A multi-view camera arrangement for a sweeper

Abstract

The utility model discloses a kind of multi-view camera layout structures for sweeper.The structure includes the close-range monitoring camera of being arranged in multiple parts of vehicle body, lateral monitoring camera, traffic light recognition camera and remote driving camera, various cameras are installed with preset angle on vehicle body and form cross field of view area, and construct multi-angle perception network covering vehicle body periphery.The recognition of traffic signal lamp of different distance is realized by traffic light camera distribution in right front side of vehicle head, and remote camera is respectively arranged in vehicle head, tail and left and right side, and provide multi-directional picture when remote driving.Various cameras are summarized to data processing module after the image data collected by it, and unified analysis is carried out, and output to control system for automatic driving and cleaning operation control.The structure design is scientific, installation is convenient, and the environmental perception ability and operation intelligent level of sweeper can be effectively improved, and it is suitable for large-scale sweeper with unmanned driving function.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a multi-view camera deployment structure for a cleaning vehicle. Background Technology

[0002] With the advancement of smart city construction, sanitation operations are gradually shifting from manual labor to automation and unmanned operation. As crucial equipment for urban environmental management, sweepers, if equipped with autonomous driving capabilities, will significantly reduce labor costs and improve operational efficiency. However, existing perception systems used in autonomous sweepers generally suffer from the following problems:

[0003] First, the perception range is limited, resulting in blind spots. Currently, most sweepers are only equipped with a limited number of cameras or lidar to obtain information about the environment directly in front or partially to the side, which cannot achieve full-angle, all-coverage perception around the vehicle, leading to safety hazards in narrow road sections, complex intersections, or areas with dense obstacles.

[0004] Secondly, traffic signal recognition capabilities are weak, and response is slow. Even some sweepers equipped with front cameras struggle to accurately predict traffic light signals at different distances, thus affecting vehicle driving decisions at intersections and reducing operational continuity and intelligence.

[0005] Secondly, remote control assistance is insufficient. When the sweeper is operating in special scenarios (such as construction areas or emergencies), it often needs to be manually taken over by a remote driver. However, the traditional camera layout cannot provide all-round perspective support for remote control, which can easily cause blind spots and judgment delays.

[0006] In summary, the current visual perception system structure of unmanned sweepers is still imperfect. There is an urgent need for a multi-view camera deployment structure that is reasonably installed, has complementary perspectives, and is functionally layered, in order to improve the sweeper's environmental perception capabilities, traffic light recognition capabilities, and remote control safety, thereby ensuring its efficient and safe operation in complex urban road environments.

[0007] Therefore, existing technologies still need to be improved. Utility Model Content

[0008] In view of the shortcomings of the prior art, this utility model provides a multi-view camera deployment structure for a sweeper. By scientifically configuring different types of camera components in multiple key parts of the vehicle and constructing a mutually complementary cross-view perception network, the sweeper is equipped with more comprehensive environmental perception capabilities, more accurate traffic signal recognition capabilities, and safer remote control support capabilities.

[0009] The technical solution of this utility model is as follows:

[0010] This utility model provides a multi-view camera deployment structure for a sweeper vehicle, including:

[0011] The vehicle body serves to support the various components and act as a sensing and operation platform.

[0012] A control system, located inside the vehicle body, is used to control the vehicle's movement and cleaning operations based on sensor information.

[0013] A multi-view perception system, disposed on the surface of the vehicle body, includes:

[0014] a) At least three close-range monitoring cameras, respectively installed on the front left, front right and rear right of the vehicle body, are used to acquire ground image information around the vehicle body;

[0015] b) At least four side monitoring cameras, two of which are located on both sides of the front of the vehicle and two of which are located on both sides of the rear of the vehicle, forming a three-dimensional cross field of view area for monitoring the environment on the left and right sides of the vehicle.

[0016] c) Two traffic light recognition cameras are installed at the front right of the vehicle, one for recognizing traffic signals about 30 meters in front of the vehicle and the other for recognizing traffic signals about 70 meters in front of the vehicle.

[0017] d) At least four remote driving cameras, respectively located at the front, rear, left and right sides of the vehicle, to provide a panoramic view during remote control;

[0018] A data processing module, electrically connected to the multi-view perception system, is used to receive and fuse various types of image data and output control commands to the control system.

[0019] In one embodiment, the close-range monitoring camera is a Senyun H120 model and is equipped with an adjustable tilt bracket to adapt to different road cleaning environments.

[0020] In one embodiment, the lateral monitoring camera and the close-range monitoring camera have partially overlapping field of view to achieve fused coverage of the vehicle side and the ground sensing area.

[0021] In one embodiment, the traffic light recognition cameras are of type H60 and type H30, with the former recognizing traffic light signals at close range and the latter recognizing traffic light signals at long range.

[0022] In one embodiment, the remote driving camera is equipped with night vision to improve visibility in low-light scenarios.

[0023] In one embodiment, the data processing module adopts an integrated embedded platform structure, has multi-threaded image processing capabilities, and communicates with the control system via a CAN bus.

[0024] In one embodiment, the control system includes an autonomous driving submodule and a cleaning operation submodule, for realizing integrated closed-loop control of perception-decision-execution.

[0025] In one embodiment, the multi-view perception system is symmetrically arranged on the vehicle body, so that a 360-degree blind-spot-free perception area is formed around the vehicle.

[0026] In one embodiment, the cameras are connected to the data processing module via Ethernet and support real-time transmission of RTSP streams.

[0027] In one embodiment, the perception system supports seamless switching between autonomous driving mode and remote manual driving mode.

[0028] In summary, this utility model achieves functional adaptation between camera type and installation location through modular deployment. Combined with a centralized data processing module, it deeply integrates the image perception system with the vehicle control system, thereby improving the autonomous driving stability, cleaning path adaptation capability, and overall intelligence level of the sweeper in complex urban road environments. It has good engineering feasibility and application prospects.

[0029] The multi-view camera deployment structure for sweepers provided by this utility model addresses the problems of blind spots in perception, untimely signal recognition, and insufficient remote control support in the prior art, and proposes a clear and effective structural improvement solution, which has the following significant beneficial effects:

[0030] 1. Strong omnidirectional perception capability: By setting up multiple close-range monitoring cameras, side cameras and remote driving cameras at key positions in front, rear, left and right of the vehicle body, a 360-degree blind spot-free stereo cross vision perception system is constructed, which significantly improves the driving safety of the vehicle in narrow streets, turning sections and obstacle-filled environments.

[0031] 2. Precise traffic signal response: H60 and H30 traffic light recognition cameras with different focal lengths are deployed on the right front side of the vehicle, enabling the vehicle to simultaneously recognize traffic lights at both near and far distances, improving the signal response efficiency and traffic continuity of the unmanned sweeper in various speed scenarios.

[0032] 3. Safer remote control: Four remote driving cameras are set up to cover the four directions of the vehicle, allowing the remote driver to have a comprehensive understanding of the vehicle's surroundings in special circumstances (such as severe weather, system failure, or intersection stoppage), improving the accuracy and response speed of manual takeover, and enhancing the reliability and fault tolerance of the entire vehicle operation.

[0033] 4. Scientific and reasonable structural layout, easy to implement: This structure is fixed and installed with standardized brackets and modular layout, which has the advantages of simple installation and low maintenance cost, and is suitable for promotion and deployment on different vehicle platforms.

[0034] 5. High degree of perception information fusion: All types of cameras are connected to the data processing module via wired connection for centralized processing, realizing the synchronous fusion and real-time output of multi-source image information, providing the control system with high-precision and low-latency decision-making basis, and further improving the stability and intelligence level of vehicle autonomous operation.

[0035] In summary, this utility model, starting from the camera structure configuration, systematically improves the operational capability, perception accuracy, and operational safety of unmanned sweepers in complex urban road conditions, and has good technical promotion value and application prospects. Attached Figure Description

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0037] Figure 1 A layout diagram of the multi-view camera deployment structure for a sweeper provided by this utility model;

[0038] Figure 2 Another layout diagram of the multi-view camera deployment structure for the sweeper provided by this utility model;

[0039] Figure 3 This is another layout diagram of the multi-view camera deployment structure for the sweeper provided by this utility model.

[0040] Figure 4 for Figure 1 Enlarged view of point A in the middle;

[0041] Figure 5 for Figure 3 Enlarged view of section B in the middle. Detailed Implementation

[0042] To make the objectives, technical solutions, and effects of this utility model clearer and more explicit, the present utility model is further described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model. The embodiments of the present utility model are described below in conjunction with the accompanying drawings.

[0043] This embodiment provides a multi-view camera deployment structure for a sweeper vehicle. Please refer to [link / reference]. Figures 1-5 This technology is applied to a 6T-class unmanned sweeper platform. The sweeper includes a vehicle body 1, a control system, a sensing system 2, and a data processing module. These modules work together to achieve comprehensive perception of the working environment and automatic planning of the sweeping path. Specifically, it includes:

[0044] One vehicle body 1, used to support various components and serve as a sensing and operation platform;

[0045] A control system, located inside the vehicle body, is used to control the vehicle's movement and cleaning operations based on sensor information.

[0046] A multi-view perception system 2 is disposed on the surface of the vehicle body 1, including:

[0047] a) At least three close-range monitoring cameras 21 are respectively installed on the front left, front right and rear right of the vehicle body 1 to acquire ground image information around the vehicle body;

[0048] b) At least four lateral monitoring cameras 22, two of which are located on both sides of the front of the vehicle and two of which are located on both sides of the rear of the vehicle, forming a three-dimensional cross field of view area for monitoring the environment on the left and right sides of the vehicle body 1.

[0049] c) Two traffic light recognition cameras 23 are respectively set at the front right of the vehicle, one for recognizing traffic signals about 30 meters in front of the vehicle and the other for recognizing traffic signals about 70 meters in front of the vehicle;

[0050] d) At least four remote driving cameras 24, respectively located at the front, rear, left and right sides of the vehicle, to provide a panoramic view during remote control;

[0051] A data processing module, electrically connected to the multi-view perception system 2, is used to receive and fuse various types of image data and output control commands to the control system.

[0052] Specifically, the vehicle body 1 is a standard six-ton ​​medium-sized work vehicle platform with a front, middle, and rear body structure. The front of the vehicle is equipped with a driver's cab module 11 and an electronic control system (not shown in the figure). The left and right sides of the vehicle body 1 are equipped with sweeping roller brush assemblies (not shown in the figure) and transmission mechanisms (not shown in the figure). The rear of the vehicle is equipped with a garbage collection compartment 12 and a remote control interface module (not shown in the figure). The structure of the vehicle body 1 has been optimized in terms of wiring and sensor deployment, with multiple pre-reserved mounting holes and bracket fixing points for precise positioning and installation of the sensing components.

[0053] The multi-view camera deployment structure also includes several types of cameras, which are classified according to their functions into close-range monitoring cameras 21, side monitoring cameras 22, traffic light recognition cameras 23, and remote driving cameras 24. The close-range monitoring cameras 21 preferably use Senyun H120 model cameras, which are installed on the left front, right front, and right rear of the vehicle body 1, respectively. They are installed at a 30° overhead angle, which can clearly collect the ground conditions within the close range of the vehicle body and identify road abnormalities such as scattered garbage, potholes, and water accumulation, and are used to judge the adaptability of the sweeping path and adjust obstacle avoidance in real time.

[0054] The lateral monitoring camera 22 also uses the H120 model and is installed on the upper edge of the left and right side doors at the front of the vehicle and on both sides of the rear edge. By being arranged at an angle, it forms a cross-view of the front and rear, thus creating a complete and seamless sensing zone on both sides of the vehicle. This layout is particularly suitable for narrow urban streets, single-lane areas, and densely parked roadside scenarios. It can accurately sense information about pedestrians, bicycles, or obstacles on the side, assisting the vehicle in making fine-tuning of its path during side cleaning operations.

[0055] The traffic light recognition cameras 23 are located on the front right side of the vehicle. One is an H60 model, fixed to the upper edge of the front bumper, which identifies traffic signals in an area approximately 30 meters ahead. The other is an H30 model, fixed above the driver's cab or on the edge of the roof, with a larger focal length and field of view, used to capture traffic signal status approximately 70 meters ahead. The two sets of traffic light cameras work together to provide short-range warnings and long-range judgment capabilities under different vehicle speeds, ensuring that the sweeper can dynamically adjust its speed and parking strategy according to the traffic light status.

[0056] The remote driving cameras 24 are respectively positioned at the center of the front, center of the rear, and the center of the left and right sides of the vehicle. All are wide-angle, high-definition cameras, fixed with standard brackets and equipped with angle fine-tuning capabilities. The image signals captured by the cameras are encoded and compressed by the data processing system and then connected to the remote control platform via an Ethernet interface for video support during manual takeover operations in special scenarios. This deployment structure provides a complete, blind-spot-free field of view, enabling the remote driver to monitor the vehicle's surroundings in real time, improving emergency driving response speed and safety redundancy.

[0057] All the aforementioned cameras are connected to the data processing system inside the vehicle via dedicated cables and connectors. This system is an embedded image processing unit that supports parallel multi-stream image analysis and features rule-based judgment and deep learning recognition capabilities. Various image data are fused and target extraction is performed in this module, and the recognition results and location information are transmitted back to the control system in real time. Based on the image feedback, the control system performs operations such as cleaning path planning, speed adjustment, stopping judgment, and abnormal avoidance, thereby constructing a complete automatic closed loop for the cleaning operation.

[0058] In other embodiments of this invention, the positions of various cameras can be adjusted according to different vehicle models or operational needs. For example, when a larger recognition range is required, the top traffic light camera can be expanded to a dual-path configuration, or an additional rear-view camera can be installed at the rear of the sweeper to enhance reversing safety. Furthermore, the bracket structure can be fine-tuned according to different camera models. For instance, a ball joint buckle mechanism can be used for quick angle adjustment, and a shock-absorbing pad can be used to reduce image shake during driving.

[0059] The multi-view camera deployment structure described in this utility model has advantages such as reasonable layout, clear wiring, adjustable structure, and high perception efficiency. It can effectively improve the operation capability, stability, and operational safety of unmanned sweepers in complex urban road environments, and has good engineering feasibility and industrial promotion value.

[0060] In summary, this invention integrates different types of camera components at multiple key locations on the sweeper vehicle body, constructing a multi-view camera perception system with a reasonable structure, complementary functions, and full field of view coverage. Close-range monitoring cameras enable accurate identification of ground debris and obstacles; side cameras construct cross-views on both sides of the vehicle; traffic light recognition cameras provide traffic signal recognition capabilities at different distances; and remote driving cameras provide reliable visual support for manual intervention. All types of image information are uniformly accessed and fused into a data processing module for analysis, thereby significantly improving the sweeper vehicle's environmental perception capabilities, operational safety, and automation level in complex road conditions.

[0061] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-view camera deployment structure for a sweeper vehicle, characterized in that, include: The vehicle body serves to support the various components and act as a sensing and operation platform. A control system, located inside the vehicle body, is used to control the vehicle's movement and cleaning operations based on sensor information. A multi-view perception system, disposed on the surface of the vehicle body, includes: a) At least three close-range monitoring cameras, respectively installed on the front left, front right and rear right of the vehicle body, are used to acquire ground image information around the vehicle body; b) At least four side monitoring cameras, two of which are located on both sides of the front of the vehicle and two of which are located on both sides of the rear of the vehicle, forming a three-dimensional cross field of view area for monitoring the environment on the left and right sides of the vehicle. c) Two traffic light recognition cameras are installed at the front right of the vehicle, one for recognizing traffic signals about 30 meters in front of the vehicle and the other for recognizing traffic signals about 70 meters in front of the vehicle. d) At least four remote driving cameras, respectively located at the front, rear, left and right sides of the vehicle, to provide a panoramic view during remote control; A data processing module, electrically connected to the multi-view perception system, is used to receive and fuse various types of image data and output control commands to the control system.

2. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The close-range monitoring camera is a Senyun H120 model and is equipped with an adjustable tilt bracket to adapt to different road cleaning environments.

3. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The lateral monitoring camera and the close-range monitoring camera have partially overlapping fields of view, which is used to achieve fused coverage of the vehicle side and the ground sensing area.

4. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The traffic light recognition cameras are of the H60 and H30 models, respectively. The former recognizes traffic light signals at close range, while the latter recognizes traffic light signals at long distance.

5. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The remote driving camera is equipped with night vision to improve visibility in low-light conditions.

6. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The data processing module adopts an integrated embedded platform structure, has multi-threaded image processing capabilities, and communicates with the control system via a CAN bus.

7. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The control system includes an autonomous driving submodule and a cleaning operation submodule, which are used to achieve integrated closed-loop control of perception, decision-making and execution.

8. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The multi-view perception system is symmetrically positioned on the vehicle body, creating a 360-degree blind-spot-free perception area around the vehicle.

9. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The cameras are connected to the data processing module via Ethernet and support real-time transmission of RTSP streams.

10. The multi-view camera deployment structure for a sweeper vehicle according to claim 1, characterized in that, The perception system supports seamless switching between autonomous driving mode and remote manual driving mode.

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