Machine vision-based environmental sanitation equipment operation and maintenance system and method

Abstract

The application relates to the technical field of sanitation equipment operation and maintenance, in particular to a sanitation equipment operation and maintenance system and method based on machine vision, which comprises an environment collection cluster, an operation module, an event server, a scheduling server, an operation module and a maintenance module, wherein the sanitation equipment processes environment events according to a preset sanitation strategy in response to sanitation equipment scheduling of the scheduling server, and corresponding processing results are formed; the operation module responds to the processing results, calls historical processing results of the sanitation equipment to generate maintenance fatigue; by setting the maintenance fatigue, the degree of maintenance of each sanitation equipment and the corresponding consumable consumption of the sanitation equipment during each task are determined, the sanitation equipment operation and maintenance system robustness is effectively improved while avoiding the situation that the sanitation equipment cannot meet the sanitation operation due to overuse.

Description

Technical Field

[0001] This invention relates to the field of machine vision technology, and in particular to a machine vision-based sanitation equipment operation and maintenance system and method. Background Technology

[0002] Sanitation equipment carries a lot of consumable cleaning equipment. Maintaining the sanitation equipment during its working breaks can help it perform its work better.

[0003] Currently, the maintenance of sanitation equipment usually waits until the cleaning equipment on the equipment breaks down, or it is planned maintenance based on mileage. Such maintenance methods are retrospective and cannot be carried out according to the actual usage of the sanitation equipment.

[0004] Chinese Patent Publication No. CN116307569B discloses a method and system for intelligent allocation of operational resources on a sanitation cloud platform, comprising the following steps: Data input step: collecting raw data; Data cleaning step: cleaning the collected raw data to form a data blueprint; Event processing step: planning tasks in advance based on the data blueprint to form partial processing events; Reporting emergencies based on the data blueprint; Resource allocation step: allocating resources in real time for the reported emergencies. This invention uses cutting-edge computer technologies such as deep learning, model feature extraction, road prediction, and trajectory fitting to realize a standard process for resource allocation in cloud-based sanitation work, avoiding the subjectivity and limitations of manual allocation.

[0005] However, the above method has the following problems: it is impossible to determine the wear and tear of consumables based on the tasks completed by sanitation equipment, which leads to redundancy in maintenance or replenishment or damage due to equipment overwork. Summary of the Invention

[0006] To address this, the present invention provides a machine vision-based sanitation equipment operation and maintenance system and method to overcome the problems in the prior art where the wear and tear of consumables cannot be determined through sanitation equipment, resulting in inaccurate maintenance of sanitation equipment and consequently reduced robustness of the sanitation operation and maintenance system.

[0007] The technical problem that this solution aims to solve is that in the traditional operation and maintenance of sanitation equipment, maintenance decisions are disconnected from real-time operation status and spatial path, which can easily lead to over-maintenance or untimely maintenance, affecting operational efficiency.

[0008] To achieve the above objectives, in one aspect, the present invention provides a machine vision-based sanitation equipment operation and maintenance system, comprising: An environmental data collection cluster used to collect environmental information; An operating module used to collect information about sanitation equipment; Collect the environmental information and determine the event server for the current environmental event based on the environmental information; A scheduling server used to respond to the environmental events and to schedule sanitation equipment; Its characteristic is that, in response to the sanitation equipment scheduling of the scheduling server, the sanitation equipment processes the environmental event according to a preset sanitation strategy and generates a corresponding processing result. The operating module responds to the processing result and calls the historical processing results of the sanitation equipment to generate maintenance fatigue; The operation and maintenance system also includes a maintenance module for responding to the maintenance fatigue and performing maintenance on the sanitation equipment based on the maintenance fatigue. The sanitation strategy includes sanitation routes and sanitation operations, wherein the sanitation route is the corresponding path for the sanitation equipment to arrive at and leave the corresponding location of the environmental event; In response to the sanitation equipment performing the sanitation operation, the operation and maintenance system accumulates the maintenance fatigue of the sanitation operation; The maintenance module includes several maintenance terminals, which are used to respond to the sanitation strategy and maintain the sanitation equipment on the sanitation path corresponding to the strategy.

[0009] Furthermore, the environmental data acquisition cluster includes: Several vehicles; Several visual acquisition devices are used to collect the environmental events, including, A mobile data collector mounted on the vehicle and moving with the vehicle, and, Fixed data collectors are mounted on the sanitation route; Each visual acquisition device has a preset acquisition area. For a single piece of environmental information, if it is acquired by the mobile collector, the event server verifies the environmental information based on the event coverage area of ​​the environmental events contained in the environmental information and the environmental information acquired by the fixed collector corresponding to the event coverage area. If it is acquired by the fixed collector, the event server records the environmental information and determines whether the environmental information includes the environmental event. The event coverage area is the area swept through by the direction of movement of the environmental event.

[0010] Furthermore, the scope of the environmental event is the observable range of the environmental information, and its corresponding movement direction includes the actual movement direction of the environmental event and the movement direction of the vehicle affected by the environmental event; The visual acquisition device is equipped with a corresponding observation space. When any environmental event occurs, if it is surrounded by the observation space, the visual acquisition device confirms the observable range of the environmental event and confirms its direction of movement. If the environmental event is not encompassed by the observation space, the vehicle corresponding to the visual acquisition device moves towards the direction of the environmental event. Upon contact with the boundary of the environmental event, the event server determines that the corresponding vehicle stops moving and sets the observable range corresponding to the environmental event as the maximum range of the observation space.

[0011] Furthermore, the scheduling server determines a number of sanitation equipment as execution sanitation equipment based on the event coverage area, and schedules each execution sanitation equipment to the corresponding position to perform the sanitation operation; For a single sanitation equipment, the operation module records the sanitation equipment information before the sanitation operation and the sanitation equipment information after maintenance, and records the changes in the sanitation equipment information of the sanitation equipment to generate the maintenance fatigue. The operation module also determines the corresponding maintenance path based on the processing result of the sanitation operation and several historical processing results, and maps the maintenance path to the maintenance fatigue.

[0012] Optionally, for a single environmental event, the scheduling server determines the environmental policy based on the event coverage area of ​​that environmental event. The scheduling server specifies a standard area that any sanitation equipment can cover for sanitation operations. When a sanitation equipment is idle, the scheduling server marks the sanitation equipment as a pre-call sanitation equipment. If the standard area corresponding to the pre-called sanitation equipment is greater than the event coverage area, the scheduling server determines the sanitation equipment to be actually called based on the maintenance fatigue of each pre-called sanitation equipment. If the standard area corresponding to the pre-called sanitation equipment is not greater than the event coverage area, the scheduling server marks each piece of sanitation equipment whose sanitation operation area is greater than the standard area as fatigued equipment.

[0013] Furthermore, the scheduling server determines the sanitation strategy based on the sanitation equipment being called and the corresponding sanitation routes of each piece of equipment, wherein, For a single sanitation strategy, the operation module determines the sanitation equipment to be invoked based on the environmental event and sets the corresponding intended processing result; When the environmental data acquisition cluster determines that the corresponding environmental information has reached the intended processing result, the sanitation equipment stops the corresponding sanitation strategy, and the operation module records the maintenance actions that should be performed for the current sanitation strategy. When the sanitation equipment reaches the end of its operating time, the sanitation equipment stops the corresponding sanitation strategy, and the operation and maintenance module determines the corresponding maintenance behavior based on the current operating time.

[0014] Furthermore, when the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, the maintenance module selects maintenance terminals on the sanitation path from among the maintenance terminals to perform maintenance on the sanitation equipment on the corresponding sanitation path. When the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is in an idle state, the maintenance module dispatches the sanitation equipment to the nearest maintenance terminal for maintenance. Wherein, the fatigue threshold is greater than the maintenance threshold; The fatigue threshold is the maintenance fatigue corresponding to the sanitation equipment being unable to perform sanitation operations anymore. The maintenance threshold is the maintenance fatigue corresponding to the sanitation equipment requiring maintenance.

[0015] Optionally, the maintenance fatigue refers to the accumulation of maintenance actions that should be performed on the sanitation equipment due to several processing results formed after the last maintenance. When there are no candidate sanitation equipment whose maintenance fatigue is below the maintenance threshold, the scheduling server initiates a fatigue scheduling strategy. In response to the fatigue scheduling strategy, the scheduling module matches several sanitation equipment with operational capabilities, selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and whose corresponding maintenance fatigue value has the smallest difference from the maintenance threshold as the scheduling object, and marks the sanitation equipment as the fatigued equipment. In response to the fatigued equipment marker, the maintenance module deploys the maintenance terminal along the sanitation route where the scheduled object performs sanitation work to maintain each piece of sanitation equipment. The fatigued equipment refers to sanitation equipment that is not capable of operation after completing the corresponding sanitation work and before performing maintenance.

[0016] On the other hand, this invention provides a machine vision-based operation and maintenance method for sanitation equipment. The system includes at least an operation module for scheduling sanitation equipment. This operation module schedules the sanitation equipment and generates corresponding maintenance fatigue based on the scheduling results. The method is characterized by comprising: Determine the event coverage area of ​​the current environmental incident; Based on the event coverage area, the standard area corresponding to the pre-called sanitation equipment is retrieved for comparison. If the standard area corresponding to the pre-called sanitation equipment is larger than the event coverage area, the actual sanitation equipment to be called is determined based on the maintenance fatigue of each pre-called sanitation equipment. If the standard areas corresponding to the pre-called sanitation equipment are not greater than the event coverage area, each sanitation equipment whose sanitation operation area is greater than the standard area is marked as fatigued equipment. Furthermore, based on the sanitation operations performed by the sanitation equipment, the historical processing results of the sanitation equipment are retrieved to generate and accumulate the maintenance fatigue.

[0017] Furthermore, the event server determines the event coverage area of ​​the current environmental event based on the environmental information obtained by the environmental acquisition cluster.

[0018] The event coverage area is the area swept across by the moving direction of the environmental event, which can be verified and confirmed by the mobile collector and the fixed collector working together.

[0019] Furthermore, the scheduling server retrieves the standard operating area that each sanitation equipment can cover from the database and marks idle sanitation equipment as pre-requested sanitation equipment. The sum of the standard areas corresponding to the pre-requested sanitation equipment is compared with the event coverage area determined in step 1.

[0020] Furthermore, if the standard areas corresponding to the pre-requested sanitation equipment are larger than the event coverage area, it indicates that the overall operational capacity of the idle equipment is sufficient. In this case, the dispatch server optimizes the equipment based on the maintenance fatigue value of each pre-requested sanitation equipment, selecting the equipment with the lowest or most suitable maintenance fatigue value as the sanitation equipment to be actually dispatched.

[0021] Optionally, if the standard area corresponding to the pre-requested sanitation equipment is not greater than the event coverage area, it indicates that the routine operation capacity of the idle equipment is insufficient to fully cover the event.

[0022] The dispatch server marks sanitation equipment whose single-machine operating area is larger than the standard area as fatigued equipment and prepares to activate the fatigue dispatch strategy.

[0023] Furthermore, the sanitation equipment actually deployed processes the target environmental events according to the sanitation strategy issued by the dispatch server and generates processing results. The running module responds to the processing result, calls the historical processing results of the sanitation equipment, and generates the maintenance fatigue value for a single operation by combining the difficulty, duration and effect of the current operation, and accumulates it into the total maintenance fatigue of the equipment.

[0024] Furthermore, during operation, if the environmental data acquisition cluster determines that the environmental information has reached the intended processing result, or if the sanitation equipment reaches the preset operating time, the corresponding sanitation strategy will be stopped. The operation module records the maintenance actions that should be performed at this time for subsequent maintenance modules to call upon.

[0025] On the other hand, the present invention provides a machine vision-based operation and maintenance method for sanitation equipment. The system includes at least a maintenance module for maintaining the sanitation equipment. This maintenance module is used to maintain the sanitation equipment based on its maintenance fatigue level. The operation and maintenance method includes: Real-time recording of the cumulative maintenance fatigue value of sanitation equipment during sanitation operations; The maintenance of sanitation equipment is differentiated based on the maintenance fatigue of various sanitation equipment, including: If the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, the maintenance terminal on the sanitation path is selected and the sanitation equipment is maintained on the sanitation path. If the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the sanitation equipment shall be dispatched to the nearest maintenance terminal for maintenance. When there are no candidate sanitation equipment whose maintenance fatigue is lower than the maintenance threshold, the scheduling server starts the fatigue scheduling strategy and selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and has the smallest difference as the scheduling object. When the fatigue scheduling strategy is implemented, maintenance terminals are deployed in advance on the sanitation routes where the corresponding sanitation equipment performs sanitation operations, in order to maintain the sanitation equipment.

[0026] Furthermore, the operation module continuously records the cumulative maintenance fatigue value of each sanitation equipment during sanitation operations. This cumulative value is obtained by summing the maintenance fatigue generated after each operation.

[0027] Furthermore, based on a comparison of the maintenance fatigue levels of each sanitation equipment with preset thresholds, the maintenance module distinguishes maintenance behaviors: Furthermore, if the accumulated maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still performing tasks on the sanitation route, the maintenance module immediately selects the maintenance terminal deployed on the sanitation route and schedules the terminal to perform online maintenance on the equipment to avoid task interruption.

[0028] Optionally, if the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the maintenance module can directly dispatch the sanitation equipment to the nearest maintenance terminal for routine maintenance.

[0029] Furthermore, when there are no candidate sanitation equipment with maintenance fatigue below the maintenance threshold in the system, i.e., when no healthy equipment is available, the scheduling server initiates a fatigue scheduling strategy. This strategy selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and has the smallest difference as the scheduling object, and marks it as fatigued equipment.

[0030] While this fatigue scheduling strategy is in progress, the maintenance module responds to the flag and pre-deploys maintenance terminals on the sanitation route where the corresponding sanitation equipment will perform sanitation operations. When the fatigue equipment completes its work and reaches the predetermined state, or when the maintenance fatigue exceeds the limit, the deployed terminal can immediately intervene for maintenance.

[0031] Furthermore, after the maintenance terminal performs the corresponding maintenance operations on the sanitation equipment, the operation module resets the maintenance fatigue value of the sanitation equipment or deducts it according to the maintenance effect, and records the changes in the sanitation equipment information before and after maintenance, providing basic data for the generation of the next maintenance fatigue.

[0032] Compared with the prior art, the beneficial effects of the present invention are that by setting up an environmental acquisition cluster, an operation module, an event server, a scheduling server, and a maintenance module, sanitation equipment is scheduled and maintained according to sanitation events. By setting maintenance fatigue, the degree of maintenance for each piece of sanitation equipment and the amount of consumables consumed by the sanitation equipment during each task are determined. This not only avoids the sanitation equipment from being unable to meet the needs of sanitation operations due to overuse, but also effectively improves the robustness of the sanitation equipment operation and maintenance system.

[0033] In particular, by setting the event coverage area, the system logically correlates the dynamic events detected by the mobile collector with the stable field of view of the fixed collector, effectively solving the problem of misjudgment caused by occlusion, shaking, or limited field of view under a single mobile perspective. This enables the system to self-correct environmental perception errors, thereby improving the accuracy of environmental event identification and further enhancing the robustness of the sanitation equipment operation and maintenance system.

[0034] In particular, when the field of view of the visual acquisition device cannot completely cover the environmental event, the observable range can be confirmed by moving the vehicle closer to the event boundary. This ensures the integrity and dynamic real-time nature of the event coverage area calculation, thereby avoiding area deviation caused by remote estimation and further improving the robustness of the sanitation equipment operation and maintenance system.

[0035] In particular, mapping maintenance paths to maintenance fatigue allows for targeted maintenance at specific path nodes after sanitation equipment performs certain types of tasks. This not only prevents sanitation equipment from becoming unusable due to overuse but also effectively improves the robustness of the sanitation equipment operation and maintenance system.

[0036] In particular, by setting up pre-call equipment, the operational capacity of idle equipment is assessed, avoiding unnecessary equipment wake-up or long-distance scheduling. At the same time, when the total standard area is insufficient, fatigued equipment is actively marked, identifying those equipment with excessive single-machine capacity but needing to undertake tasks exceeding the area limit in advance. This provides a clear equipment list for subsequent fatigue scheduling and maintenance pre-deployment, improving the predictability of system decisions under extreme working conditions, thereby effectively enhancing the robustness of the sanitation equipment operation and maintenance system.

[0037] In particular, when a high fatigue threshold is reached, online maintenance can be performed directly on the sanitation route, which effectively improves task continuity and equipment uptime, prevents over-handling of minor problems, and solves the problem of task interruption caused by serious faults. This improves the accuracy of dynamic matching between maintenance resources and equipment health status, and thus effectively enhances the robustness of the sanitation equipment operation and maintenance system.

[0038] In addition, by setting maintenance fatigue, the health status of equipment is used as a direct parameter to determine the scheduling priority and method. When the operational capacity is sufficient, the best equipment is selected for dispatch, and when the capacity is critical, special strategies are activated, thereby effectively reducing the risk of equipment failure and mission failure caused by improper scheduling.

[0039] Furthermore, by continuously tracking the cumulative value of maintenance fatigue and triggering different maintenance processes based on the threshold it reaches and the real-time status of the equipment, maintenance actions are placed ahead of potential failure points. This method greatly enhances the resilience and reliability of the sanitation system in the face of high-intensity, large-scale pollution events, enabling it to continuously output stable operational capabilities. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the connection of the sanitation equipment operation and maintenance system based on machine vision according to the present invention; Figure 2 This is a flowchart of the operation and maintenance method of the running module in an embodiment of the present invention. Figure 3 This is a flowchart of the operation and maintenance method of the maintenance module in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0042] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0044] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] Please see Figure 1 As shown, it is a schematic diagram of the connection of the sanitation equipment operation and maintenance system based on machine vision of the present invention, including: An environmental data collection cluster used to collect environmental information; An operating module used to collect information about sanitation equipment; Collect environmental information and determine the event server for the current environmental events based on the environmental information; A dispatch server used to respond to environmental events and schedule sanitation equipment. The sanitation equipment responds to the scheduling server's dispatching, and the sanitation equipment processes environmental events according to the preset sanitation strategy, generating corresponding processing results. The running module responds to the processing results and calls the historical processing results of the sanitation equipment to generate maintenance fatigue; The operation and maintenance system also includes a maintenance module for responding to maintenance fatigue and maintaining sanitation equipment based on maintenance fatigue. Among them, the sanitation strategy includes sanitation routes and sanitation operations. The sanitation route is the corresponding route for sanitation equipment to arrive at and leave the corresponding location of an environmental event. When sanitation equipment performs sanitation operations, the operation and maintenance system accumulates the maintenance fatigue of the sanitation operation. The maintenance module includes several maintenance terminals, which are used to respond to sanitation strategies and maintain sanitation equipment along the sanitation routes corresponding to those strategies.

[0046] By setting up an environment acquisition cluster, operation module, event server, scheduling server, and maintenance module, sanitation equipment is scheduled and maintained based on sanitation events. By setting maintenance fatigue, the degree of maintenance required for each piece of sanitation equipment and the amount of consumables consumed by that equipment during each task are determined. This effectively improves the robustness of the sanitation equipment operation and maintenance system while avoiding the failure of sanitation equipment to meet sanitation operation requirements due to overuse.

[0047] In one embodiment, the environment acquisition cluster includes: Several vehicles; Several visual data acquisition devices are used to collect environmental events, including, A mobile data collector mounted on a vehicle and moving with the vehicle, and... Fixed data collectors along sanitation routes; Each visual acquisition device has a preset acquisition area. For a single piece of environmental information, if it is acquired by a mobile collector, the event server will verify the environmental information based on the event coverage area of ​​the environmental events contained in the environmental information and the environmental information acquired by the fixed collector corresponding to the event coverage area. If it is acquired by a fixed collector, the event server records the environmental information and determines whether the environmental information includes environmental events; The event coverage area refers to the area swept through by the direction of the environmental event's movement.

[0048] Example 1: Deployed within a municipal sanitation jurisdiction covering an area of ​​approximately 15 square kilometers, the system includes: Environmental data acquisition cluster: Mobile vehicles: 32 inspection vehicles, each carrying one mobile data collector, corresponding one-to-one with the number of sanitation equipment (each sanitation equipment is equipped with one inspection vehicle, which can work together in the same section and provide real-time feedback on the operation results). Fixed data collector: 80 streetlights or building facades are located at key points such as main road intersections, squares, and commercial streets. Each vision acquisition unit uses a 20-megapixel industrial camera. The mobile acquisition unit observes a fan-shaped area with a radius of 30 meters, while the fixed acquisition unit observes a circular area with a radius of 50 meters.

[0049] Sanitation equipment: 18 medium-sized sweepers, standard area 500㎡ / trip; 10 small cleaning trucks, standard area 300㎡ / time; Four large sweeping trucks, with a standard area of ​​1200㎡ per trip.

[0050] Running module: Deployed on a cloud server, it collects real-time equipment information such as the remaining consumables (water volume, brush wear, garbage bin capacity), operating mileage, and operating time of each sanitation equipment.

[0051] Event server: It receives image data uploaded by the environmental data acquisition cluster, and uses a pre-trained target recognition model to identify environmental events (water accumulation, fallen leaves accumulation, litter scattering, oil pollution, etc.) and calculate the event coverage area.

[0052] Scheduling server: Manage 32 sanitation equipment units and their corresponding 32 inspection vehicles, and be responsible for equipment scheduling and strategy distribution.

[0053] Maintenance module: It includes 12 fixed maintenance terminals and 3 mobile maintenance vehicles, distributed at key nodes along the sanitation routes.

[0054] Threshold setting: The maintenance threshold is uniformly set to 70, and the fatigue threshold is uniformly set to 95 (the higher the value, the more fatigued the equipment is; 0 represents complete health).

[0055] Optionally, in Embodiment 1, the vehicles in the environmental data collection cluster can be shared with sanitation equipment or set up separately.

[0056] In Examples 1-5, the number of inspection vehicles is adjusted to 32, which are assigned one-to-one with 32 sanitation equipment. Each sanitation equipment should work in coordination with one inspection vehicle. In actual operation, the inspection vehicle can be sanitation equipment or set up separately, which will not be elaborated here. It should be noted that this solution can be implemented more effectively when the inspection vehicle is set up separately, but its operating cost is higher than that of a shared setup. Therefore, for cost considerations, this manual describes the solution with lower cost.

[0057] By setting the event coverage area, the system logically correlates dynamic events detected by the mobile collector with the stable field of view of the fixed collector, effectively solving the problem of misjudgment caused by occlusion, shaking, or limited field of view under a single mobile perspective. This enables the system to self-correct environmental perception errors, thereby improving the accuracy of environmental event identification and further enhancing the robustness of the sanitation equipment operation and maintenance system.

[0058] In one embodiment, the scope of an environmental event is the observable range of the environmental information, and the corresponding movement direction includes the actual movement direction of the environmental event and the movement direction of the vehicle affected by the environmental event. The visual acquisition device is equipped with a corresponding observation space. When any environmental event occurs, if it is surrounded by the observation space, the visual acquisition device confirms the observable range of the environmental event and confirms its direction of movement. If the environmental event is not encompassed by the observation space, the vehicle corresponding to the visual acquisition device moves towards the direction closer to the environmental event. Upon encountering the boundary of an environmental event, the event server determines that the corresponding vehicle must stop moving and sets the observable range corresponding to the environmental event as the maximum range of the observation space.

[0059] When the field of view of the visual acquisition device cannot completely cover the environmental event, the observable range is confirmed by moving the vehicle closer to the event boundary. This ensures the integrity and dynamic real-time nature of the event coverage area calculation, thereby avoiding area deviation caused by remote estimation and further improving the robustness of the sanitation equipment operation and maintenance system.

[0060] Example 2: Based on Example 1: At 9:15 a.m. on a certain day, the inspection vehicle M-07, equipped with a mobile data collector, along with its assigned medium-sized sweeper A-07, detected what appeared to be a pile of fallen leaves on the road at coordinates X1, Y1 during a routine inspection of Chengnan Road.

[0061] The mobile data acquisition unit on the M-07 captured an image of accumulated fallen leaves with a confidence level of 0.82, and uploaded this environmental information to the event server. Since this information was acquired by the mobile data acquisition unit, the event server needs to call the fixed data acquisition unit for verification.

[0062] The event server analyzes the geometric features of leaf accumulation in the image: Preliminary measurements indicate it is approximately 40 meters long and 6 meters wide. Because the length of the accumulation (40 meters) exceeds the diameter of the M-07 observation space (approximately 30 meters), the environmental event was not completely contained within the M-07 observation space.

[0063] The event server instructs M-07 to move slowly (at a speed of 5 km / h) towards the leaf pile. When M-07 reaches the western boundary of the leaf pile (determined by measuring the distance between the target edge pixels in the image and the collector), the event server determines that M-07 should stop moving and sets the observable range of M-07 at this time to the maximum range of its observation space.

[0064] The event server retrieved image data from a nearby fixed data acquisition unit, F-23 (located on a lamppost at the intersection of Chengnan Road and Jianshe Road). F-23's field of view completely covered the area of ​​fallen leaves, and verification confirmed that the actual length of the accumulation was 42 meters and the width was 6.3 meters, consistent with the identification results of M-07. The verification was successful.

[0065] The event server combines the actual movement direction of fallen leaves under the autumn wind (spreading from east to west at a speed of approximately 0.3 m / s) with the sweeping forecast for the next 30 minutes: Current coverage area = 42 × 6.3 ≈ 264.6㎡; The swept area = 42 × (0.3 × 60 × 30 / 100) ≈ 226.8㎡; The total area covered by the incident is approximately 491 square meters.

[0066] The event server pushes this parameter to the scheduling server, initiating the scheduling decision-making phase.

[0067] In one embodiment, the scheduling server determines a number of sanitation equipment as sanitation equipment to be executed based on the event coverage area, and schedules each sanitation equipment to the corresponding location to perform sanitation operations. For a single sanitation equipment, the operation module records the sanitation equipment information before sanitation operation and after maintenance, and records the changes in the sanitation equipment information to generate maintenance fatigue. The operation module also determines the corresponding maintenance path based on the processing results of the sanitation operation and several historical processing results, and maps the maintenance path to maintenance fatigue.

[0068] By mapping maintenance paths to maintenance fatigue, specific maintenance is required at specific path nodes after sanitation equipment performs certain types of tasks. This approach not only prevents sanitation equipment from becoming unusable due to overuse but also effectively improves the robustness of the sanitation equipment operation and maintenance system.

[0069] In one embodiment, for a single environmental event, the scheduling server determines an environmental policy based on the event's coverage area. The scheduling server specifies a standard area that any sanitation equipment can cover for sanitation operations. When sanitation equipment is idle, the dispatch server marks the sanitation equipment as a pre-call sanitation equipment. If the standard area corresponding to the pre-called sanitation equipment is greater than the event coverage area, the scheduling server determines the actual sanitation equipment to be called based on the maintenance fatigue of each pre-called sanitation equipment. If the standard area corresponding to the pre-requested sanitation equipment is not greater than the event coverage area, the scheduling server will mark each sanitation equipment whose sanitation operation area is greater than the standard area as fatigued equipment.

[0070] By setting up pre-call equipment, the operational capacity of idle equipment is assessed, avoiding unnecessary equipment wake-up or long-distance scheduling. At the same time, when the total standard area is insufficient, fatigued equipment is proactively marked, identifying those equipment with excessive single-machine capacity but needing to undertake tasks exceeding the area limit. This provides a clear equipment list for subsequent fatigue scheduling and maintenance pre-deployment, improving the predictability of system decisions under extreme working conditions, thereby effectively enhancing the robustness of the sanitation equipment operation and maintenance system.

[0071] In one embodiment, the scheduling server determines the sanitation strategy based on the sanitation equipment being called and the corresponding sanitation routes of each piece of equipment. For a single sanitation strategy, the operation module determines the sanitation equipment to be invoked based on environmental events and sets the corresponding expected processing results; When the environmental data acquisition cluster determines that the corresponding environmental information has reached the desired processing result, the sanitation equipment stops the corresponding sanitation strategy, and the operation module records the maintenance actions that should be performed for the current sanitation strategy. When the sanitation equipment reaches the end of its operating time, the sanitation equipment stops the corresponding sanitation strategy, and the operation and maintenance module determines the corresponding maintenance behavior based on the current operating time.

[0072] In one embodiment, when the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, the maintenance module selects maintenance terminals on the sanitation path from each maintenance terminal to perform maintenance on the sanitation equipment on the corresponding sanitation path. When the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the maintenance module dispatches the sanitation equipment to the nearest maintenance terminal for maintenance. Among them, the fatigue threshold is greater than the maintenance threshold; The fatigue threshold is the maintenance fatigue that occurs when sanitation equipment can no longer perform sanitation operations. The maintenance threshold is the maintenance fatigue level at which sanitation equipment should be maintained.

[0073] When a high fatigue threshold is reached, online maintenance is performed directly on the sanitation route, which effectively improves task continuity and equipment uptime, prevents over-handling of minor problems, and solves the problem of task interruption caused by serious faults. This improves the accuracy of dynamic matching between maintenance resources and equipment health status, and thus effectively enhances the robustness of the sanitation equipment operation and maintenance system.

[0074] In one embodiment, maintenance fatigue is the accumulation of maintenance actions that should be performed on the sanitation equipment due to several processing results formed after the last maintenance. When there are no candidate sanitation equipment whose maintenance fatigue is below the maintenance threshold, the scheduling server activates the fatigue scheduling strategy. In response to the fatigue scheduling strategy, the scheduling module matches a plurality of environmental sanitation equipment with operation capability, selects the equipment whose maintenance fatigue value exceeds the maintenance fatigue threshold and the difference between the corresponding maintenance fatigue and the maintenance threshold is the smallest as the scheduling object, and marks the environmental sanitation equipment as fatigued equipment; The maintenance module responds to the mark of the fatigued equipment, and deploys maintenance terminals on the environmental sanitation path where the scheduling object performs environmental sanitation operations to maintain each environmental sanitation equipment; Wherein, the fatigued equipment is environmental sanitation equipment that does not have operation capability before maintenance after completing the corresponding environmental sanitation operation.

[0075] Example 3: Based on Example 2, the event coverage area corresponding to Example 1 is 491 m².

[0076] The scheduling server queries currently idle environmental sanitation equipment, obtains 3 candidates and marks them as pre-called environmental sanitation equipment: Medium-sized sweeper A-03: standard area 500 m², maintenance fatigue value 28; Medium-sized sweeper A-08: standard area 500 m², maintenance fatigue value 52; Small-sized cleaning vehicle B-02: standard area 300 m², maintenance fatigue value 15.

[0077] The scheduling server compares the standard area of each pre-called equipment with the event coverage area (491 m²) one by one: Equipment A-03 (500 m²) > 491 m²✓ Equipment A-08 (500 m²) > 491 m²✓ Equipment B-02 (300 m²) < 491 m²✗ Since the standard area of the pre-called equipment is larger than the event coverage area, the scheduling server determines that the operation capability is sufficient, and enters the optimization link based on maintenance fatigue.

[0078] Among A-03 and A-08 whose standard areas meet the conditions, sorting according to the maintenance fatigue value from low to high: A-03 (28) < A-08 (52), and A-03 is preferably selected as the actually called environmental sanitation equipment.

[0079] The scheduling server generates an environmental sanitation strategy for A-03: Environmental sanitation path: starting from the current parking point P1 → along Jianshe Road → Chengnan Road → fallen leaf accumulation area → along Chengnan Road → returning to the path where maintenance node M-04 is located; Environmental sanitation operation: sweeping the 491 m² area at an operation speed of 0.5 m / s, with an estimated time consumption of about 16 minutes; Proposed processing result: the confidence level of image recognition for regional cleanliness after operation needs to reach above 0.95.

[0080] The A-03-equipped inspection vehicle M-03 was simultaneously dispatched to the work site to monitor the work results in real time.

[0081] During the operation, the operating module receives status data from A-03 every 5 minutes. After the operation is completed, the mobile collector on the attached vehicle M-03 and the fixed collector F-23 on site jointly confirm that the intended treatment result has been achieved (cleanliness confidence level 0.97).

[0082] Based on the specific parameters of this operation (cleaning area 491㎡, operation time 16 minutes, brush wear rate 2.3%, brush contact resistance medium), the operation module calls the historical processing result library of A-03 and generates a maintenance fatigue increment of 7.5.

[0083] The cumulative maintenance fatigue of A-03 has been updated to 28 + 7.5 = 35.5, which is still below the maintenance threshold of 70. A-03 will remain on standby.

[0084] Example 4: Based on Example 1, at 14:30 on the same afternoon, a large-scale oil pollution incident occurred in the northern part of the city (fuel tank of a transport vehicle leaked). The event server, through collaborative verification by mobile and fixed data collectors, calculated the event coverage area to be 2800㎡.

[0085] At this time, only 3 pieces of equipment remain available in the area: Medium-sized sweeper equipped with A-05: standard area 500㎡, maintenance fatigue value 75; Small cleaning truck equipment B-04: standard area 300㎡, maintenance fatigue value 82; Small cleaning truck equipped with B-07: standard area 300㎡, maintenance fatigue value 68.

[0086] Step 3.2: Standard Area Comparison The standard area of ​​each pre-assigned piece of equipment was compared with the event coverage area (2800㎡) one by one: Equipment A-05 (500㎡) < 2800㎡ ✗ Equipment B-04 (300㎡) < 2800㎡ ✗ Equipment B-07 (300㎡) < 2800㎡ ✗ The standard area of ​​all pre-assigned equipment is no larger than the event coverage area, resulting in insufficient operational capacity. The dispatch server marks sanitation equipment with an operational area larger than the standard area as fatigued equipment (meaning that all three pieces of equipment will enter a fatigued state due to task overload after performing the operation).

[0087] The scheduling server further screened candidate equipment with maintenance fatigue below the maintenance threshold (70): only B-07 (68) met the requirement, while A-05 and B-04 both exceeded the maintenance threshold. There was a severe shortage of healthy equipment.

[0088] Since there are not enough candidate pieces of equipment with maintenance fatigue below the maintenance threshold, the scheduling server initiates a fatigue scheduling strategy. Among the equipment that has exceeded the threshold, the equipment with the smallest difference between its maintenance fatigue value and the threshold is selected as the priority scheduling target. Equipment A-05: Exceeds threshold 5 (75 - 70) ✓ Minimum difference, selected Equipment B-04: Overthreshold 12 (82 - 70) Equipment A-05 was designated as fatigue equipment, while B-04 and B-07 were designated as auxiliary work equipment.

[0089] The maintenance module responds to the fatigue equipment marker of A-05, analyzes its current sanitation route (from parking point P3 → Zhongshan Road → Chengbei Avenue → incident area → return to P3), selects terminal M-08 located at the node on this route from 12 fixed maintenance terminals, and dispatches an additional mobile maintenance vehicle MV-02 to be deployed in advance in the emergency parking area 500 meters east of the incident area.

[0090] Three pieces of equipment are operating in parallel, with their respective attached inspection vehicles entering the site simultaneously for monitoring: Equipment A-05 (with vehicle M-05 accompanying) is responsible for the main contaminated area of ​​approximately 1500㎡; B-04 equipment (with M-04 vehicle accompanying) is responsible for approximately 700 square meters in the northern area; The B-07 equipment (with the M-07 vehicle accompanying it) is responsible for approximately 600 square meters in the southern area.

[0091] During the operation, mobile data acquisition devices on each vehicle continuously upload real-time images, while fixed data acquisition devices collaboratively verify the progress of the operation.

[0092] Maintenance fatigue accumulates continuously during operation A-05. When the accumulated fatigue value reaches 94 (approaching the fatigue threshold of 95), and A-05 is still performing operations on the sanitation route, the maintenance module immediately instructs the mobile maintenance vehicle MV-02 on the route to proceed to the location of A-05 for on-site maintenance. Replace the sweeping brush; Replenish cleaning solution; Quickly inspect and repair core components.

[0093] After maintenance, A-05's maintenance fatigue is reset to 12, restoring its operational capacity and allowing it to continue completing the remaining tasks, thus avoiding task interruption.

[0094] Example 5: For a single large sweeper truck equipped with C-01, the maintenance decision after three consecutive operations is as follows: The execution module retrieves the processing results of the three most recent jobs in C-01: Task 1: Clean 1200㎡ of oil stains, fatigue increase 18 (significant brush wear); Task 2: Clean 800㎡ of leaf litter area, fatigue increment 9 (vacuum system under light load); Task 3: Flushing 1100㎡ of mud zone, fatigue increase 22 (high pressure water circuit loss is large).

[0095] Cumulative maintenance fatigue: 0+18+9+22=49.

[0096] The running module identifies the main loss points based on the type of each processing result: Oil / mud work → High wear and tear on cleaning brushes and water system; Leaf removal operations → Light load on vacuum system.

[0097] Based on comprehensive assessment, the main wear and tear on C-01 is concentrated in the cleaning brush and water system. The operation module maps the maintenance path of C-01 to the maintenance terminal M-04 (which has the ability to replace the cleaning brush and repair the water system), instead of defaulting to the nearest M-01 terminal.

[0098] C-01 continued operation, and after the fourth operation, the accumulated maintenance fatigue reached 72, exceeding the maintenance threshold of 70, and C-01 entered an idle state. As specified in claim 7, the maintenance module dispatched C-01 to the pre-mapped maintenance terminal M-04 (2.3 km away), instead of the M-02 terminal (1.8 km away) which was geographically closer but functionally incompatible.

[0099] After maintenance, the running module log is as follows: Condition of consumables before maintenance: 30% clean water, 45% brush wear rate, 38% filter clogging rate; Post-maintenance consumable status: 100% clean water, 0% brush wear (replaced), 0% filter clogging (cleaned). C-01 maintenance fatigue is reset to 0, establishing a healthy baseline for the next work cycle.

[0100] The system has at least one operation module for scheduling sanitation equipment. This module schedules the equipment and generates corresponding maintenance fatigue based on the scheduling results. Please refer to [link / reference]. Figure 2 As shown, it is a flowchart of the operation and maintenance method of the running module in an embodiment of the present invention, including: Step Sy1: Determine the event coverage area of ​​the current environment events; Step Sy2: Based on the event coverage area, retrieve the standard area corresponding to the pre-called sanitation equipment for comparison; Step Sy21: If the standard area corresponding to the pre-called sanitation equipment is larger than the event coverage area, determine the actual sanitation equipment to be called based on the maintenance fatigue of each pre-called sanitation equipment. Step Sy22: If the standard areas corresponding to the pre-requested sanitation equipment are not greater than the event coverage area, mark each sanitation equipment in the sanitation operation area that is greater than the standard area as fatigued equipment. Step Sy3: Based on the sanitation operations performed by the sanitation equipment, call up the historical processing results of the sanitation equipment to generate and accumulate maintenance fatigue.

[0101] By setting maintenance fatigue, the health status of equipment is used as a direct parameter to determine scheduling priority and method. When the operational capacity is sufficient, the best equipment is selected for dispatch; when the capacity is critical, special strategies are activated, thereby effectively reducing the risk of equipment failure and mission failure caused by improper scheduling.

[0102] Based on the sanitation operations performed by the sanitation equipment, the historical processing results of the sanitation equipment are retrieved to generate and accumulate the maintenance fatigue.

[0103] The event server determines the event coverage area of ​​the current environment based on the environmental information obtained from the environment collection cluster.

[0104] The event coverage area is the area swept across by the moving direction of the environmental event, which can be verified and confirmed by the mobile collector and the fixed collector working together.

[0105] The scheduling server retrieves the standard operating area that each sanitation equipment can cover from the database and marks idle sanitation equipment as pre-call sanitation equipment. The sum of the standard areas corresponding to the pre-call sanitation equipment is compared with the event coverage area determined in step 1.

[0106] If the standard areas corresponding to the pre-requested sanitation equipment are larger than the event coverage area, it indicates that the overall operational capacity of the idle equipment is sufficient. At this time, the dispatch server optimizes the equipment based on the maintenance fatigue value of each pre-requested sanitation equipment, selecting the equipment with the lowest or most suitable maintenance fatigue value as the sanitation equipment to be actually dispatched.

[0107] If the standard area corresponding to the pre-requested sanitation equipment is not greater than the event coverage area, it indicates that the routine operation capacity of the idle equipment is insufficient to fully cover the event.

[0108] The dispatch server marks sanitation equipment whose single-machine operating area is larger than the standard area as fatigued equipment and prepares to activate the fatigue dispatch strategy.

[0109] The sanitation equipment actually deployed processes the target environmental events according to the sanitation strategy issued by the dispatch server and generates processing results. The running module responds to the processing result, calls the historical processing results of the sanitation equipment, and generates the maintenance fatigue value for a single operation by combining the difficulty, duration and effect of the current operation, and accumulates it into the total maintenance fatigue of the equipment.

[0110] During operation, if the environmental data acquisition cluster determines that the environmental information has reached the intended processing result, or if the sanitation equipment reaches the preset operating time, the corresponding sanitation strategy will be stopped. The operation module records the maintenance actions that should be performed at this time for subsequent maintenance modules to call upon.

[0111] Its system is equipped with at least a maintenance module for maintaining sanitation equipment. This module performs maintenance on the sanitation equipment based on its maintenance fatigue level. Please refer to [link / reference]. Figure 3 As shown, it is a flowchart of the operation and maintenance method of the maintenance module in an embodiment of the present invention, including: Step Sw1: Record the cumulative maintenance fatigue value of sanitation equipment in real time during sanitation operations; Step Sw2 involves differentiating the maintenance of sanitation equipment based on the maintenance fatigue level of each piece of equipment, including: Step Sw21: If the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, select the maintenance terminal on the sanitation path and perform maintenance on the sanitation equipment on the sanitation path. Step Sw22: If the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the sanitation equipment is dispatched to the nearest maintenance terminal for maintenance. Step Sw3: When there are no candidate sanitation equipment with maintenance fatigue below the maintenance threshold, the scheduling server starts the fatigue scheduling strategy and selects the equipment with maintenance fatigue value exceeding the maintenance threshold and the smallest difference as the scheduling object. Step Sw4: When the fatigue scheduling strategy is in effect, a maintenance terminal is deployed in advance on the sanitation route where the corresponding sanitation equipment performs sanitation operations, in order to maintain the sanitation equipment.

[0112] By continuously tracking the cumulative value of maintenance fatigue and triggering different maintenance processes based on the threshold it reaches and the real-time status of the equipment, maintenance actions are placed ahead of potential failure points. This method greatly enhances the resilience and reliability of the sanitation system in the face of high-intensity, large-scale pollution events, enabling it to continuously output stable operational capabilities.

[0113] The operation module continuously records the cumulative maintenance fatigue value of each sanitation equipment during sanitation operations. This cumulative value is obtained by summing the maintenance fatigue generated after each operation.

[0114] Based on a comparison of the maintenance fatigue levels of various sanitation equipment with preset thresholds, the maintenance module distinguishes maintenance behaviors: If the accumulated maintenance fatigue reaches the fatigue threshold, and the corresponding sanitation equipment is still performing tasks on the sanitation route, the maintenance module will immediately select the maintenance terminal deployed on the sanitation route and schedule the terminal to perform online maintenance on the equipment to avoid task interruption.

[0115] If the accumulated maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the maintenance module will directly dispatch the sanitation equipment to the nearest maintenance terminal for routine maintenance.

[0116] When there are no candidate sanitation equipment with maintenance fatigue below the maintenance threshold in the system, i.e., when no healthy equipment is available, the scheduling server initiates a fatigue scheduling strategy. This strategy selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and has the smallest difference as the scheduling object, and marks it as fatigued equipment.

[0117] While this fatigue scheduling strategy is in progress, the maintenance module responds to the flag and pre-deploys maintenance terminals on the sanitation route where the corresponding sanitation equipment will perform sanitation operations. When the fatigue equipment completes its work and reaches the predetermined state, or when the maintenance fatigue exceeds the limit, the deployed terminal can immediately intervene for maintenance.

[0118] After the maintenance terminal performs the corresponding maintenance work on the sanitation equipment, the operation module resets the maintenance fatigue value of the sanitation equipment or deducts it according to the maintenance effect, and records the changes in the sanitation equipment information before and after maintenance, providing basic data for the generation of the next maintenance fatigue.

[0119] The system demonstrated the effects shown in Table 1 during a three-week field test (taking two non-central urban areas of 15 square kilometers, both with vegetation coverage of 45%-56%, as examples). Table 1 is a comparison table between conventional operation and maintenance systems and this system: Table 1 Comparison between conventional operation and maintenance systems and this system The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A machine vision-based sanitation equipment operation and maintenance system, comprising: An environmental data collection cluster used to collect environmental information; An operating module used to collect information about sanitation equipment; Collect the environmental information and determine the event server for the current environmental event based on the environmental information; A scheduling server used to respond to the environmental events and to schedule sanitation equipment; Its characteristic is that, in response to the sanitation equipment scheduling of the scheduling server, the sanitation equipment processes the environmental event according to a preset sanitation strategy and generates a corresponding processing result. The operating module responds to the processing result and calls the historical processing results of the sanitation equipment to generate maintenance fatigue; The operation and maintenance system also includes a maintenance module for responding to the maintenance fatigue and performing maintenance on the sanitation equipment based on the maintenance fatigue. The sanitation strategy includes sanitation routes and sanitation operations, wherein the sanitation route is the corresponding path for the sanitation equipment to arrive at and leave the corresponding location of the environmental event; In response to the sanitation equipment performing the sanitation operation, the operation and maintenance system accumulates the maintenance fatigue of the sanitation operation; The maintenance module includes several maintenance terminals, which are used to respond to the sanitation strategy and maintain the sanitation equipment on the sanitation path corresponding to the strategy.

2. The sanitation equipment operation and maintenance system based on machine vision according to claim 1, characterized in that, The environmental data acquisition cluster includes: Several vehicles; Several visual acquisition devices are used to collect the environmental events, including, A mobile data collector mounted on the vehicle and moving with the vehicle, and, Fixed data collectors are mounted on the sanitation route; Each visual acquisition device has a preset acquisition area. For a single piece of environmental information, if it is acquired by the mobile collector, the event server verifies the environmental information based on the event coverage area of ​​the environmental events contained in the environmental information and the environmental information acquired by the fixed collector corresponding to the event coverage area. If it is acquired by the fixed collector, the event server records the environmental information and determines whether the environmental information includes the environmental event. The event coverage area is the area swept through by the direction of movement of the environmental event.

3. The sanitation equipment operation and maintenance system based on machine vision according to claim 2, characterized in that, The scope of the environmental event is the observable range of the environmental information, and its corresponding movement direction includes the actual movement direction of the environmental event and the movement direction of the vehicle affected by the environmental event. The visual acquisition device is equipped with a corresponding observation space. When any environmental event occurs, if it is surrounded by the observation space, the visual acquisition device confirms the observable range of the environmental event and confirms its direction of movement. If the environmental event is not encompassed by the observation space, the vehicle corresponding to the visual acquisition device moves towards the direction of the environmental event. Upon contact with the boundary of the environmental event, the event server determines that the corresponding vehicle stops moving and sets the observable range corresponding to the environmental event as the maximum range of the observation space.

4. The machine vision-based sanitation equipment operation and maintenance system according to claim 3, characterized in that, The scheduling server determines a number of sanitation equipment as execution sanitation equipment based on the event coverage area, and schedules each execution sanitation equipment to the corresponding position to perform the sanitation operation. For a single sanitation equipment, the operation module records the sanitation equipment information before the sanitation operation and the sanitation equipment information after maintenance, and records the changes in the sanitation equipment information of the sanitation equipment to generate the maintenance fatigue. The operation module also determines the corresponding maintenance path based on the processing result of the sanitation operation and several historical processing results, and maps the maintenance path to the maintenance fatigue.

5. The sanitation equipment operation and maintenance system based on machine vision according to claim 2, characterized in that, For a single environmental event, the scheduling server determines the environmental strategy based on the event's coverage area. The scheduling server specifies a standard area that any sanitation equipment can cover for sanitation operations. When a sanitation equipment is idle, the scheduling server marks the sanitation equipment as a pre-call sanitation equipment. If the standard area corresponding to the pre-called sanitation equipment is greater than the event coverage area, the scheduling server determines the sanitation equipment to be actually called based on the maintenance fatigue of each pre-called sanitation equipment. If the standard area corresponding to the pre-called sanitation equipment is not greater than the event coverage area, the scheduling server marks each piece of sanitation equipment whose sanitation operation area is greater than the standard area as fatigued equipment.

6. The machine vision-based sanitation equipment operation and maintenance system according to claim 4 or 5, characterized in that, The scheduling server determines the sanitation strategy based on the sanitation equipment being called and the sanitation routes corresponding to each piece of equipment. For a single sanitation strategy, the operation module determines the sanitation equipment to be invoked based on the environmental event and sets the corresponding intended processing result; When the environmental data acquisition cluster determines that the corresponding environmental information has reached the intended processing result, the sanitation equipment stops the corresponding sanitation strategy, and the operation module records the maintenance actions that should be performed for the current sanitation strategy. When the sanitation equipment reaches the end of its operating time, the sanitation equipment stops the corresponding sanitation strategy, and the operation and maintenance module determines the corresponding maintenance behavior based on the current operating time.

7. The machine vision-based sanitation equipment operation and maintenance system according to claim 6, characterized in that, When the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, the maintenance module selects maintenance terminals on the sanitation path from each maintenance terminal to perform maintenance on the sanitation equipment on the corresponding sanitation path. When the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is in an idle state, the maintenance module dispatches the sanitation equipment to the nearest maintenance terminal for maintenance. Wherein, the fatigue threshold is greater than the maintenance threshold; The fatigue threshold is the maintenance fatigue corresponding to the sanitation equipment being unable to perform sanitation operations anymore. The maintenance threshold is the maintenance fatigue corresponding to the sanitation equipment requiring maintenance.

8. The sanitation equipment operation and maintenance system based on machine vision according to claim 7, characterized in that, The maintenance fatigue refers to the accumulation of maintenance actions that should be performed on the sanitation equipment due to several processing results formed after the last maintenance. When there are no candidate sanitation equipment whose maintenance fatigue is below the maintenance threshold, the scheduling server initiates a fatigue scheduling strategy. In response to the fatigue scheduling strategy, the scheduling module matches several sanitation equipment with operational capabilities, selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and whose corresponding maintenance fatigue value has the smallest difference from the maintenance threshold as the scheduling object, and marks the sanitation equipment as the fatigued equipment. In response to the fatigued equipment marker, the maintenance module deploys the maintenance terminal along the sanitation route where the scheduled object performs sanitation work to maintain each piece of sanitation equipment. The fatigued equipment refers to sanitation equipment that is not capable of operation after completing the corresponding sanitation work and before performing maintenance.

9. A machine vision-based operation and maintenance method for sanitation equipment, applied to the system described in any one of claims 1-8, wherein the system at least includes an operation module for scheduling sanitation equipment, the operation module for scheduling the sanitation equipment, and generating corresponding maintenance fatigue based on the scheduling results, characterized in that... The operation and maintenance methods include: Determine the event coverage area of ​​the current environmental incident; Based on the event coverage area, the standard area corresponding to the pre-called sanitation equipment is retrieved for comparison. If the standard area corresponding to the pre-called sanitation equipment is larger than the event coverage area, the actual sanitation equipment to be called is determined based on the maintenance fatigue of each pre-called sanitation equipment. If the standard areas corresponding to the pre-called sanitation equipment are not greater than the event coverage area, each sanitation equipment whose sanitation operation area is greater than the standard area is marked as fatigued equipment. Based on the sanitation operations performed by the sanitation equipment, the historical processing results of the sanitation equipment are retrieved to generate and accumulate the maintenance fatigue.

10. A machine vision-based method for the operation and maintenance of sanitation equipment, applied to the system described in any one of claims 1-8, wherein the system is at least provided with a maintenance module for maintaining the sanitation equipment, the maintenance module being used to maintain the sanitation equipment based on its maintenance fatigue, characterized in that... The operation and maintenance methods include: Real-time recording of the cumulative maintenance fatigue value of sanitation equipment during sanitation operations; The maintenance of sanitation equipment is differentiated based on the maintenance fatigue level of each piece of equipment, including: If the cumulative value of maintenance fatigue reaches the fatigue threshold and the corresponding sanitation equipment is still on the sanitation path, the maintenance terminal on the sanitation path is selected and the sanitation equipment is maintained on the sanitation path. If the accumulated value of maintenance fatigue reaches the maintenance threshold and the sanitation equipment is idle, the sanitation equipment shall be dispatched to the nearest maintenance terminal for maintenance. When there are no candidate sanitation equipment whose maintenance fatigue is lower than the maintenance threshold, the scheduling server starts the fatigue scheduling strategy and selects the equipment whose maintenance fatigue value exceeds the maintenance threshold and has the smallest difference as the scheduling object. When the fatigue scheduling strategy is implemented, maintenance terminals are deployed in advance on the sanitation routes where the corresponding sanitation equipment performs sanitation operations, in order to maintain the sanitation equipment.

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