System and method for adaptively controlling hedging function of environmental sanitation cleaning vehicle

Abstract

The invention discloses a system and method for adaptively controlling the hedging function of a sanitation cleaning vehicle, and the method comprises the steps: a vehicle-mounted intelligent terminal senses whether there is a pedestrian or a target distance of the type of a pedestrian at two sides of the vehicle through a visual sensor disposed on the vehicle; calculating the transverse distance and the longitudinal distance between the vehicle and the traveler, the rider, the road edge and the guardrail according to a visual algorithm; according to the transverse distance of the pedestrian or the riding pedestrian and the opposite-punching distance table corresponding to the rotating speed, a control message is sent to the uploading control screen, the uploading control screen issues a control instruction to the uploading controller, the uploading controller executes the control instruction, and the opposite-punching operation coverage distance and the opposite-punching function are automatically adjusted in real time. The hedging operation process of the cleaning vehicle is optimized, the intelligent level is improved, the loading controller receives a hedging self-adaptive control command of the vehicle-mounted intelligent terminal through the loading control screen, the left and right hedging electric control ball valves are controlled to be opened or closed in real time, and finally real-time dynamic control over the hedging distance is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sanitation vehicles, in particular to an automatic operation system for the counter-attack operation of a sanitation vehicle. BACKGROUND

[0002] In the counter-attack operation process of a sanitation vehicle, the counter-attack distance of the working road is realized by controlling the engine of the upper equipment, the rotation speed of the counter-attack motor, and the waterway pressure of the left and right counter-attacks. At present, the left and right counter-attacks can only be opened or closed, and the counter-attack distance cannot be controlled separately. Thus, in part of the road operation, the required counter-attack distances of the left and right sides are different, but in order to ensure the operation quality, only the maximum distance can be used for operation, which will cause waste of counter-attack water, and the influence of counter-attack splashing on pedestrians and vehicles on one side that do not need the maximum distance, resulting in citizen complaints and even traffic accidents caused by citizen panic to avoid counter-attack splashing. Reducing citizen complaints, avoiding traffic accidents, prolonging vehicle operation time, reducing non-effective operation cost and energy consumption are the management pain points of sanitation counter-attack operation vehicles. SUMMARY

[0003] The technical problem to be solved by the present application is an automatic control counter-attack operation self-adaptive adjustment technology designed to solve the above-mentioned waste of water, citizen complaints and traffic accidents caused by manual operation of the driver. By analyzing the counter-attack operation mode of the sanitation vehicle, the vehicle is not always in the middle of the working lane, the left and right counter-attacks realize the separate control of the operation distance, and the working intensity of the two sides is automatically adjusted according to the vehicle travel, so as to ensure that the operation quality meets the standard and does not exceed the standard, thereby reducing unnecessary waste of water resources, reducing citizen complaints, reducing the working intensity of the driver in the counter-attack operation, and reducing the non-effective operation cost of the enterprise. In order to solve the above problems, a method for self-adaptive control of the counter-attack function of a sanitation vehicle is provided.

[0004] The purpose of the present application is realized in the following manner: A system for self-adaptive control of the counter-attack function of a sanitation vehicle, comprising a visual sensor installed on the vehicle, a vehicle-mounted intelligent terminal, an upper equipment control screen installed on the sanitation vehicle, and an upper equipment controller; the visual sensor and the upper equipment control screen are in communication connection with the vehicle-mounted intelligent terminal, and the upper equipment control screen is in communication connection with the upper equipment controller.

[0005] A method based on the system for self-adaptive control of the counter-attack function of a sanitation vehicle, comprising: The vehicle-mounted intelligent terminal perceives whether there are pedestrian or cyclist target distances on both sides of the vehicle through the visual sensor installed on the vehicle; According to the visual algorithm, the lateral distance and the longitudinal distance between the vehicle and the pedestrians, cyclists, road edges, and guardrails are calculated; According to the lateral distance of the pedestrian or the cyclist, the corresponding offset distance table of the rotating speed is combined, a control message is sent to the upper control screen, the upper control screen sends a control instruction to the upper controller, the upper controller executes the control instruction, and the offset operation coverage distance and the offset function opening and closing are automatically adjusted in real time.

[0006] The adjustment of the offset operation coverage distance comprises: calculating the target adjustment operation width required time and the target rotating speed, if the target position-operation width is greater than n meters, the operation width is increased; The adjustment of the offset function opening and closing comprises: judging whether the operation width is greater than the target width+m meters, if not, no adjustment is made; if yes, judging whether the adjustment time is sufficient, if yes, the motor rotating speed is adjusted, and if not, the water valve is turned off.

[0007] The vehicle-mounted intelligent terminal integrates the relative speed and distance of the operation vehicle and the target object, the rotating speed-time function relationship of the increase / decrease of the rotating speed of the upper engine / offset operation motor, the maximum rotating speed of the upper engine / maximum rotating speed of the offset operation motor, the rotating speed-offset width function relationship, the response event priority, and the response time, and outputs an optimal response instruction to the upper control screen, the upper control screen sends a control instruction to the upper controller, the upper controller executes the increase / decrease of the rotating speed of the upper engine / offset operation motor, the opening / closing of the offset ball valve or executes the maximum rotating speed / default rotating speed, so as to automatically adjust the offset waterway pressure to achieve the purpose of adjusting the offset operation road width.

[0008] During the operation of the adaptive adjustment function of the offset of the cleaning vehicle, the vehicle-mounted intelligent terminal collects relevant operation and control data in real time, uploads the data to the cloud platform through a wireless network, the cloud platform analyzes the big data and outputs a statistical report, and the value and benefit analysis of the adaptive offset function is realized.

[0009] The present application has the following advantages: the present application optimizes the offset operation process of the cleaning vehicle, improves the intelligent level, the upper controller receives the offset adaptive control command of the vehicle-mounted intelligent terminal through the upper control screen, controls the opening or closing of the left and right offset electric ball valves in real time, adjusts the offset rotating speed in a stepless manner to realize the adjustment of the offset waterway pressure, and finally realizes the real-time dynamic control of the offset distance. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 It is the method flowchart of the adaptive control of the offset function of the environmental sanitation cleaning vehicle. DETAILED DESCRIPTION

[0011] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0012] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0013] A system for adaptive control of the butt function of a sanitation vehicle, the system comprising a visual sensor mounted on the vehicle, a vehicle-mounted intelligent terminal, an upper-mounted control screen mounted on the sanitation vehicle, and an upper-mounted controller; the visual sensor and the upper-mounted control screen are in communication connection with the vehicle-mounted intelligent terminal, and the upper-mounted control screen is in communication connection with the upper-mounted controller.

[0014] A method based on the adaptive control system for the butt function of a sanitation vehicle, the method comprising: The vehicle-mounted intelligent terminal perceives whether there are pedestrian or cyclist type targets on both sides of the vehicle through the visual sensor mounted on the vehicle. The lateral and longitudinal distances between the vehicle and the pedestrians, cyclists, road edges, and guardrails are calculated according to a visual algorithm; the visual algorithm uses existing target detection type algorithms, such as region-based convolutional neural networks (e.g., Faster R-CNN), single shot multibox detector (SSD), and 'you only look once' (YOLO) series algorithms, which can effectively detect the bounding boxes of pedestrians, cyclists, vehicles, road edges, guardrails, and other targets from images collected by the vehicle-mounted camera.

[0015] According to the lateral distance of the pedestrian or cyclist and the corresponding butt distance table combined with the rotation speed, a control message is sent to the upper-mounted control screen, the upper-mounted control screen issues control instructions to the upper-mounted controller, the upper-mounted controller executes the control instructions, and the butt operation coverage distance and the butt function opening and closing are automatically adjusted in real time.

[0016] The adjustment of the butt operation coverage distance includes calculating the target adjustment operation width required time and the target rotation speed, and if the target position-operation width > n meters, the operation width is increased. The adjustment of the butt function opening and closing includes judging whether the operation width > target width + m meters, if not, no adjustment is made; if yes, it is judged whether the adjustment time is sufficient, if sufficient, the motor rotation speed is adjusted, and if insufficient, the water valve is turned off.

[0017] The relative speed, distance, speed-time function relationship of the increase / decrease of the engine speed of the upper device / rotating speed of the collision operation motor, the maximum rotating speed of the engine of the upper device / the maximum rotating speed of the collision operation motor, the rotating speed-collision width function relationship, the response event priority, and the response time of the target object of the vehicle-mounted intelligent terminal comprehensive operation vehicle are output to the optimal response instruction of the upper device control screen, the control instruction of the upper device control screen is sent to the upper device controller, the upper device controller executes the increase / decrease of the rotating speed of the upper device engine / collision operation motor, the opening / closing of the collision ball valve or executes the maximum rotating speed / default rotating speed, so as to automatically adjust the collision waterway pressure to achieve the purpose of adjusting the collision operation road width.

[0018] During the adaptive adjustment function of the cleaning vehicle collision is enabled, the vehicle-mounted intelligent terminal collects related operation and control data in real time, uploads the data to the cloud platform through a wireless network, the cloud platform analyzes the big data to output statistical reports, and the value and benefit analysis of the adaptive collision function is realized.

[0019] Referring to Figure 1 The vehicle-mounted intelligent terminal identifies the collision operation environment of the vehicle, controls the upper device controller through the whole vehicle CAN communication, the upper device controller feeds back the control result to the vehicle-mounted intelligent terminal, the upper device control screen realizes the interaction of the driver, and the cloud platform realizes the statistical report of the data.

[0020] The vehicle-mounted intelligent terminal combines the data information of the visual sensor and the upper device display screen, outputs the optimal control instruction, and outputs the control instruction to the upper device control screen through the whole vehicle CAN communication; the upper device control screen sends the control instruction to the upper device controller through the upper device CAN communication; the upper device controller executes the control instruction, automatically adjusts the collision operation coverage distance and the opening and closing of the collision function in real time, simultaneously, feeds back the control state and operation state data to the upper device control screen in real time, and the upper device control screen interacts with the driver.

[0021] During the operation process, the vehicle-mounted intelligent terminal uploads the related data to the cloud platform in real time, and the cloud platform outputs the corresponding data statistical report.

[0022] The patent optimizes the collision operation process of the cleaning vehicle, improves the intelligent level, the upper device controller receives the adaptive control command of the collision of the vehicle-mounted intelligent terminal through the upper device control screen, controls the left and right collision electric control ball valves to be opened or closed in real time, adjusts the collision rotating speed in a stepless manner to realize the adjustment of the collision waterway pressure, and finally realizes the real-time dynamic control of the collision distance.

[0023] The patent supports the vehicle-mounted intelligent terminal to collect the adaptive collision work record of the cleaning vehicle, uploads the work record to the cloud platform through a wireless data network, and realizes the value and benefit analysis of the adaptive collision function of the upper device through the big data analysis of the cloud platform.

[0024] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several changes and improvements can be made without departing from the overall concept of the present application, and these should also be considered as the protection scope of the present application.

Claims

1. A system for adaptively controlling the flushing function of sanitation vehicles, characterized in that: The system includes a vision sensor installed on the vehicle, an in-vehicle intelligent terminal, an upper body control screen and an upper body controller installed on the sanitation vehicle; the vision sensor and the upper body control screen are both communicatively connected to the in-vehicle intelligent terminal, and the upper body control screen is communicatively connected to the upper body controller.

2. A method for a system based on the adaptive control of the flushing function of sanitation vehicles as described in claim 1, characterized in that: The method includes: The in-vehicle intelligent terminal uses visual sensors installed on the vehicle to sense whether there are pedestrians or cyclists on both sides of the vehicle and their distance. The lateral and longitudinal distances between vehicles and pedestrians, cyclists, curbs, and guardrails are calculated using visual algorithms. Based on the lateral distance of pedestrians or cyclists and the rotation speed, a counter-clamping distance table is referenced, and a control message is sent to the upper structure control screen. The upper structure control screen then sends control commands to the upper structure controller, which executes the control commands and automatically adjusts the counter-clamping operation coverage distance and the on / off state of the counter-clamping function in real time.

3. The method for adaptively controlling the flushing function of sanitation vehicles according to claim 2, characterized in that: The adjustment of the coverage distance of the hedging operation includes: calculating the time required to adjust the target working width and the target rotation speed; if the target position - working width > n meters, then increase the working width. The adjustment of the flushing function includes: determining whether the working width is greater than the target width + m meters; if not, no adjustment is made; if so, determining whether the adjustment time is sufficient; if sufficient, adjusting the motor speed; if insufficient, turning off the water valve.

4. The method for adaptively controlling the flushing function of sanitation vehicles according to claim 2, characterized in that: The vehicle-mounted intelligent terminal integrates the relative speed and distance between the working vehicle and the target object, the speed-time function relationship of the upper structure engine speed / counter-current operation motor speed, the maximum speed of the upper structure engine / counter-current operation motor, the speed-counter-current width function relationship, the priority of response events, and the response time. It outputs the optimal response command to the upper structure control panel, which then sends the control command to the upper structure controller. The upper structure controller executes actions such as increasing / decreasing the speed of the upper structure engine / counter-current operation motor, opening / closing the counter-current ball valve, or executing the maximum speed / default speed, thereby automatically adjusting the counter-current water pressure to achieve the purpose of adjusting the width of the counter-current operation surface.

5. The method for adaptively controlling the flushing function of sanitation vehicles according to claim 1, characterized in that: During the activation of the adaptive adjustment function of the cleaning vehicle, the on-board intelligent terminal collects relevant operation and control data in real time and uploads it to the cloud platform via wireless network. The cloud platform performs big data analysis and outputs statistical reports to realize the value and benefit analysis of the adaptive adjustment function.

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