A garbage truck operation control method and system

Abstract

The present application is suitable for garbage truck control technical field, especially relates to a kind of unmanned garbage truck operation control method and system, the method includes: real-time acquisition garbage quantity data;Garbage is transported network is constructed, and path planning is carried out according to transport network, control transport vehicle to travel to transport point;The fixed sensing point on station house is detected, to obtain the relative position information of transport vehicle and station house, complete basic positioning, detect the fixed sensing point on garbage can, and according to detection result, control circulating conveyor belt to move the garbage can to be dumped to the specified connection position at opening, to complete the transfer of garbage in the barrel.The present application realizes the full-automatic docking between transport vehicle and garbage station and the grabbing and dumping of garbage can, improves the operation efficiency and positioning accuracy, reduces manual intervention, through path planning, makes vehicle resource be reasonably utilized, reduces transport cost, overall improves the intelligent level and operating efficiency of urban garbage transport.

Description

Technical Field

[0001] This invention belongs to the field of garbage truck control technology, and in particular relates to an unmanned garbage truck operation control method and system. Background Technology

[0002] Unmanned garbage trucks are intelligent sanitation equipment that can autonomously complete the entire process of garbage collection without human intervention.

[0003] Currently, urban waste collection and transfer mainly rely on manned garbage trucks. The entire operation requires manual assistance and can only be carried out on a timed basis. It is difficult to automatically allocate waste according to the actual amount of waste generated by each community, resulting in low waste collection efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an unmanned garbage truck operation control method, which aims to solve the problems of low garbage collection efficiency in the existing garbage collection process, which requires manual assistance and can only collect garbage on a time basis, making it difficult to automatically allocate garbage according to the actual garbage output of each community.

[0005] This invention is implemented as follows: an unmanned garbage truck operation control method, the method comprising:

[0006] The system collects real-time data on the amount of garbage at unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set up inside the station building, and multiple garbage bins placed on the circulating conveyor belt. Openings for garbage trucks to connect with garbage bins are provided on both sides of the station building, and multiple fixed sensing points are deployed on the station building and each garbage bin.

[0007] Based on the geographical location of each garbage collection point, a garbage collection network is constructed, and route planning is carried out according to the collection network to allocate collection routes to multiple garbage collection vehicles and control the target garbage collection vehicle to drive to the corresponding target garbage collection point.

[0008] Within the target waste collection point, the sensor equipment on the target waste collection vehicle detects the fixed sensor points on the station building to obtain the relative position information between the collection vehicle and the station building, thus completing the basic positioning.

[0009] After basic positioning is completed, the garbage truck is controlled to detect the fixed sensor points on the garbage bins. Based on the detection results, the circulating conveyor belt is controlled to move the garbage bins to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bins.

[0010] Preferably, the steps of constructing a waste collection network based on the location of waste collection points, performing path planning based on the waste collection network, and assigning collection routes to multiple waste collection vehicles include:

[0011] Based on the geographical location of each garbage collection point, a garbage collection network including all collection points is constructed, garbage volume data is collected in real time, time-series prediction is performed, and the predicted overflow time of each collection point is generated.

[0012] Based on the predicted overflow time, all waste collection points in the collection network are prioritized for collection, and a collection sequence is generated.

[0013] Based on the order of garbage collection, the number of garbage collection trucks, and the current location of each truck, a collection route is assigned to multiple garbage collection trucks.

[0014] Preferably, the step of obtaining the relative position information between the garbage truck and the station building by using the sensing device on the target garbage collection point to detect fixed sensing points on the station building, and completing the basic positioning, includes:

[0015] After the target garbage truck enters the opening area on one side of the station building, the on-board sensing equipment is activated to scan multiple fixed sensing points deployed on the station building.

[0016] Based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment, the position offset and heading angle deviation of the garbage truck relative to the station building are calculated.

[0017] Based on the position offset and heading angle deviation, a vehicle adjustment command is generated to guide the waste collection vehicle to adjust its position until the docking port on the waste collection vehicle is aligned with the opening of the station building, thus completing the basic positioning.

[0018] Preferably, after the basic positioning is completed, the garbage truck is controlled to detect the fixed sensing point on the garbage bin, and based on the detection result, the circulating conveyor belt is controlled to move the garbage bin to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bin, including:

[0019] After completing the basic positioning, the sensing equipment on the garbage truck is controlled to scan multiple garbage bins on the circulating conveyor belt, identify the identity information of the fixed sensing points on each garbage bin and their spatial position relative to the garbage truck.

[0020] Based on the identification results, the target trash can to be dumped is determined from multiple trash cans, and the positional deviation between the current position of the target trash can and the specified connection position at the opening is calculated.

[0021] Based on the positional deviation, a conveyor belt control command is generated to drive the circulating conveyor belt to move along the conveying path to the designated docking position, and the garbage truck performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

[0022] Preferably, the step of prioritizing all garbage collection points within the collection network based on the predicted overflow time and generating a collection sequence includes: obtaining the predicted garbage volume of each garbage collection point, and calculating a transportation score for each garbage collection vehicle and each collection point by combining the geographical location of each garbage collection point, the remaining load capacity of currently available garbage collection vehicles, and location information. The transportation score is used to characterize the suitability of the garbage collection vehicle to perform the collection task at that collection point. Based on the transportation score, the collection points to be collected are matched with available garbage collection vehicles, and the collection points are assigned to the corresponding garbage collection vehicles in descending order of the scores, thereby generating a collection sequence for each garbage collection vehicle.

[0023] Another object of the present invention is to provide an unmanned garbage truck operation control system, the system comprising:

[0024] The data acquisition module is used to collect real-time data on the amount of garbage at the unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set inside the station building, and multiple garbage bins placed on the circulating conveyor belt. The station building has openings on both sides for garbage trucks to connect with the garbage bins, and multiple fixed sensing points are deployed on the station building and each garbage bin.

[0025] The route planning module is used to construct a garbage collection network based on the geographical location of each garbage collection point, perform route planning based on the collection network, assign collection routes to multiple garbage collection vehicles, and control the target garbage collection vehicle to travel to the corresponding target garbage collection point.

[0026] The basic positioning module is used to detect fixed sensing points on the station building within the target waste collection point through the sensing equipment on the target waste collection vehicle, so as to obtain the relative position information between the collection vehicle and the station building and complete the basic positioning.

[0027] The garbage collection module is used to control the collection vehicle to detect the fixed sensing points on the garbage bins after basic positioning is completed. Based on the detection results, it controls the circulating conveyor belt to move the garbage bins to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bins.

[0028] Preferably, the path planning module includes:

[0029] The time prediction unit is used to construct a waste collection network containing all collection points based on the geographical location of each waste collection point, collect waste volume data in real time, perform time-series prediction, and generate the predicted overflow time of each collection point.

[0030] The waste collection and sorting unit is used to prioritize all waste collection points in the collection and sorting network according to the predicted overflow time, and generate a sequence to be collected.

[0031] The route planning unit is used to allocate collection routes to multiple garbage collection trucks based on the sequence of garbage to be collected, the number of garbage collection trucks, and the current location of each truck.

[0032] Preferably, the basic positioning module includes:

[0033] The sensing and scanning unit is used to control the target garbage truck to enter the opening area on one side of the station building, and then activate the on-board sensing equipment to scan multiple fixed sensing points deployed on the station building.

[0034] The data processing unit is used to calculate the position offset and heading angle deviation of the garbage truck relative to the station building based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment.

[0035] The station building positioning unit is used to generate vehicle adjustment commands based on position offset and heading angle deviation, guiding the waste collection vehicle to adjust its posture until the docking port on the waste collection vehicle is aligned with the station building opening, thus completing the basic positioning.

[0036] Preferably, the waste collection module includes:

[0037] The garbage bin positioning unit is used to control the sensing equipment on the garbage truck to scan multiple garbage bins on the circulating conveyor belt after basic positioning is completed, and to identify the identity information of the fixed sensing points on each garbage bin and its spatial position relative to the garbage truck.

[0038] The position deviation calculation unit is used to determine the target trash can to be dumped from multiple trash cans based on the identification results, and to calculate the position deviation between the current position of the target trash can and the specified connection position at the opening.

[0039] The connecting collection unit is used to generate conveyor belt control commands based on position deviation, drive the circulating conveyor belt to move the target garbage bin along the conveying path to the designated connecting position, and then the collection vehicle performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

[0040] Preferably, the waste collection module includes:

[0041] The garbage bin positioning unit is used to control the sensing equipment on the garbage truck to scan multiple garbage bins on the circulating conveyor belt after basic positioning is completed, and to identify the identity information of the fixed sensing points on each garbage bin and its spatial position relative to the garbage truck.

[0042] The position deviation calculation unit is used to determine the target trash can to be dumped from multiple trash cans based on the identification results, and to calculate the position deviation between the current position of the target trash can and the specified connection position at the opening.

[0043] The connecting collection unit is used to generate conveyor belt control commands based on position deviation, drive the circulating conveyor belt to move the target garbage bin along the conveying path to the designated connecting position, and then the collection vehicle performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

[0044] This invention achieves precise basic positioning of the garbage truck and the station by detecting sensors at the station building, and then controls the circulating conveyor belt to automatically transport the target garbage bin to the docking position by detecting sensors at the garbage bins. This realizes fully automatic docking between the garbage truck and the garbage station and the grabbing and dumping of garbage bins, improving operational efficiency and positioning accuracy, reducing manual intervention, and making rational use of vehicle resources through route planning, thereby reducing garbage collection costs and avoiding situations where garbage accumulates at some stations while some vehicles are empty or take detours. Overall, it improves the level of intelligence and operational efficiency of urban garbage collection. Attached Figure Description

[0045] Figure 1 A flowchart of an unmanned garbage truck operation control method provided in an embodiment of the present invention;

[0046] Figure 2 This is an architecture diagram of an unmanned garbage truck operation control system provided in an embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0048] like Figure 1 The diagram shown is a flowchart of an unmanned garbage truck operation control method provided by an embodiment of the present invention. The method includes:

[0049] S100 collects real-time data on the amount of garbage at unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set up inside the station building, and multiple garbage bins placed on the circulating conveyor belt. Openings for garbage trucks to connect with garbage bins are provided on both sides of the station building, and multiple fixed sensing points are deployed on the station building and each garbage bin.

[0050] In this step, unmanned garbage stations are deployed at various garbage collection points, such as one unmanned garbage station per residential community. Each unmanned garbage station includes a semi-enclosed station building, which houses a circulating conveyor belt system with multiple garbage bins for collection placed sequentially on the conveyor belt. An opening is provided on one side of the station building as a passage for garbage trucks to connect with the garbage bins. The openings on both sides allow garbage trucks to approach and dock from either side. Multiple fixed sensing points are installed on the station building, and multiple fixed sensing points are also installed on the outer wall of each garbage bin. The sensing points can use RFID tags, magnetic strips, optical markers, and other identifiers that can be detected by sensing devices. During daily operation, the unmanned garbage station uses cameras to capture images of the inside of the bins to estimate the volume and uses a weighing device to measure the weight of the garbage bins. The collected data is then transmitted to a cloud-based dispatch platform.

[0051] S200 constructs a garbage collection network based on the geographical location of each garbage collection point, performs route planning based on the collection network, assigns collection routes to multiple garbage collection vehicles, and controls the target garbage collection vehicle to travel to the corresponding target garbage collection point.

[0052] In this step, the cloud-based scheduling platform receives real-time reported waste volume data and obtains the geographical location information of each collection point. Based on the geographical location of all waste collection points, a waste collection network covering the entire service area is constructed. This network uses collection points as nodes and road connections as edges. According to the collection network and the current waste volume status of each collection point, the optimal collection route is calculated and allocated for multiple waste collection vehicles, taking into account collection priority, vehicle carrying capacity, road traffic conditions, and the current location of the collection vehicles. Each collection vehicle is assigned one or more target collection points, forming its own collection task sequence. The task instructions containing the coordinates of the target collection points and the driving route are sent to each collection vehicle, controlling each target waste collection vehicle to automatically drive to the corresponding target waste collection point according to the assigned route.

[0053] The S300, within the target waste collection point, uses sensing devices on the target waste collection vehicle to detect fixed sensing points on the station building to obtain the relative position information between the collection vehicle and the station building, thus completing basic positioning.

[0054] In this step, when the target garbage truck travels to the opening area on one side of the station building, the on-board sensing equipment is activated to scan and detect multiple fixed sensing points deployed on the station building. The on-board sensing equipment and the fixed sensing points on the station building interact wirelessly, such as reading the signal strength of RFID tags. By detecting the signal characteristics of multiple fixed sensing points, the positional offset and heading angle deviation of the garbage truck relative to the station building are calculated, establishing the relative positional relationship between the garbage truck and the station building. Based on the calculation results, a vehicle adjustment command is generated to control the garbage truck to make fine adjustments until the garbage docking port on the garbage truck is aligned with the opening of the station building, completing the basic positioning.

[0055] After completing basic positioning, the S400 controls the garbage truck to detect the fixed sensor points on the garbage bins. Based on the detection results, it controls the circulating conveyor belt to move the garbage bins to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bins.

[0056] In this step, after basic positioning is completed, the sensing device scans each of the multiple trash cans placed on the circulating conveyor belt, detects the fixed sensing points deployed on each trash can, reads the identification information stored in the fixed sensing points, and determines the specific position and posture of each trash can on the circulating conveyor belt based on the sensing signals. Based on the amount of trash in the trash can, the target trash can that needs to be dumped is identified, and the path distance and directional deviation between the current position of the target trash can and the designated docking position at the opening are calculated. The garbage truck sends a movement command to the circulating conveyor belt in the station, driving the circulating conveyor belt to move the target trash can to the designated docking position at the opening. At this time, the garbage truck performs grabbing, lifting and dumping actions to transfer the trash in the trash can to the collection box of the garbage truck, completing the garbage removal operation for that trash can.

[0057] As a preferred embodiment of the present invention, the steps of constructing a waste collection network based on the location of waste collection points, performing route planning based on the waste collection network, and allocating collection routes to multiple waste collection vehicles include:

[0058] S201: Based on the geographical location of each waste collection point, a waste collection network including all collection points is constructed, waste volume data is collected in real time, time series prediction is performed, and the predicted overflow time of each collection point is generated.

[0059] In this step, a garbage collection network covering the entire service area is constructed based on the geographical location information of each garbage collection point. For example, 50 unmanned garbage stations are set up in a certain urban area. The coordinates of each station are recorded and connected by roads to form a collection network consisting of 50 nodes and multiple connecting edges. Each unmanned garbage station collects garbage volume data of each garbage can through cameras and uploads the data to the cloud dispatch platform.

[0060] Taking garbage collection point A at the entrance of a residential community as an example, this point is equipped with four garbage bins. The system collects the current garbage volume of each bin every 15 minutes and records it as time-series data. After obtaining the real-time garbage volume, the scheduling platform combines it with the historical garbage volume data of the same period of the day to perform time-series prediction, outputting the predicted garbage volume of the point at various future time points, and then calculating the predicted overflow time. For example, if the current garbage volume of point A is 60%, and historical data shows that the peak garbage disposal time at this point is from 6 pm to 8 pm every day, the prediction model estimates that the point will reach overflow at around 7:30 pm that day. This predicted overflow time is recorded as the collection time window reference for this point, and the predicted garbage volume corresponding to the predicted overflow time is also recorded. For example, the predicted amount of garbage at site A. 600 kg

[0061] S202, based on the predicted overflow time, sort all garbage collection points in the collection network by collection priority and generate a collection sequence.

[0062] In this step, based on the predicted overflow time of each collection point, the collection priority of all garbage collection points in the collection network is sorted, and a transportation scoring mechanism is introduced to evaluate the suitability of each collection vehicle with each collection point to be collected, and finally generate the collection sequence of each collection vehicle.

[0063] The transportation score is calculated using the following formula:

[0064]

[0065] in, This represents the transportation score of the i-th waste collection vehicle to the j-th waste collection point. This represents the predicted remaining time for the j-th waste collection point to reach full capacity. This represents the distance traveled from the current location of the i-th waste collection vehicle to the j-th waste collection point. This represents the remaining load capacity of the i-th garbage truck. Let represent the predicted waste volume at the j-th collection point, where α, β, γ, and δ are the urgency weight coefficient, distance weight coefficient, loading matching degree weight coefficient, and waste volume weight coefficient, respectively, and are set to α=0.35, β=0.30, γ=0.20, and δ=0.15.

[0066] In one specific embodiment, for example at 3 PM, there are 2 available garbage trucks and 3 garbage collection points. A transportation score is calculated and tasks are assigned: Garbage truck number 1 is currently located in Dongcheng District, with a remaining load capacity. The current location of garbage truck No. 2 is in the South District, with a remaining load capacity of 800 kg. The estimated time remaining before the overflow point A reaches 500 kg is [not specified]. For 2 hours, predict the amount of garbage. 600 kg; Collection point B It lasts for 3 hours. 400 kg; Collection point C It lasts for 4 hours. The weight is 300 kg, and the distance between each collection vehicle and each collection point is... The distances are as follows: Vehicle 1 is 3 km from point A, 12 km from point B, and 8 km from point C; Vehicle 2 is 15 km from point A, 4 km from point B, and 6 km from point C. After normalizing the parameters and substituting them into the formula, the transportation scores of each garbage truck for each garbage collection point are obtained. The score S(1, A) for garbage truck 1 for garbage collection point A is 0.82, the score S(1, B) for garbage collection point B is 0.45, and the score S(1, C) for garbage collection point C is 0.61; the score S(2, A) for garbage truck 2 for garbage collection point A is 0.38, the score S(2, B) for garbage collection point B is 0.79, and the score S(2, C) for garbage collection point C is 0.72.

[0067] A greedy matching strategy is used to match collection points with available collection vehicles: First, the highest score among all scores is S(1, A) = 0.82, so collection point A is assigned to collection vehicle 1; among the remaining unassigned collection points B and C, the highest score is S(2, B) = 0.79, so collection point B is assigned to collection vehicle 2; then, S(2, C) = 0.72, so collection point C is also assigned to collection vehicle 2; if the carrying capacity of collection vehicle 2 is insufficient to load the garbage from both collection points B and C at the same time, collection point C is reserved for the next round of scheduling or assigned to other available vehicles;

[0068] The final sequence of waste collection vehicles is generated: vehicle 1 is for waste collection point A, and vehicle 2 is for waste collection points B and C.

[0069] S203, based on the sequence of garbage collection vehicles to be collected, the number of garbage collection vehicles, and the current location of each vehicle, assign collection routes to multiple garbage collection vehicles.

[0070] In this step, based on the sequence of vehicles to be cleared, a specific driving route is planned for each vehicle, the shortest driving route is calculated, and route information including road nodes and turning instructions is generated. This information is then transmitted wirelessly to the corresponding vehicle. After receiving the route instructions, the vehicle automatically drives towards the corresponding clearing point according to the planned route. When the vehicle reaches the radio frequency sensing range of the target clearing point, the on-board radio frequency reader emits a radio frequency signal. The radio frequency tag deployed on the station receives the signal and returns its identification information. This identification information is compared and verified with the target station information in the task instruction. After the verification is successful, the vehicle confirms that it has arrived at the correct station.

[0071] In a preferred embodiment of the present invention, the step of obtaining the relative position information between the garbage truck and the station building by detecting fixed sensing points on the station building through sensing devices on the target garbage collection point within the target garbage collection point, and completing the basic positioning, includes:

[0072] S301: After the target garbage truck enters the opening area on one side of the station building, the on-board sensing equipment is activated to scan multiple fixed sensing points deployed on the station building.

[0073] In this step, when the garbage truck arrives at the target garbage collection point, it enters the station's opening area at low speed, triggering the onboard RFID reader to start working. Six RFID tags are installed as fixed sensing points at the four corners of the station's walls, the edges of the openings, and the center of the top. Each RFID tag has a unique identification code, and its three-dimensional coordinates in the station's spatial coordinate system are stored in the onboard system. After the RFID reader is activated, it broadcasts an RFID excitation signal. The six RFID tags on the station are activated upon receiving the excitation signal and each returns a response signal containing its identification code to the onboard RFID reader, completing the initial scan of all fixed sensing points on the station.

[0074] S302, based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment, calculate the position offset and heading angle deviation of the garbage truck relative to the station building.

[0075] In this step, after scanning, based on the signal strength, angle of arrival, and time of flight of the detected response signal, the positional offset and heading angle deviation of the waste collection vehicle relative to the station building are calculated. The signal strength indicates the received signal power and is used to calculate the distance between the RFID reader antenna on the waste collection vehicle and each RFID tag. The angle of arrival is calculated by measuring the phase difference of the same RFID tag signal reaching different antenna elements using the array antennas arranged on the waste collection vehicle. The time of flight is calculated by measuring the round-trip time of the RFID signal from the waste collection vehicle antenna to the received tag response signal. Combining the three sets of measurement data from the six tags, the least squares method is used to calculate the positional offset of the current connection point of the waste collection vehicle relative to the center point of the station building opening: offset to the left along the width of the station building opening, and 0.5 meters away from the opening plane along the vehicle's driving direction. The heading angle deviation is a 5-degree clockwise rotation of the longitudinal axis of the waste collection vehicle relative to the normal direction of the station building opening.

[0076] S303 generates vehicle adjustment instructions based on position offset and heading angle deviation, guiding the waste collection vehicle to adjust its posture until the docking port on the waste collection vehicle is aligned with the station building opening, thus completing the basic positioning.

[0077] In this step, based on the calculated position offset and heading angle deviation, a vehicle adjustment command is generated to guide the waste collection vehicle to gradually adjust its position and attitude. The adjustment process is divided into three sub-steps: heading angle correction, lateral translation, and longitudinal movement, which are executed sequentially. After each adjustment, the on-board sensing equipment rescans the fixed sensing points on the station building and recalculates the position offset and heading angle deviation. If the deviation is still greater than the preset threshold, the above adjustment process is repeated until the position deviation between the waste collection vehicle docking port and the station building opening is less than the allowable error.

[0078] In a preferred embodiment of the present invention, after the basic positioning is completed, the garbage truck is controlled to detect the fixed sensing point on the garbage bin, and based on the detection result, the circulating conveyor belt is controlled to move the garbage bin to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bin, including:

[0079] S401, after completing the basic positioning, controls the sensing equipment on the garbage truck to scan multiple garbage bins on the circulating conveyor belt, identify the identity information of the fixed sensing points on each garbage bin and their spatial position relative to the garbage truck.

[0080] In this step, after basic positioning is completed and the garbage truck is aligned with the station opening, the garbage bin detection process is initiated. The onboard RFID reader on the garbage truck scans each of the multiple garbage bins placed on the circular conveyor belt. Each garbage bin has an RFID tag on its outer wall as a fixed sensing point, and the tag stores the unique identification code of that garbage bin. Taking the A-type unmanned garbage station as an example, there are a total of 4 garbage bins placed on the circular conveyor belt, numbered bin 1, bin 2, bin 3, and bin 4. The conveyor belt is arranged in a ring. The onboard RFID reader emits a directional beam to scan them sequentially. The RFID tags on each trash can are read. The identification code of the tag on the trash can is TAG001, that on the trash can is TAG002, that on the trash can is TAG003, and that on the trash can is TAG004. For each tag that is read, the spatial position of the tag relative to the center point of the garbage truck docking point is calculated based on the signal strength and angle of arrival of the response signal. This includes the horizontal distance and azimuth angle. This determines the specific position and arrangement order of each trash can on the circulating conveyor belt. After scanning, a map showing the identification and spatial position distribution of all trash cans on the current conveyor belt is constructed.

[0081] S402, based on the identification results, determine the target trash can to be dumped from multiple trash cans, and calculate the positional deviation between the current position of the target trash can and the specified connection position at the opening.

[0082] In this step, the target trash can to be dumped is determined based on the scanning and identification results. The target trash can is determined based on the real-time reported trash volume data of each trash can at the station. After the target trash can is determined, the system calculates the positional deviation between the current position of the target trash can and the designated connection position at the opening. Based on the spatial position of the target trash can and the installation position parameters of the tag on the can, the three-dimensional coordinates of the target trash can are calculated and compared with the coordinates of the designated connection position to calculate the positional deviation. For example, the calculation result shows that the longitudinal deviation of the current position of can 3 relative to the designated connection position in the direction of the conveyor belt is 1.2 meters.

[0083] S403 generates conveyor belt control commands based on position deviation, drives the circulating conveyor belt to operate, moves the target trash can along the conveying path to the designated docking position, and the garbage truck performs garbage grabbing and dumping actions to complete the transfer of garbage in the can.

[0084] In this step, a conveyor belt control command is generated based on the positional deviation. This command is sent to the circulating conveyor belt via wireless communication between the garbage truck and the station. The control command includes the direction and distance of the conveyor belt's operation. For example, the command could be: "The conveyor belt will rotate 1.2 meters in the forward direction." The circulating conveyor belt will then drive the conveyor belt motor to rotate in the specified direction. After the conveyor belt stops, the position of the RFID tag on the target garbage bin is read again. Once the target garbage bin reaches the designated docking position and passes the verification, the garbage truck will activate its onboard grabbing device to grab the target garbage bin and empty the garbage into the garbage truck's collection box. After emptying, the garbage truck will return the empty bin to its original position on the conveyor belt. The circulating conveyor belt controller will then receive the next command and continue to transport the next garbage bin to be dumped to the docking position. This grabbing and dumping process will be repeated until all garbage bins at the station have been processed. After all operations are completed, the garbage truck will retract its docking device, report the task completion status to the dispatch platform, and leave the current station according to the next target collection point information issued by the platform to continue performing subsequent collection tasks.

[0085] like Figure 2 As shown, an unmanned garbage truck operation control system is provided in an embodiment of the present invention. The system includes:

[0086] The data acquisition module 100 is used to collect real-time garbage volume data of unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set inside the station building, and multiple garbage bins placed on the circulating conveyor belt. Openings for garbage trucks to connect with garbage bins are provided on both sides of the station building, and multiple fixed sensing points are deployed on the station building and each garbage bin.

[0087] The route planning module 200 is used to construct a garbage collection network based on the geographical location of each garbage collection point, perform route planning according to the collection network, assign collection routes to multiple garbage collection vehicles, and control the target garbage collection vehicle to travel to the corresponding target garbage collection point.

[0088] In this system, the route planning module 200 includes:

[0089] The time prediction unit 201 is used to construct a waste collection network containing all collection points based on the geographical location of each waste collection point, collect waste volume data in real time, perform time-series prediction, and generate the predicted overflow time of each collection point.

[0090] The waste collection and sorting unit 202 is used to sort all waste collection points in the waste collection network according to the predicted overflow time and generate a sequence to be collected.

[0091] The route planning unit 203 is used to allocate a collection route to multiple garbage collection vehicles based on the collection sequence, the number of garbage collection vehicles, and the current location of each vehicle.

[0092] The basic positioning module 300 is used to detect fixed sensing points on the station building within the target waste collection point through the sensing equipment on the target waste collection vehicle, so as to obtain the relative position information between the collection vehicle and the station building and complete the basic positioning.

[0093] In this system, the basic positioning module 300 includes:

[0094] The sensing and scanning unit 301 is used to control the target garbage truck to enter the opening area on one side of the station building, and then activate the on-board sensing equipment to scan multiple fixed sensing points deployed on the station building.

[0095] The data calculation unit 302 is used to calculate the position offset and heading angle deviation of the garbage truck relative to the station building based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment.

[0096] The station building positioning unit 303 is used to generate vehicle adjustment commands based on the position offset and heading angle deviation, guide the garbage truck to adjust its posture until the docking port on the garbage truck is aligned with the station building opening, and complete the basic positioning.

[0097] The garbage collection module 400 is used to control the collection vehicle to detect the fixed sensing points on the garbage bin after basic positioning is completed. Based on the detection results, it controls the circulating conveyor belt to move the garbage bin to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bin.

[0098] In this system, the waste collection module 400 includes:

[0099] The garbage bin positioning unit is used to control the sensing equipment on the garbage truck to scan multiple garbage bins on the circulating conveyor belt after basic positioning is completed, and to identify the identity information of the fixed sensing points on each garbage bin and its spatial position relative to the garbage truck.

[0100] The position deviation calculation unit is used to determine the target trash can to be dumped from multiple trash cans based on the identification results, and to calculate the position deviation between the current position of the target trash can and the specified connection position at the opening.

[0101] The connecting collection unit is used to generate conveyor belt control commands based on position deviation, drive the circulating conveyor belt to move the target garbage bin along the conveying path to the designated connecting position, and then the collection vehicle performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the operation of an unmanned garbage truck, characterized in that, The method includes: The system collects real-time data on the amount of garbage at unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set up inside the station building, and multiple garbage bins placed on the circulating conveyor belt. Openings for garbage trucks to connect with garbage bins are provided on both sides of the station building, and multiple fixed sensing points are deployed on the station building and each garbage bin. Based on the geographical location of each garbage collection point, a garbage collection network is constructed, and route planning is carried out according to the collection network to allocate collection routes to multiple garbage collection vehicles and control the target garbage collection vehicle to drive to the corresponding target garbage collection point. Within the target waste collection point, the sensor equipment on the target waste collection vehicle detects the fixed sensor points on the station building to obtain the relative position information between the collection vehicle and the station building, thus completing the basic positioning. After basic positioning is completed, the garbage truck is controlled to detect the fixed sensor points on the garbage bins. Based on the detection results, the circulating conveyor belt is controlled to move the garbage bins to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bins.

2. The unmanned garbage truck operation control method according to claim 1, characterized in that, The steps of constructing a waste collection network based on the location of waste collection points, performing path planning based on the waste collection network, and assigning collection routes to multiple waste collection vehicles include: Based on the geographical location of each garbage collection point, a garbage collection network including all collection points is constructed, garbage volume data is collected in real time, time-series prediction is performed, and the predicted overflow time of each collection point is generated. Based on the predicted overflow time, all waste collection points in the collection network are prioritized for collection, and a collection sequence is generated. Based on the order of garbage collection, the number of garbage collection trucks, and the current location of each truck, a collection route is assigned to multiple garbage collection trucks.

3. The unmanned garbage truck operation control method according to claim 1, characterized in that, The step of obtaining the relative position information between the garbage truck and the station building by using the sensing equipment on the target garbage collection point to detect fixed sensing points on the station building within the target garbage collection point, and completing the basic positioning, includes: After the target garbage truck enters the opening area on one side of the station building, the on-board sensing equipment is activated to scan multiple fixed sensing points deployed on the station building. Based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment, the position offset and heading angle deviation of the garbage truck relative to the station building are calculated. Based on the position offset and heading angle deviation, a vehicle adjustment command is generated to guide the waste collection vehicle to adjust its position until the docking port on the waste collection vehicle is aligned with the opening of the station building, thus completing the basic positioning.

4. The unmanned garbage truck operation control method according to claim 1, characterized in that, After completing the basic positioning, the garbage truck is controlled to detect the fixed sensor points on the garbage bins. Based on the detection results, the circulating conveyor belt is controlled to move the garbage bins to be dumped to the designated docking position at the opening, thereby completing the transfer of garbage from the bins. This includes: After completing the basic positioning, the sensing equipment on the garbage truck is controlled to scan multiple garbage bins on the circulating conveyor belt, identify the identity information of the fixed sensing points on each garbage bin and their spatial position relative to the garbage truck. Based on the identification results, the target trash can to be dumped is determined from multiple trash cans, and the positional deviation between the current position of the target trash can and the specified connection position at the opening is calculated. Based on the positional deviation, a conveyor belt control command is generated to drive the circulating conveyor belt to move along the conveying path to the designated docking position, and the garbage truck performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

5. The unmanned garbage truck operation control method according to claim 1, characterized in that, The step of prioritizing all garbage collection points within the collection network based on the predicted overflow time and generating a collection sequence includes: obtaining the predicted garbage volume of each garbage collection point, and calculating a transportation score for each garbage collection vehicle and each collection point by combining the geographical location of each garbage collection point, the remaining load capacity of currently available garbage collection vehicles, and location information. The transportation score is used to characterize the suitability of the garbage collection vehicle to perform the collection task at that collection point. Based on the transportation score, the collection points to be collected are matched with available garbage collection vehicles, and the collection points are assigned to the corresponding garbage collection vehicles in descending order of the score, thereby generating a collection sequence for each garbage collection vehicle.

6. A control system for unmanned garbage truck operations, characterized in that, The system includes: The data acquisition module is used to collect real-time data on the amount of garbage at the unmanned garbage stations deployed at various garbage collection points. The unmanned garbage station includes a station building, a circulating conveyor belt set inside the station building, and multiple garbage bins placed on the circulating conveyor belt. The station building has openings on both sides for garbage trucks to connect with the garbage bins, and multiple fixed sensing points are deployed on the station building and each garbage bin. The route planning module is used to construct a garbage collection network based on the geographical location of each garbage collection point, perform route planning based on the collection network, assign collection routes to multiple garbage collection vehicles, and control the target garbage collection vehicle to travel to the corresponding target garbage collection point. The basic positioning module is used to detect fixed sensing points on the station building within the target waste collection point through the sensing equipment on the target waste collection vehicle, so as to obtain the relative position information between the collection vehicle and the station building and complete the basic positioning. The garbage collection module is used to control the collection vehicle to detect the fixed sensing points on the garbage bins after basic positioning is completed. Based on the detection results, it controls the circulating conveyor belt to move the garbage bins to be dumped to the designated docking position at the opening, so as to complete the transfer of garbage inside the bins.

7. The unmanned garbage truck operation control system according to claim 6, characterized in that, The path planning module includes: The time prediction unit is used to construct a waste collection network containing all collection points based on the geographical location of each waste collection point, collect waste volume data in real time, perform time-series prediction, and generate the predicted overflow time of each collection point. The waste collection and sorting unit is used to prioritize all waste collection points in the collection and sorting network according to the predicted overflow time, and generate a sequence to be collected. The route planning unit is used to allocate collection routes to multiple garbage collection trucks based on the sequence of garbage to be collected, the number of garbage collection trucks, and the current location of each truck.

8. The unmanned garbage truck operation control system according to claim 6, characterized in that, The basic positioning module includes: The sensing and scanning unit is used to control the target garbage truck to enter the opening area on one side of the station building, and then activate the on-board sensing equipment to scan multiple fixed sensing points deployed on the station building. The data processing unit is used to calculate the position offset and heading angle deviation of the garbage truck relative to the station building based on the signal strength, signal arrival angle and signal flight time of each fixed sensing point detected by the vehicle-mounted sensing equipment. The station building positioning unit is used to generate vehicle adjustment commands based on position offset and heading angle deviation, guiding the waste collection vehicle to adjust its posture until the docking port on the waste collection vehicle is aligned with the station building opening, thus completing the basic positioning.

9. The unmanned garbage truck operation control system according to claim 6, characterized in that, The waste collection module includes: The garbage bin positioning unit is used to control the sensing equipment on the garbage truck to scan multiple garbage bins on the circulating conveyor belt after basic positioning is completed, and to identify the identity information of the fixed sensing points on each garbage bin and its spatial position relative to the garbage truck. The position deviation calculation unit is used to determine the target trash can to be dumped from multiple trash cans based on the identification results, and to calculate the position deviation between the current position of the target trash can and the specified connection position at the opening. The connecting collection unit is used to generate conveyor belt control commands based on position deviation, drive the circulating conveyor belt to move the target garbage bin along the conveying path to the designated connecting position, and then the collection vehicle performs garbage grabbing and dumping actions to complete the transfer of garbage in the bin.

10. The unmanned garbage truck operation control system according to claim 6, characterized in that, The step of prioritizing all garbage collection points within the collection network based on the predicted overflow time and generating a collection sequence includes: obtaining the predicted garbage volume of each garbage collection point, and calculating a transportation score for each garbage collection vehicle and each collection point by combining the geographical location of each garbage collection point, the remaining load capacity of currently available garbage collection vehicles, and location information. The transportation score is used to characterize the suitability of the garbage collection vehicle to perform the collection task at that collection point. Based on the transportation score, the collection points to be collected are matched with available garbage collection vehicles, and the collection points are assigned to the corresponding garbage collection vehicles in descending order of the score, thereby generating a collection sequence for each garbage collection vehicle.

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