Sweeper automatic rain sheltering system based on light sensor and rainfall sensor

Abstract

The invention relates to the technical field of unmanned motor sweepers, and discloses a motor sweeper automatic rain sheltering system based on a light sensor and a rainfall sensor, which comprises the following system modules: a sensor sensing system for collecting rainfall and ambient light intensity data in real time, a control decision system for receiving the data transmitted by the sensor sensing system, and a control system for controlling the control decision system. And judging whether a user is in a rainy environment according to a preset rule to generate a rain sheltering decision instruction to drive the execution system and the communication interaction system. According to the invention, the weather condition of the whole operation process can be detected in real time, the vehicle is prevented from operating in a rainwater environment, the operation quality of the unmanned sweeper is improved, the operation cleanliness rate is ensured, and meanwhile, the problems of more accurate rainfall identification, rainfall duration judgment, decision-making execution mechanism and the like are solved. In addition, the vehicle can solve the problem of autonomously deciding and selecting a rain sheltering path and a rain sheltering point, and a multi-protection effect is achieved for improvement of automation and high efficiency of vehicle rain sheltering.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned road sweepers, and in particular to an automatic rain-avoidance system for road sweepers based on a light sensor and a rain sensor. Background Art

[0002] The automatic rain avoidance system for unmanned road sweepers is a key technology used in these vehicles. It enables the vehicle to automatically sense rainfall and make informed decisions to avoid rainy conditions, ensuring proper operation and effectiveness. The system primarily collects and analyzes information such as rainfall and ambient light intensity, controlling the sweeper's movements and ensuring safe and efficient operation in the rain.

[0003] In the existing technology, some road sweeper rain shelter systems use a single rain sensor for rainfall detection. The rain sensor is usually installed at a certain position on the vehicle body. When raindrops contact the sensor's sensing area, the sensor converts the physical changes caused by the raindrops' impact into electrical signals, thereby obtaining rainfall data. Once it detects that the rainfall exceeds a preset threshold, the control system will start the corresponding program, control the road sweeper to stop the current operation task, and return to the vehicle warehouse for shutdown operations according to a preset fixed route. In other systems, although rainfall is also detected based on rain sensors, there are differences in the decision-making and execution processes. This type of system only focuses on the immediate rainfall situation. Once it is identified that the rainfall exceeds the set threshold, it will automatically stop the operation and return to the warehouse. Its program logic is mainly based on a simple rainfall threshold judgment to perform corresponding actions.

[0004] However, in actual use, the reliance on a single rain gauge sensor fails to fully and accurately capture rainfall information. This fails to account for real-world conditions, such as differences in rainfall exposure between windward and leeward sides. This results in significant errors in rainfall identification and can easily lead to misjudgments. Furthermore, the signal provided by a single sensor is too limited, significantly compromising the accuracy of the vehicle's judgment and decision-making in complex weather conditions, increasing the probability of misidentification and malfunction. Regarding the system's decision-making mechanism, there is a lack of coordinated linkage and intelligent decision-making control between sensors. Each sensor operates independently, unable to integrate and analyze the collected information, making it difficult to formulate appropriate decision-making strategies based on factors such as rainfall duration and intensity. Furthermore, existing systems also have shortcomings in rain avoidance strategies and functionality. For example, the system's forced halt and fixed return route prevents sweepers from continuing their previous operations after the rain stops, reducing operational efficiency. The simple judgment and execution process, lacking automated route allocation and intelligent trend analysis, often requires manual intervention in real-world scenarios, failing to meet the complex and ever-changing demands of real-world operations. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automatic rain shelter system for a road sweeper based on a light sensor and a rain sensor, which solves the deficiencies in the use of existing unmanned road sweepers.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor, comprising the following modules:

[0007] The sensor perception system consists of a rain sensor installed in an open, unobstructed location on top of the sweeper, and multiple light sensors located above the front and rear of the sweeper. These sensors are used to collect real-time rainfall and ambient light intensity data.

[0008] The control and decision-making system, which uses a high-performance 10nm microprocessor, receives data from the sensor perception system, determines whether it is raining based on preset rules, and then generates a decision to take shelter from the rain.

[0009] The drive execution system controls the motor and steering system of the sweeper according to the instructions of the control decision system, so that the sweeper can drive to the designated rain shelter.

[0010] The communication interaction system is responsible for data transmission between the sweeper and the remote control center, realizing two-way information interaction.

[0011] Preferably, the rain sensor includes a sensing area, a signal conversion circuit and a data output interface. Raindrops hit the sensing area, causing changes in physical parameters within the sensing area. The signal conversion circuit converts the changes in physical parameters into changes in electrical signals. After signal amplification and filtering, the rainfall data per unit time and per unit area is output through the data output interface.

[0012] Preferably, the light sensor adopts a plurality of combinations, each light sensor includes a photosensitive element, a signal conditioning circuit and a communication module. The photosensitive element converts the received ambient light into an electrical signal, the signal conditioning circuit amplifies, calibrates and linearizes the electrical signal, and the communication module outputs the processed electrical signal in digital form. Multiple light sensors are distributed at different positions of the sweeper to sense the ambient light at different angles and ranges, and the electrical signal change value per unit time is output by integrating multiple light sensors.

[0013] Preferably, the control decision system is preset with a rainfall threshold of the rain sensor and a light intensity threshold of the light sensor; for the rain sensor threshold, a plurality of rainfall threshold intervals of different levels are set, corresponding to different weather conditions; for the light sensor threshold, a plurality of light intensity threshold intervals of different levels are set according to the characteristics of different weather and time periods, and the real-time received rain sensor and light sensor data are compared with the preset threshold intervals to determine the current weather conditions.

[0014] Preferably, the control decision system stores map information of the sweeper's operating area, which includes detailed locations of shelters, the shelter's capacity, road conditions, road slopes, and turning radius. When planning a shelter route, the control decision system comprehensively considers the sweeper's current location, real-time traffic conditions, the distance and capacity of the shelter, and uses a path planning algorithm to generate an optimal shelter route.

[0015] Preferably, the drive execution system includes a motor controller, a steering controller, a sensor group and a feedback module:

[0016] The motor controller adjusts the speed and torque of the sweeper's motor according to the instructions of the control decision system to achieve acceleration, deceleration and constant speed driving of the sweeper;

[0017] The steering controller controls the steering angle of the sweeper and detects the turning radius according to the instructions;

[0018] The sensor group monitors the speed, direction, acceleration, wheel speed and obstacle conditions of the sweeper in real time;

[0019] The feedback module feeds back the data collected by the sensor group to the control decision system so that the control decision system can adjust the drive instructions in real time.

[0020] Preferably, after receiving the rainfall signal from the control decision system, the communication interaction system pushes real-time rainfall information to a designated account through a variety of communication methods. The real-time rainfall information includes current rainfall amount, rainfall trend, and expected rainfall duration. The information is sent in the form of text, charts or data messages.

[0021] Preferably, the communication interaction system transmits the position, shelter status, driving path and surrounding road condition information of the sweeper to the remote control center during the process of the sweeper taking shelter from the rain; the position information is obtained through the global positioning system or the Beidou satellite positioning system, and the shelter status includes whether the sweeper has arrived at the shelter and the environmental conditions of the shelter.

[0022] Preferably, the communication interaction system receives instructions sent by the remote control center, including instructions to continue the task, adjust the shelter route and location, and extend or shorten the shelter time; after receiving the instructions, the communication interaction system parses and verifies the instructions and transmits the valid instructions to the control decision system.

[0023] Preferably, after the automatic rain shelter system completes the preset shelter time for moderate or heavy rain, if the sensor perception system detects that it is still raining, the control decision system will re-evaluate the current rainfall and ambient light intensity, and plan the shelter route again in combination with the map information and the use of the shelter.

[0024] The invention provides an automatic rain-avoidance system for a sweeper based on a light sensor and a rain sensor.

[0025] It has the following beneficial effects:

[0026] 1. The present invention can detect the weather conditions during the entire operation process in real time, avoid the vehicle operating in a rainy environment, improve the operation quality of the unmanned sweeper, and ensure the operation cleanliness rate.

[0027] 2. The present invention solves the life problem of vehicles frequently operating in rainy environments. Since the operating device of unmanned sweepers is generally at the bottom of the chassis, long-term exposure to rainy environments will accelerate the rusting rate. By using this technical solution to avoid rain, its actual service life will be significantly improved.

[0028] 3. The present invention solves the problems of more accurate identification of rainfall amount, rainfall duration judgment, decision-making and execution mechanism for unmanned road sweepers. At the same time, the vehicle can solve the problem of autonomous decision-making to select the path and shelter from the rain, and has multiple protective effects for improving the automation and efficiency of vehicle shelter from the rain.

[0029] 4. When the actual rainfall duration is longer than the preset rain shelter duration, the vehicle has rain shelter supplement logic, which makes the unmanned sweeper more suitable for actual application scenarios and improves the effectiveness and practicality of the vehicle's rain shelter. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is the flow chart of the automatic rain avoidance system for road sweepers based on light sensors and rain sensors;

[0031] Figure 2 Schematic diagram of the optimal route algorithm flow of the present invention;

[0032] Figure 3 This is the control logic diagram of the present invention. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the specification of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] Example:

[0035] Please see the attached Figure 1 -Attached Figure 3 The embodiment of the present invention provides an automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor, comprising the following modules:

[0036] The sensor perception system consists of a rain sensor installed in an open, unobstructed location on top of the sweeper, and multiple light sensors located above the front and rear of the sweeper. These sensors are used to collect real-time rainfall and ambient light intensity data.

[0037] The control and decision-making system, which uses a high-performance 10nm microprocessor, receives data from the sensor perception system, determines whether it is raining based on preset rules, and then generates a decision to take shelter from the rain.

[0038] The drive execution system controls the motor and steering system of the sweeper according to the instructions of the control decision system, so that the sweeper can drive to the designated rain shelter.

[0039] The communication interaction system is responsible for data transmission between the sweeper and the remote control center, realizing two-way information interaction.

[0040] The rain sensor includes a sensing area, a signal conversion circuit and a data output interface. Raindrops hit the sensing area, causing changes in physical parameters within the sensing area. The signal conversion circuit converts the changes in physical parameters into changes in electrical signals. After signal amplification and filtering, the rainfall data per unit time and per unit area is output through the data output interface.

[0041] The light sensor adopts a combination of multiple methods. Each light sensor includes a photosensitive element, a signal conditioning circuit and a communication module. The photosensitive element converts the received ambient light into an electrical signal. The signal conditioning circuit amplifies, calibrates and linearizes the electrical signal. The communication module outputs the processed electrical signal in digital form. Multiple light sensors are distributed at different positions on the sweeper to sense ambient light at different angles and ranges. By integrating the electrical signal change value per unit time output by multiple light sensors, the following algorithm is established here:

[0042] Step 1: The photosensitive element converts light into electrical signals

[0043] The photosensitive elements in the multiple light sensors distributed throughout the road sweeper are directly exposed to ambient light. Based on their physical properties, such as the photoelectric effect, these elements convert the received ambient light into corresponding electrical signals. Different types of photosensitive elements have different characteristics in their output electrical signals; some may output current signals, while others may output voltage signals.

[0044] Algorithm formula

[0045] There is a certain functional relationship between the electrical signal (such as current I or voltage V) output by the photosensitive element and the ambient light intensity L, which can be expressed as:

[0046] For a photosensitive element that outputs current: I = f(L)

[0047] For a photosensitive element that outputs voltage: V = f(L)

[0048] Here f(L) represents the photoelectric conversion characteristic function of the photosensitive element, and its specific form is determined by the material and structure of the photosensitive element.

[0049] Step 2: Signal conditioning circuit for amplification

[0050] Because the electrical signals output by the photosensitive element are often weak and difficult to process and transmit, they need to be amplified by an amplifier in the signal conditioning circuit. The amplifier linearly amplifies the input electrical signal according to a preset amplification factor.

[0051] Algorithm formula

[0052] Assume that the electrical signal input to the amplifier is V in (If it is a current signal, it can be converted into a voltage signal through an appropriate conversion circuit first). The amplifier's amplification factor is A, and the amplified output signal V out for:

[0053] V out =A×V in

[0054] Step 3: Calibrate the signal conditioning circuit

[0055] Based on the amplified electrical signal, calibration is required to eliminate any inherent sensor errors and ensure the output signal more accurately reflects the actual ambient light intensity. This is typically done using a two-point calibration method, where two known light intensities, L1 and L2, are selected, the corresponding sensor output signals, V1 and V2, are measured, and a linear relationship is established between these two sets of data to calibrate the remaining measurements.

[0056] Algorithm formula

[0057] First calculate the slope m and intercept b of the calibration line:

[0058]

[0059] b=L1-m×V1

[0060] For any measured amplified electrical signal V, the calibrated light intensity L can be calculated using the following formula:

[0061] L=m×V+b

[0062] Step 4: Signal conditioning circuit for linearization

[0063] The electrical signal output by some photosensitive elements may exhibit a nonlinear relationship with ambient light intensity, which can complicate subsequent data processing and analysis. Therefore, the calibrated electrical signal needs to be linearized. A common method is polynomial fitting, such as a quadratic polynomial. By determining the coefficients of the polynomial, a polynomial function is used to approximate the linear relationship between the electrical signal and light intensity.

[0064] Algorithm formula

[0065] Assuming a quadratic polynomial fit, let the calibrated electrical signal be V and the linearized light intensity be L′, then the fitting formula is:

[0066] L′=a0+a1×V+a2×V 2

[0067] Where a0, a1 and a2 are the coefficients of the polynomial, and the least square method is used to calculate the polynomial according to a set of known measurement data (V i ,L i ) to determine;

[0068] Step 5: Communication module outputs digital signal

[0069] After amplification, calibration, and linearization, the electrical signal undergoes analog-to-digital conversion through the communication module, converting the analog electrical signal into a digital signal and then outputting it in digital form. The communication module sends the processed electrical signal to the control decision system according to the preset communication protocol and data format. This step mainly involves analog-to-digital conversion and can generally be expressed as:

[0070] D=ADC(V)

[0071] Where D is the converted digital signal, V is the processed analog electrical signal, and ADC represents the analog-to-digital conversion function, the specific implementation of which is determined by the characteristics of the analog-to-digital converter.

[0072] Step 6: Integrate the electrical signal changes output by multiple sensors

[0073] Because multiple light sensors are distributed across the sweeper, sensing ambient light at varying angles and ranges, the control and decision-making system receives the electrical signal change per unit time output by each sensor. To obtain more accurate and comprehensive ambient light information, this data requires comprehensive processing. A weighted average algorithm is employed here, assigning a weight to each sensor based on its reliability or importance, and then taking a weighted average of all sensor outputs.

[0074] Algorithm formula

[0075] Assume there are n light sensors in total, and the change value of the electrical signal per unit time output by the i-th sensor is ΔV i , the corresponding weight is w i , and satisfy Then the integrated electrical signal change value ΔV total for:

[0076]

[0077] Through the above steps, the light sensor combination system can accurately convert ambient light information into comprehensive electrical signal change values, providing reliable light data support for the automatic rain shelter system of the sweeper.

[0078] The control decision system is preset with a rainfall threshold of the rain sensor and a light intensity threshold of the light sensor. For the rain sensor threshold, multiple rainfall threshold intervals of different levels are set, corresponding to different weather conditions. For the light sensor threshold, multiple light intensity threshold intervals of different levels are set according to the characteristics of different weather and time periods. The real-time received rain sensor and light sensor data are compared with the preset threshold intervals to determine the current weather conditions.

[0079] The control decision system stores map information of the sweeper's operating area, including detailed locations of rain shelters, their capacity, road conditions, road slopes, and turning radiuses. When planning a rain shelter route, the control decision system comprehensively considers the sweeper's current location, real-time traffic conditions, and the distance and capacity of the rain shelters. It then uses a path planning algorithm to generate an optimal rain shelter route, establishing the following algorithm steps:

[0080] Step 1: Map Modeling

[0081] The road sweeper operation area map is abstracted into a graph structure, where each node represents a location, such as a road intersection or a rain shelter. Each edge represents a connection between two nodes, and the edge weight represents the cost of traveling from one node to another, taking into account factors such as distance and traffic conditions.

[0082] Let G = (V, E), where V is the set of nodes and E is the set of edges. For an edge (u, v) ∈ E, its weight w(u, v) represents the cost of going from node u to node v. If we consider the distance d(u, v) and the traffic congestion coefficient c(u, v), then w(u, v) = d(u, v) × c(u, v);

[0083] Step 2: Initialize parameters

[0084] Determine the current position of the sweeper as the starting node S;

[0085] Filter out available shelters with space from the map information as the target node set T;

[0086] Initialize the following parameters for each node n:

[0087] g(n): The actual cost from the starting node S to the node n. Initially, g(S) = 0, and for other nodes, g(n) = ∞.

[0088] h(n): Heuristic estimated cost from node n to target node, using Manhattan distance and Euclidean distance. If node n = (x n ,y n ), target node t=(x t ,y t ),but

[0089] h(n)=|x n -x t |+|y n -y t |

[0090] f(n)=g(n)+h(n), initially f(S)=h(S);

[0091] Initialize the open list OpenList and the closed list ClosedList, and add the starting node S to the open list;

[0092] Step 3: Select Node Extension

[0093] Select the node n with the smallest f(n) value from the open list OpenList current to expand.

[0094] Select n current =argmin n∈OpenList f(n)

[0095] Step 4: Check the target node

[0096] If n currentIf it is a node in the target node set T, the path planning is completed, and the path from the start node to the target node is obtained by backtracking the came_from dictionary.

[0097] Step 5: Node expansion

[0098] Find n current All adjacent nodes n neighbor ,For each adjacent node, perform the following operations:

[0099] Calculate the number of nodes from the starting node S through n current to n neighbor Temporary actual cost

[0100] g tentative =g(n current )+w(n current ,n neighbor ).

[0101] If n neighbor Not in the open list or closed list, or g tentative <g(n neighbor ), then update g(n neighbor )=g tentative ,h(n n eighbor) recalculate, f(n n eighbor)=g(n neighbor )+h(n neighbor ), and record came_from[n neighbor ]=n current .

[0102] If n neighbor If it is not in the open list, add it to the open list

[0103] Step 6: Update the list

[0104] n current Remove from open list and add to closed list.

[0105] Step 7: Repeat steps 3-6

[0106] This continues until the open list is empty or the target node is found. If the open list is empty and the target node is not found, it means there is no feasible path.

[0107] The main execution logic of the control module is as follows:

[0108]

[0109] The drive execution system includes a motor controller, a steering controller, a sensor group and a feedback module:

[0110] The motor controller adjusts the speed and torque of the sweeper's motor according to the instructions of the control decision system to achieve acceleration, deceleration and constant speed driving of the sweeper;

[0111] The steering controller controls the steering angle of the sweeper and detects the turning radius according to the instructions;

[0112] The sensor group monitors the speed, direction, acceleration, wheel speed and obstacle conditions of the sweeper in real time;

[0113] The feedback module feeds back the data collected by the sensor group to the control decision system so that the control decision system can adjust the drive instructions in real time.

[0114] After receiving the rainfall signal from the control decision system, the communication interaction system pushes real-time rainfall information to the designated account through multiple communication methods. The real-time rainfall information includes the current rainfall amount, rainfall trend, and expected rainfall duration. The information is sent in the form of text, charts or data messages.

[0115] When the sweeper is taking shelter from the rain, the communication interaction system transmits the sweeper's location, shelter status, driving path and surrounding road conditions to the remote control center; the location information is obtained through the global positioning system or the Beidou satellite positioning system, and the shelter status includes whether the sweeper has arrived at the shelter and the environmental conditions of the shelter.

[0116] The communication interaction system receives instructions sent by the remote control center, including instructions to continue the task, adjust the shelter route and location, and extend or shorten the shelter time; after receiving the instructions, the communication interaction system parses and verifies the instructions and transmits the valid instructions to the control decision system.

[0117] After the automatic rain shelter system completes the preset shelter time for moderate or heavy rain, if the sensor perception system detects that it is still raining, the control decision system will re-evaluate the current rainfall and ambient light intensity, and plan the shelter route again based on the map information and the use of the shelter.

[0118] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor, characterized in that: Includes the following modules: The sensor perception system consists of a rain sensor installed in an open, unobstructed location on top of the sweeper, and multiple light sensors located above the front and rear of the sweeper. These sensors are used to collect real-time rainfall and ambient light intensity data. The control and decision-making system, using a high-performance 10nm microprocessor, receives data from the sensor perception system, determines whether it is raining based on preset rules, and then generates a shelter decision instruction; The drive execution system controls the motor and steering system of the sweeper according to the instructions of the control decision system, so that the sweeper can drive to the designated rain shelter. The communication interaction system is responsible for data transmission between the sweeper and the remote control center, realizing two-way information interaction.

2. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The rain sensor includes a sensing area, a signal conversion circuit and a data output interface. Raindrops hit the sensing area, causing changes in physical parameters within the sensing area. The signal conversion circuit converts the changes in physical parameters into changes in electrical signals. After signal amplification and filtering, the rainfall data per unit time and per unit area is output through the data output interface.

3. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The light sensor adopts a multiple combination method. Each light sensor includes a photosensitive element, a signal conditioning circuit and a communication module. The photosensitive element converts the received ambient light into an electrical signal. The signal conditioning circuit amplifies, calibrates and linearizes the electrical signal. The communication module outputs the processed electrical signal in digital form. Multiple light sensors are distributed at different positions of the sweeper to sense the ambient light at different angles and ranges. The change value of the electrical signal per unit time is output by integrating multiple light sensors.

4. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The control decision system is preset with a rainfall threshold of the rain sensor and a light intensity threshold of the light sensor. For the rain sensor threshold, multiple rainfall threshold intervals of different levels are set, corresponding to different weather conditions. For the light sensor threshold, multiple light intensity threshold intervals of different levels are set according to the characteristics of different weather and time periods. The real-time received rain sensor and light sensor data are compared with the preset threshold intervals to determine the current weather conditions.

5. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The control decision system stores map information of the sweeper's operating area, which includes detailed locations of shelters, the shelter's capacity, road conditions, road slopes, and turning radiuses. When planning a shelter route, the control decision system comprehensively considers the sweeper's current location, real-time traffic conditions, the distance to and capacity of the shelter, and uses a path planning algorithm to generate an optimal shelter route.

6. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The drive execution system includes a motor controller, a steering controller, a sensor group and a feedback module: The motor controller adjusts the speed and torque of the sweeper's motor according to the instructions of the control decision system to achieve acceleration, deceleration and constant speed driving of the sweeper; The steering controller controls the steering angle of the sweeper and detects the turning radius according to the instructions; The sensor group monitors the speed, direction, acceleration, wheel speed and obstacle conditions of the sweeper in real time; The feedback module feeds back the data collected by the sensor group to the control decision system so that the control decision system can adjust the drive instructions in real time.

7. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: After receiving the rainfall signal from the control decision system, the communication interaction system pushes real-time rainfall information to the designated account through multiple communication methods. The real-time rainfall information includes the current rainfall amount, rainfall trend, and expected rainfall duration. The information is sent in the form of text, charts or data messages.

8. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: When the sweeper is taking shelter from the rain, the communication interaction system transmits the sweeper's location, shelter status, driving path and surrounding road conditions to the remote control center; the location information is obtained through the global positioning system or the Beidou satellite positioning system, and the shelter status includes whether the sweeper has arrived at the shelter and the environmental conditions of the shelter.

9. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: The communication interaction system receives instructions sent by the remote control center, including instructions to continue the task, adjust the shelter route and location, and extend or shorten the shelter time; after receiving the instructions, the communication interaction system parses and verifies the instructions and transmits the valid instructions to the control decision system.

10. The automatic rain-avoidance system for a road sweeper based on a light sensor and a rain sensor according to claim 1, characterized in that: After the automatic rain shelter system completes the preset shelter time for moderate or heavy rain, if the sensor perception system detects that it is still raining, the control decision system will re-evaluate the current rainfall and ambient light intensity, and plan the shelter route again based on the map information and the use of the shelter.

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