed of the moving target relative to the sanitation vehicle; Calculating the touch time required for the moving target to enter the rectangular sprinkling area. When the touch time is greater than the minimum collision time, it is determined that the moving target will not enter the rectangular sprinkling area, and the sprinkler head group maintains the sprinkling state; otherwise, it is determined that the moving target will enter the rectangular sprinkling area, and the total controller controls the plurality of sprinkler heads within the sprinkling range in the monitoring image of the target camera to close through the solenoid valve; wherein, the minimum collision time is the time required for the moving target to reach the edge of the rectangular sprinkling area at the standard speed. When multiple sprinkler nozzles within the sprinkling range in the monitoring screen of the target camera are in the closed state, and when the moving target in the monitoring screen of the target camera moves away from the rectangular sprinkling area, the master controller controls the multiple sprinkler nozzles within the sprinkling range in the monitoring screen of the target camera to open through the solenoid valve.

3. The intelligent sprinkling device for a sanitation vehicle according to claim 2, wherein The distance between the moving target and the rectangular sprinkling area includes: the distance between the moving target and the long side of the rectangular sprinkling area on the side close to the moving target, and the distance between the moving target and the short side of the rectangular sprinkling area on the side close to the moving target; The moving speed of the moving target relative to the sanitation vehicle includes: the speed component of the moving speed on the long side of the rectangular sprinkling area, and the speed component of the moving speed on the short side of the rectangular sprinkling area; The time when the moving target touches the long side of the rectangular sprinkling area on the side close to the moving target and the smaller of the time when the moving target touches the short side of the rectangular sprinkling area on the side close to the moving target is the touch time.

4. An intelligent sprinkling device for a sanitation vehicle according to claim 2, characterized in that, The intelligent recognition model is a TTC model, a Transformer-based model, a FlowNet / RAFT model or a spatio-temporal graph neural network.

5. The intelligent sprinkling device for a sanitation vehicle according to claim 1, characterized in that, The water supply module includes a water supply pipeline communicated with the sprinkler nozzle group. The water supply pipeline is connected to a water tank through a power take-off pump, and the water tank is arranged behind the cab of the sanitation vehicle.

6. The intelligent sprinkling device for a sanitation vehicle as described in claim 5, wherein A pipeline overpressure protection pneumatic ball valve is arranged on the water supply pipeline, and the pipeline overpressure protection pneumatic ball valve is electrically connected to the master controller.

7. The intelligent sprinkling device for a sanitation vehicle according to claim 6, wherein, The working principle of the pipeline overpressure protection pneumatic ball valve is as follows: When all the sprinkler nozzles in the sprinkler nozzle group are in the closed state, the master controller controls the pipeline overpressure protection pneumatic ball valve to open, and the power take-off pump returns the water in the water supply pipeline to the water tank; when there are open sprinkler nozzles in the sprinkler nozzle group, the master controller controls the pipeline overpressure protection pneumatic ball valve to close, and the power take-off pump continues to transport the water in the water tank to the water supply pipeline.

8. The intelligent sprinkling device for a sanitation vehicle according to claim 1, characterized in that, The working modes include a manual control sprinkling mode and an automatic control sprinkling mode.

9. An intelligent sprinkling method for a sanitation vehicle, characterized in that, Based on any one of claims 1 to 8, an intelligent sprinkling device for a sanitation vehicle includes: The sanitation vehicle starts the sprinkler nozzle group to sprinkle water; During the process of the sanitation vehicle sprinkling water, the water supply module supplies water to the sprinkler nozzle group, and the camera module monitors the sprinkling range of the sanitation vehicle; The master controller controls the working of the sprinkler nozzle group according to the motion state of the moving target in the monitoring screen of the camera module.

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