Pedestrian protecting and avoiding method for environmental sanitation watering cart

Abstract

The invention discloses an environmental sanitation sprinkler pedestrian protection avoidance method, which comprises a plurality of laser radars, a plurality of cameras and a control host, the laser radars and the cameras are electrically connected with the control host, and the cameras and the laser radars are mounted on an environmental sanitation sprinkler; the camera is used for acquiring road picture information in the advancing direction of the sanitation sprinkler and transmitting the road picture information to the control host; the control host analyzes the advancing direction of the sanitation sprinkler through the road picture information and judges whether pedestrians exist in the advancing direction or not. The method has the following beneficial effects: by analyzing the picture information acquired by the camera and combining the distance measurement result of the laser radar, corresponding avoidance measures are taken for pedestrians encountered in the advancing process of the sprinkling sanitation vehicle, and the vehicle does not need to change the advancing speed in the whole sprinkling operation process; therefore, not only is the operation efficiency of the watering sanitation vehicle improved, but also the operation intensity of a driver of the watering sanitation vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the field of environmental sanitation auxiliary equipment, and particularly to a method for protecting pedestrians and avoiding collisions of a sanitation sprinkler truck. Background Art

[0002] The sprinkler sanitation truck is a commonly used vehicle for cleaning road surfaces at present. However, there is a problem with the current sprinkler sanitation truck during operation, that is, the sprinkler sanitation truck cannot sense whether there are pedestrians approaching during the sprinkling operation. Therefore, the sprinkler sanitation truck is likely to spray water on pedestrians during operation. To avoid spraying water on pedestrians during the operation of the sprinkler sanitation truck, Patent Publication Document CN116661462A discloses a method for automatically avoiding collisions of a sprinkler truck. However, there is a problem with this avoidance method, that is, in this avoidance method, it depends on the speed difference between the two at the previous moment to determine whether the target object (including but not limited to pedestrians) will fall into the spraying range of the sprinkler truck. But in fact, except for four-wheel motor vehicles (and due to low water pressure, the sprinkler truck does not need to avoid four-wheel motor vehicles), other two-wheel motor vehicles and pedestrians can directly sense whether the sprinkler truck is getting closer to themselves through the sound generated by the sprinkler vehicle and take corresponding avoidance measures. Therefore, the method disclosed in CN116661462A cannot accurately determine whether the target object will enter the spraying range of the sprinkler truck based on the speed difference between the two. And adjusting the pressure of the spray gun or shutting down the spray gun or even adjusting the speed of the sprinkler sanitation truck when the target object will not enter the spraying area will instead reduce the operation efficiency of the sprinkler vehicle. Summary of the Invention

[0003] The present invention addresses the above problems and proposes a method for protecting pedestrians and avoiding collisions of a sanitation sprinkler truck.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A method for protecting pedestrians and avoiding collisions of a sanitation sprinkler truck, including a plurality of lidars, a plurality of cameras, and a control host. The lidars and the cameras are both electrically connected to the control host, and the cameras and the lidars are both used to be installed on the sanitation sprinkler truck;

[0006] The camera is used to obtain the road scene information in the forward direction of the sanitation sprinkler and transmit the road scene information to the control host; the control host analyzes whether there are pedestrians in the forward direction of the sanitation sprinkler through the road scene information. If the control host analyzes through the camera's scene information that there are pedestrians in the forward direction, the lidar is turned on and the distance between the sanitation sprinkler and the pedestrians or cyclists is measured in real time. The distance value measured by the lidar is marked as A, and the angle between the pedestrians and the water gun and the water flow of the water gun measured by the lidar is M. The lidar transmits the measured distance value A and the angle value M to the control host. The control host calculates the vertical projection distance F between the pedestrians and the water gun through A and M. The spraying lift B of the water gun of the sanitation sprinkler is stored in the control host, and the difference between F and B is recorded as C. The control host controls the water pressure of the water gun of the sanitation sprinkler according to the value of C.

[0007] It should be noted in advance that this protection avoidance method is for the sanitation sprinklers that perform sprinkler operations on the motor vehicle lanes of the road. Currently, most roads basically include motor vehicle lanes, non-motor vehicle lanes and sidewalks. Among them, some roads combine non-motor vehicle lanes and sidewalks (usually highway roads such as national highways or provincial highways, rather than municipal roads). In some roads, the sidewalks are higher than the motor vehicle lanes, and in some roads, the sidewalks and motor vehicle lanes are on the same plane.

[0008] At the same time, it should be noted that the current speed of the sanitation sprinkler during sprinkler operation is 12-15 kilometers per hour, the normal speed of cycling a bicycle is 15 kilometers per hour, and when cyclists are moving at a relatively fast speed, they can reach 20 kilometers or even more than 30 kilometers per hour. The speed of electric bicycles is 25 kilometers per hour, and the speed of some old-standard electric bicycles can reach 50 or even 60 kilometers per hour. Therefore, for cyclists, the sanitation sprinkler cannot catch up with them. Only cyclists can catch up with the sanitation sprinkler. Therefore, only during the few seconds when cyclists overtake the sanitation sprinkler may they be splashed by the water sprayed by the water gun. Usually, when cyclists overtake, they will actively avoid (such as temporarily borrowing the relatively high sidewalk for overtaking) and increase their speed during overtaking. Therefore, the probability of being splashed by the water sprayed by the sanitation sprinkler is relatively low. For the rickshaws on the non-motor vehicle lane, because their cycling speed is relatively slow (about 12-15 kilometers per hour) and it is difficult to avoid, for this type of cyclists, the sanitation sprinkler needs to adopt the same avoidance strategy as for pedestrians.

[0009] The principle of this specific avoidance method is as follows. First, the road image information captured by the camera shows that there are pedestrians (or riders of human-powered tricycles) on the forward road. At this time, the lidar starts real-time monitoring. The distance value measured by the lidar is marked as A, and the angle between the pedestrian, the water gun, and the water flow of the water gun measured by the lidar is M. The lidar transmits the measured distance value A and the angle value M to the control host. The control host calculates the vertical projection distance F between the pedestrian and the water gun through A and M (because pedestrians will take evasive actions when the sprinkler sanitation vehicle approaches, so the value of F will only increase during the forward movement of the sprinkler sanitation vehicle). The spraying lift B of the water gun of the sanitation sprinkler is stored in the control host, and the difference between F and B is recorded as C. If the value of C is much larger than the safety value (this safety value can be 1 meter), then at this time, the water gun of the sprinkler sanitation vehicle does not need to adjust the lift. If the value of C is less than the safety value (such as the value of C is only 0.3), then at this time, the water gun of the sprinkler sanitation vehicle needs to adjust the lift, and the adjustment range of the water gun lift is related to the value of M. For example, the smaller the value of M, the greater the adjustment range of the water gun lift.

[0010] Suppose when the value of C is 0.3 meters, if the value of M is 30 degrees, then if the original spraying lift B of the water gun is 4.5 meters, it is adjusted to 2 meters at this time; if the value of C is 0.3 meters, if the value of M is 50 degrees, then the lift is adjusted to 3 meters at this time. Such adjustment is to give pedestrians enough time to avoid without changing the speed of the sanitation vehicle.

[0011] Until the sprinkler sanitation vehicle leaves the pedestrian behind, the lift of the water gun is adjusted back to the initial state. For example, when the normal spraying lift B is 4.5 meters during operation, after leaving the pedestrian behind, the spraying lift is adjusted back to 4.5 meters.

[0012] During the forward movement, if during the real-time monitoring by the lidar, it is found that the values of M and A are getting smaller and smaller, but the value of F basically remains unchanged, then at this time, it may be that the pedestrian is inconvenient to avoid or is a hearing-impaired patient, so the water gun is turned off, and the water gun is restarted after leaving the pedestrian behind.

[0013] In summary, after adopting this method for operation control in the sprinkler sanitation vehicle, corresponding avoidance measures are taken for pedestrians encountered during the forward movement of the sprinkler sanitation vehicle by analyzing the image information obtained by the camera and combining the ranging results of the lidar. During the entire sprinkler operation process, the vehicle does not need to change its own forward speed, which not only improves the operation efficiency of the sprinkler sanitation vehicle but also reduces the operation intensity of the driver of the sprinkler sanitation vehicle.

[0014] Optionally, the control host analyzes the road image information obtained by the camera to determine whether there is a green belt. If there is a green belt between the sprinkler sanitation vehicle and the pedestrian or rider, the water pressure of the water gun of the sprinkler sanitation vehicle is not adjusted.

[0015] In current municipal roads, there is a green belt separating some motor vehicle lanes from non-motor vehicle lanes (the non-motor vehicle lanes are located between the motor vehicle lanes and the sidewalks), while there is no green belt separation in some cases. Since the sprinkler sanitation vehicle operates by spraying water on the motor vehicle lanes, the green belt can isolate the sprinkler sanitation vehicle from pedestrians (and cyclists on the non-motor vehicle lanes). Since the height of the water gun of the sprinkler sanitation vehicle from the road surface is approximately 10 cm to 20 cm, and the height of the green belt steps from the road surface is about 12 cm to 15 cm, and the soil mounds in the green belt are 2 cm to 5 cm higher than the green belt steps, and adding the height of the green plants planted on the soil mounds in the green belt, the existence of the green belt can play a good role in blocking and absorbing the water sprayed by the water gun. In this way, when the sprinkler sanitation vehicle is operating, the water will not be sprayed onto the non-motor vehicle lanes and the sidewalks, so the sprinkler sanitation vehicle does not need to adjust its operating state.

[0016] Optionally, when the traveling speed of the sanitation sprinkler vehicle is zero, the control host judges whether it is at an intersection by obtaining the road picture information through the camera. When it is at an intersection, the water gun of the sanitation sprinkler vehicle is closed.

[0017] Because when waiting for the traffic lights at an intersection, pedestrians or non-motor vehicles waiting to pass may be sprayed with water, so the water gun is directly closed at the intersection.

[0018] The beneficial effects of the present invention are as follows: By analyzing the picture information obtained by the camera and combining the ranging results of the lidar, corresponding avoidance measures are taken for pedestrians encountered during the traveling process of the sprinkler sanitation vehicle. During the entire sprinkler operation process, the vehicle does not need to change its own traveling speed. In this way, not only the operation efficiency of the sprinkler sanitation vehicle is improved, but also the operation intensity of the driver of the sprinkler sanitation vehicle is reduced. Brief Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the included angle state formed between the water gun and the pedestrian. Detailed Embodiment

[0020] The following combines the drawings to make a detailed description of the present invention.

[0021] Combined with the attached Figure 1 As shown in the figure, a method for avoiding pedestrians by a sanitation sprinkler vehicle includes a plurality of lidars, a plurality of cameras and a control host. The lidars and the cameras are both electrically connected to the control host, and the cameras and the lidars are both used to be installed on the sanitation sprinkler vehicle;

[0022] The camera is used to obtain the road scene information in the forward direction of the sanitation sprinkler and transmit the road scene information to the control host. The control host analyzes whether there are pedestrians in the forward direction of the sanitation sprinkler through the road scene information. If the control host analyzes through the camera's scene information that there are pedestrians in the forward direction, the lidar is turned on and the distance between the sanitation sprinkler and the pedestrians or cyclists is measured in real time. The distance value measured by the lidar is marked as A, and the angle between the pedestrians and the water gun and the water flow of the water gun measured by the lidar is M. The lidar transmits the measured distance value A and the angle value M to the control host. The control host calculates the vertical projection distance F between the pedestrians and the water gun through A and M. The spraying lift B of the water gun of the sanitation sprinkler is stored in the control host, and the difference between F and B is denoted as C. The control host controls the water pressure of the water gun of the sanitation sprinkler according to the value of C.

[0023] It should be noted in advance that this protection avoidance method is for the sanitation sprinklers that perform sprinkling operations on the motor vehicle lanes of the road. Currently, most roads basically include motor vehicle lanes, non-motor vehicle lanes and sidewalks. Among them, some roads combine non-motor vehicle lanes and sidewalks (usually highway roads such as national highways or provincial roads, rather than municipal roads). In some roads, the sidewalks are higher than the motor vehicle lanes, and in some roads, the sidewalks and motor vehicle lanes are on the same plane.

[0024] At the same time, it should be noted that currently, the speed of the sanitation sprinkler during sprinkling operations is 12-15 kilometers per hour, the normal speed of riding a bicycle is 15 kilometers per hour, and when cyclists ride at a faster speed, they can reach 20 kilometers or even more than 30 kilometers per hour. The speed of electric bicycles is 25 kilometers per hour, and the speed of some old-standard electric bicycles can reach 50 or even 60 kilometers per hour. Therefore, for cyclists, the sanitation sprinkler cannot catch up with them. Only cyclists can catch up with the sanitation sprinkler. So, only during the few seconds when cyclists overtake the sanitation sprinkler may they be splashed by the water sprayed from the water gun. Usually, when cyclists overtake, they will actively avoid (such as temporarily borrowing the relatively higher sidewalk for overtaking) and increase their speed during overtaking. Therefore, the probability of being splashed by the water sprayed by the sanitation sprinkler for actual cyclists is relatively low. For the rickshaws on the non-motor vehicle lanes, because their riding speed is relatively slow (about 12-15 kilometers per hour) and it is difficult to avoid, for this type of cyclists, the sanitation sprinkler needs to adopt the same avoidance strategy as for pedestrians.

[0025] Specifically, the principle of this avoidance method is as follows. First, the road scene information of the camera shows that there are pedestrians (or rickshaw cyclists) on the forward road. At this time, the lidar is turned on for real-time monitoring. The distance value measured by the lidar is marked as A, and the lidar measures the pedestrians (attached Figure 1Marked with point Y) and the water gun (attached Figure 1 Marked with point X) and the included angle M between the water flow of the water gun. The lidar transmits the measured distance value A and the included angle value M to the control host. The control host calculates the vertical projection distance F between the pedestrian and the water gun through A and M (because pedestrians will take evasive actions when the sprinkler sanitation vehicle approaches, so the value of F will only increase during the forward movement of the sprinkler sanitation vehicle). The spraying lift B of the water gun of the sanitation sprinkler is stored in the control host, and the difference between F - B is denoted as C. If the value of C is much larger than the safety value (this safety value can be 1 meter), then at this time, the water gun of the sprinkler sanitation vehicle does not need to adjust the lift. If the value of C is less than the safety value (such as the value of C is only 0.3), then at this time, the water gun of the sprinkler sanitation vehicle needs to adjust the lift, and the adjustment range of the water gun lift is related to the value of M. For example, the smaller the value of M, the larger the adjustment range of the water gun lift.

[0026] Attached Figure 1 The direction of the half-arrow in the figure is the direction of the vehicle's travel, and the direction of the full-arrow is the direction of the water gun spraying water.

[0027] Assume that when the value of C is 0.3 meters, if the value of M is 30 degrees, then if the original spraying lift B of the water gun is 4.5 meters, it is adjusted to 2 meters at this time; if the value of C is 0.3 meters, if the value of M is 50 degrees, then the lift is adjusted to 3 meters at this time. Such adjustment is to give pedestrians enough evasion time without changing the speed of the sanitation vehicle.

[0028] Until the sprinkler sanitation vehicle leaves the pedestrian behind, then the lift of the water gun is adjusted back to the initial state. For example, when the normal spraying lift B is 4.5 meters during operation, after leaving the pedestrian behind, the spraying lift is adjusted back to 4.5 meters.

[0029] For example, during the forward movement, when the lidar monitors in real time and finds that the values of M and A are getting smaller and smaller, but the value of F remains basically unchanged, then at this time, it may be that the pedestrian is inconvenient to evade or is a hearing-impaired patient, then the water gun is turned off, and the water gun is restarted after leaving the pedestrian behind.

[0030] In summary, when this method is used for operation control in the sprinkler sanitation vehicle, by analyzing the picture information obtained by the camera and combining the ranging results of the lidar, corresponding evasion measures are taken for pedestrians encountered during the forward movement of the sprinkler sanitation vehicle. During the entire sprinkler operation process, the vehicle does not need to change its own travel speed, which not only improves the operation efficiency of the sprinkler sanitation vehicle but also reduces the operation intensity of the sprinkler sanitation vehicle driver.

[0031] The control host analyzes the road picture information obtained by the camera to analyze whether there is a green belt. If there is a green belt between the sprinkler sanitation vehicle and pedestrians or cyclists, the water pressure of the water gun of the sprinkler sanitation vehicle is not adjusted.

[0032] In current municipal roads, there is a green belt separating some motor vehicle lanes from non-motor vehicle lanes (the non-motor vehicle lanes are located between the motor vehicle lanes and the sidewalks), while there is no such separation in some cases. Since the sprinkler sanitation vehicle operates by sprinkling water on the motor vehicle lanes, the green belt can isolate the sprinkler sanitation vehicle from pedestrians (and cyclists on the non-motor vehicle lanes). As the height of the water gun of the sprinkler sanitation vehicle from the road surface is approximately 10 cm to 20 cm, and the height of the green belt step from the road surface is about 12 cm to 15 cm, and the soil pile in the green belt is 2 cm to 5 cm higher than the green belt step. Adding the height of the green plants planted on the soil pile in the green belt, the existence of the green belt can play a good role in blocking and absorbing the water sprayed by the water gun. In this way, when the sprinkler sanitation vehicle is operating, the water will not be sprayed onto the non-motor vehicle lanes and the sidewalks, so the sprinkler sanitation vehicle does not need to adjust its operating state.

[0033] When the traveling speed of the sanitation sprinkler vehicle is zero, the control host judges whether it is at an intersection by obtaining the road picture information through the camera. When it is at an intersection, the water gun of the sanitation sprinkler vehicle is turned off.

[0034] Since pedestrians or non-motor vehicles waiting to pass at an intersection may be sprayed with water, the water gun is directly turned off when at an intersection.

[0035] The above are only the preferred embodiments of the present invention, and thus do not limit the patent protection scope of the present invention. Any equivalent transformation made by using the content of the specification of the present invention, directly or indirectly applied in other related technical fields, shall be equally included in the protection scope of the present invention.

Claims

1. A pedestrian protection and avoidance method for a sanitation sprinkler truck, characterized in that, It includes a number of lidars, a number of cameras and a control host. The lidars and cameras are both electrically connected to the control host, and the cameras and lidars are both used to be installed on a sanitation sprinkler truck. The camera is used to obtain the road picture information in the forward direction of the sanitation sprinkler truck and transmit the road picture information to the control host. The control host analyzes whether there are pedestrians in the forward direction of the sanitation sprinkler truck through the road picture information. If the control host analyzes through the picture information of the camera that there are pedestrians in the forward direction, the lidar is turned on and the distance between the sanitation sprinkler truck and the pedestrians or cyclists is measured in real time. The distance value measured by the lidar is marked as A, and the angle between the pedestrians and the water gun and the water flow of the water gun measured by the lidar is M. The lidar transmits the measured distance value A and the angle value M to the control host. The control host calculates the vertical projection distance F between the pedestrians and the water gun through A and M. The spraying lift B of the water gun of the sanitation sprinkler truck is stored in the control host, and the difference between F - B is recorded as C. The control host controls the sanitation sprinkler truck to adjust the water pressure of the water gun of the sanitation sprinkler truck according to the magnitudes of the C value and the M value.

2. The pedestrian protection avoidance method for a sanitation sprinkler truck as described in claim 1, wherein The control host analyzes whether there is a green belt by analyzing the road picture information obtained by the camera. If there is a green belt between the sanitation sprinkler truck and the pedestrians or cyclists, the water pressure of the water gun of the sanitation sprinkler truck is not adjusted.

3. The pedestrian protection avoidance method for a sanitation sprinkler as claimed in claim 1, characterized in that, When the traveling speed of the sanitation sprinkler truck is zero, the control host judges whether it is at an intersection by the road picture information obtained by the camera. When it is at an intersection, the water gun of the sanitation sprinkler truck is turned off.

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