CN110209159A - Sprinkler route planning method, system and sprinkling truck - Google Patents
Sprinkler route planning method, system and sprinkling truck Download PDFInfo
- Publication number
- CN110209159A CN110209159A CN201910331383.3A CN201910331383A CN110209159A CN 110209159 A CN110209159 A CN 110209159A CN 201910331383 A CN201910331383 A CN 201910331383A CN 110209159 A CN110209159 A CN 110209159A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 128
- 239000000463 material Substances 0.000 claims description 65
- 238000002310 reflectometry Methods 0.000 claims description 12
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
- Road Paving Structures (AREA)
Abstract
The present invention relates to sprinkling truck field of intelligent control, disclosing a kind of sprinkler route planning method, system and sprinkling truck, the sprinkler route planning includes: that the watering path length on sprinkling truck is determined according to the required watering amount of acquired road to be sprinkled water and the moisture storage capacity on the sprinkling truck；Starting point and the watering path length based on road to be sprinkled water cook up a plurality of watering route, obtain multiple destinations under a plurality of watering route accordingly；A plurality of plus water route line is cooked up based on multiple destinations and sprinkling truck filling up area, compares and obtains shortest plus water route line；Practical watering route by the watering route of destination corresponding to the shortest plus water route line, as the watering.It is excessively high that the sprinkler route planning method overcomes watering cost in the prior art, the problem of cannot sufficiently sprinkling water, realizes and adequately sprinkles water and reduce watering cost.
Description
Technical field
The present invention relates to sprinkling truck field of intelligent control, and in particular, to sprinkler route planning method, system and
Sprinkling truck.
Background technique
Sprinkling truck is also known as sprinkling wagon, Multifunctional spraying car, Landscaping sprinkler, water-tank lorry, waterr transporting vehicle.Sprinkling truck is suitable
It is rinsed together in various road surfaces, trees, greenbelt, lawn greening, road, industrial enterprise's construction, high-altitude building is rinsed.Have
Watering, pressure dirt, high-low position sprinkling, the functions such as pesticide spraying, guardrail flushing also have fortune water, draining, the functions such as emergency fire-fighting.
It is typically sprinkled water according to the rules, it is specified that including the specific road of watering distance and watering on existing sprinkling truck
Section, respective stretch is generally all only responsible on sprinkling truck at this stage, and the position stopped is also relatively-stationary.This kind of usage mode mentions
High use cost, needs to design multiple sprinkling trucks, while sprinkling truck also usually returns to anchor point when not spilt, sprinkles water
It cannot very sufficiently.
Summary of the invention
The object of the present invention is to provide a kind of sprinkler route planning method, the sprinkler route planning methods
It is excessively high to overcome watering cost in the prior art, the problem of cannot sufficiently sprinkling water, realizes adequately to sprinkle water and reduce and spill
Water cost.
To achieve the goals above, the present invention provides a kind of sprinkler route planning method, the sprinkler road
It includes: that S1 according to the required watering amount of acquired road to be sprinkled water and the moisture storage capacity on the sprinkling truck determines sprinkling truck that line gauge, which is drawn,
Watering path length；Starting point of the S2 based on road to be sprinkled water and the watering path length cook up a plurality of watering route, phase
That answers obtains multiple destinations under a plurality of watering route；S3 is based on multiple destinations and sprinkling truck filling up area cooks up a plurality of add
Water route line compares and obtains shortest plus water route line；S4 makees the watering route of destination corresponding to the shortest plus water route line
For the practical watering route of the watering.
Preferably, the required watering amount of road to be sprinkled water is obtained, comprising: material based on road to be sprinkled water obtained,
The temperature of the width of road to be sprinkled water and road to be sprinkled water determines material weighted value, width weighted value and the temperature of road to be sprinkled water
Weighted value；The unit on sprinkling truck is calculated according to material weighted value, width weighted value and temperature weighted value by following formula
Water yield weighted value: H=abc；Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material weighted value, and b is width power
Weight values, c are temperature weighted value；Road to be sprinkled water is obtained according to the total length of the specific capacity weighted value and road to be sprinkled water
Required watering amount.
Preferably, it is determined and is sprinkled water according to the moisture storage capacity on the required watering amount of acquired road to be sprinkled water and the sprinkling truck
The watering path length of vehicle, comprising: by the moisture storage capacity on the sprinkling truck divided by the required watering amount of road to be sprinkled water, multiplied by institute
State the total length of road to be sprinkled water.
Preferably, the preparation method of the moisture storage capacity on the sprinkling truck includes: according to the water depth inside the sprinkling truck
Sensor acquires the water depth inside the sprinkling truck, obtains the moisture storage capacity on the sprinkling truck.
Preferably, sprinkler route planning method further include: for each destination, plan that its arrival is spilt recently
The distance of waterwheel filling up area adds water route line as the destination.
The material for being preferably based on road to be sprinkled water determines the material weighted value of road to be sprinkled water, comprising: spills described in each
The reflectivity of the material on water channel road all corresponds to corresponding material, according to the reflectivity pair of the material of the watering road collected
The material of road to be sprinkled water should be gone out, so that it is determined that the material weighted value of road to be sprinkled water.
The present invention also provides a kind of sprinkler route planning system, which includes:
Navigation control unit determines sprinkling truck according to the moisture storage capacity of the required watering amount of acquired road to be sprinkled water and the sprinkling truck
Watering path length；Starting point and the watering path length based on road to be sprinkled water cook up a plurality of watering route, accordingly
Obtain it is a plurality of watering route under multiple destinations；
A plurality of plus water route line is cooked up based on multiple destinations and sprinkling truck filling up area, compares and obtains shortest plus water route
Line；
Practical watering road by the watering route of destination corresponding to the shortest plus water route line, as the watering
Line.
Preferably, the navigation control unit includes: control module, material based on road to be sprinkled water obtained, to
The width of watering road and the temperature of road to be sprinkled water determine material weighted value, width weighted value and the temperature power of road to be sprinkled water
Weight values；Gone out by following formula according to the unit that sprinkling truck is calculated in material weighted value, width weighted value and temperature weighted value
Water weighted value: H=abc；Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material weighted value, and b is width weight
Value, c are temperature weighted value；Road to be sprinkled water is obtained according to the total length of the specific capacity weighted value and road to be sprinkled water
Required watering amount.
Preferably, the sprinkler route planning system further include: module acquired for materials, each watering road
The reflectivity of material all corresponds to corresponding material, and the reflectivity according to the material of the watering road collected is corresponding out wait spill
The material on water channel road, so that it is determined that the material weighted value of road to be sprinkled water.
The present invention also provides a kind of sprinkling truck, which includes the autocontrol method on above-mentioned sprinkling truck.
Through the above technical solutions, the automatic route planning on sprinkling truck may be implemented, can be advised according to the route on sprinkling truck
It marks and reaches the shortest route of filling up area, shortest plus water may be implemented, make full use of to sprinkling truck, avoid sprinkling truck
Redundancy improves the utilization rate on sprinkling truck.And it can greatly shorten using the time, make convenient for repetition in a short time
With.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the sprinkler route planning method of preferred embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
The present invention provides a kind of sprinkler route planning method, which includes: according to institute
The required watering amount of road to be sprinkled water and the moisture storage capacity on the sprinkling truck obtained determines the watering path length on sprinkling truck；It is based on
The starting point of road to be sprinkled water and the watering path length cook up a plurality of watering route, are obtained under a plurality of watering route accordingly
Multiple destinations；A plurality of plus water route line is cooked up based on multiple destinations and sprinkling truck filling up area, compares and obtains shortest add
Water route line；Practical watering route by the watering route of destination corresponding to the shortest plus water route line, as the watering.
Through the above technical solutions, the automatic route planning on sprinkling truck may be implemented, can be advised according to the route on sprinkling truck
It marks and reaches the shortest route of filling up area, shortest plus water may be implemented, make full use of to sprinkling truck, avoid sprinkling truck
Redundancy improves the utilization rate on sprinkling truck.And it can greatly shorten using the time, make convenient for repetition in a short time
With.
It in this embodiment, may include: based on obtained in order to obtain the required watering amount of road to be sprinkled water
The temperature of the material of road to be sprinkled water, the width of road to be sprinkled water and road to be sprinkled water determines the material weight of road to be sprinkled water
Value, width weighted value and temperature weighted value；By following formula according to material weighted value, width weighted value and temperature weighted value meter
Calculation obtains the specific capacity weighted value on sprinkling truck: H=abc；Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material
Expect that weighted value, b are width weighted value, c is temperature weighted value；According to the total of the specific capacity weighted value and road to be sprinkled water
Length obtains the required watering amount of road to be sprinkled water.For example, material be pitch, weighted value 5, width 25m, weighted value 2,
Temperature value is 50 degrees Celsius, weighted value 1, show that the specific capacity weighted value on sprinkling truck is 10 then comparing by conversion.
Since road total length to be sprinkled water is 4km, then know that the required watering amount of road to be sprinkled water is 40t.
Preferably, it is determined and is sprinkled water according to the moisture storage capacity on the required watering amount of acquired road to be sprinkled water and the sprinkling truck
The watering path length of vehicle, comprising: by the moisture storage capacity on the sprinkling truck divided by the required watering amount of road to be sprinkled water, multiplied by institute
State the total length of road to be sprinkled water.For example, the moisture storage capacity on sprinkling truck is 10t, then the 1km that can only sprinkle water.The embodiment is for saying
The bright present invention.
Preferably, the preparation method of the moisture storage capacity on the sprinkling truck includes: according to the water depth inside the sprinkling truck
Sensor acquires the water depth inside the sprinkling truck, obtains the moisture storage capacity on the sprinkling truck.
Preferably, sprinkler route planning method further include: for each destination, plan that its arrival is spilt recently
The distance of waterwheel filling up area adds water route line as the destination.
The material for being preferably based on road to be sprinkled water determines the material weighted value of road to be sprinkled water, comprising: spills described in each
The reflectivity of the material on water channel road all corresponds to corresponding material, according to the reflectivity pair of the material of the watering road collected
The material of road to be sprinkled water should be gone out, so that it is determined that the material weighted value of road to be sprinkled water.
The present invention also provides a kind of sprinkler route planning system, which includes:
Navigation control unit determines sprinkling truck according to the moisture storage capacity of the required watering amount of acquired road to be sprinkled water and the sprinkling truck
Watering path length；Starting point and the watering path length based on road to be sprinkled water cook up a plurality of watering route, accordingly
Obtain it is a plurality of watering route under multiple destinations；A plurality of plus water route is cooked up based on multiple destinations and sprinkling truck filling up area
Line compares and obtains shortest plus water route line；By the watering route of destination corresponding to the shortest plus water route line, as described
The practical watering route of watering.
Preferably, the navigation control unit includes: control module, material based on road to be sprinkled water obtained, to
The width of watering road and the temperature of road to be sprinkled water determine material weighted value, width weighted value and the temperature power of road to be sprinkled water
Weight values；Gone out by following formula according to the unit that sprinkling truck is calculated in material weighted value, width weighted value and temperature weighted value
Water weighted value: H=abc；Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material weighted value, and b is width weight
Value, c are temperature weighted value；Road to be sprinkled water is obtained according to the total length of the specific capacity weighted value and road to be sprinkled water
Required watering amount.
Preferably, the sprinkler route planning system further include: module acquired for materials, each watering road
The reflectivity of material all corresponds to corresponding material, and the reflectivity according to the material of the watering road collected is corresponding out wait spill
The material on water channel road, so that it is determined that the material weighted value of road to be sprinkled water.
Above system has technical effect identical with the above method, and details are not described herein.
The present invention also provides a kind of sprinkling truck, which includes the autocontrol method on above-mentioned sprinkling truck.
In an embodiment of the present invention, such as since A sections, according to the watering path length on determining sprinkling truck,
It is known that A can arrive tetra- destinations B, C, D, E.And the distance of tetra- destinations B, C, D, E and filling up area F and different.
For example it is 10km, 12km, 13km and 23km respectively that B, C, D, E, which reach the distance of F, then preferably reaches the travelling route of B point, it is ensured that
The utilization rate on sprinkling truck is improved to repeat to sprinkle water plus water in the shortest distance, reduces the effective of same sprinkling truck
Working time.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of sprinkler route planning method, which is characterized in that the sprinkler route planning includes:
The watering road on sprinkling truck is determined according to the moisture storage capacity of the required watering amount of acquired road to be sprinkled water and the sprinkling truck
Electrical path length；
Starting point and the watering path length based on road to be sprinkled water cook up a plurality of watering route, obtain a plurality of spill accordingly
Multiple destinations under the line of water route；
A plurality of plus water route line is cooked up based on multiple destinations and sprinkling truck filling up area, compares and obtains shortest plus water route line；
Practical watering route by the watering route of destination corresponding to the shortest plus water route line, as the watering.
2. sprinkler route planning method according to claim 1, which is characterized in that obtain the institute of road to be sprinkled water
It need to the amount of watering, comprising:
It is determined based on the temperature of the material of road to be sprinkled water obtained, the width of road to be sprinkled water and road to be sprinkled water wait sprinkle water
Material weighted value, width weighted value and the temperature weighted value of road；
It is discharged by following formula according to the unit that sprinkling truck is calculated in material weighted value, width weighted value and temperature weighted value
Measure weighted value:
H=abc；
Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material weighted value, and b is width weighted value, and c is temperature weight
Value；
The required watering amount of road to be sprinkled water is obtained according to the total length of the specific capacity weighted value and road to be sprinkled water.
3. sprinkler route planning method according to claim 2, which is characterized in that according to acquired wait sprinkle water
The required watering amount of road and the moisture storage capacity on the sprinkling truck determine the watering path length on sprinkling truck, comprising:
By the moisture storage capacity on the sprinkling truck divided by the required watering amount of road to be sprinkled water, multiplied by the overall length of the road to be sprinkled water
Degree.
4. sprinkler route planning method according to claim 1, which is characterized in that the moisture storage capacity on the sprinkling truck
Preparation method include:
The water depth inside the sprinkling truck is acquired according to the water depth transducer inside the sprinkling truck, obtains described spill
The moisture storage capacity of waterwheel.
5. sprinkler route planning method according to claim 1, which is characterized in that sprinkler route rule
The method of drawing further include:
For each destination, plan that it reaches the distance of nearest sprinkling truck filling up area as the destination and adds water route line.
6. sprinkler route planning method according to claim 2, which is characterized in that the material based on road to be sprinkled water
Material determines the material weighted value of road to be sprinkled water, comprising:
The reflectivity of the material of each watering road corresponds to corresponding material, according to the watering road collected
The material of the corresponding road to be sprinkled water out of the reflectivity of material, so that it is determined that the material weighted value of road to be sprinkled water.
7. a kind of sprinkler route planning system, which is characterized in that the sprinkler route planning system includes:
Navigation control unit is spilt according to the determination of the moisture storage capacity on the required watering amount of acquired road to be sprinkled water and the sprinkling truck
The watering path length of waterwheel；
Starting point and the watering path length based on road to be sprinkled water cook up a plurality of watering route, obtain a plurality of spill accordingly
Multiple destinations under the line of water route；
A plurality of plus water route line is cooked up based on multiple destinations and sprinkling truck filling up area, compares and obtains shortest plus water route line；
Practical watering route by the watering route of destination corresponding to the shortest plus water route line, as the watering.
8. sprinkler route planning system according to claim 7, which is characterized in that the navigation control unit packet
It includes:
Control module, the width of material, road to be sprinkled water based on road to be sprinkled water obtained and the temperature of road to be sprinkled water
Determine material weighted value, width weighted value and the temperature weighted value of road to be sprinkled water；
It is discharged by following formula according to the unit that sprinkling truck is calculated in material weighted value, width weighted value and temperature weighted value
Measure weighted value:
H=abc；
Wherein, H is the specific capacity weighted value on sprinkling truck, and a is material weighted value, and b is width weighted value, and c is temperature weight
Value；
The required watering amount of road to be sprinkled water is obtained according to the total length of the specific capacity weighted value and road to be sprinkled water.
9. sprinkler route planning system according to claim 8, which is characterized in that sprinkler route rule
The system of drawing further include:
The reflectivity of module acquired for materials, the material of each watering road corresponds to corresponding material, according to collected
The material of the corresponding road to be sprinkled water out of the reflectivity of the material of the watering road, so that it is determined that the material weight of road to be sprinkled water
Value.
10. a kind of sprinkling truck, which is characterized in that the sprinkling truck includes sprinkling truck described in any one of claim 1-6
Autocontrol method.
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| CN201910331383.3A CN110209159B (en) | 2019-04-24 | 2019-04-24 | Method and system for planning sprinkling route of sprinkling truck and sprinkling truck |
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| CN201910331383.3A CN110209159B (en) | 2019-04-24 | 2019-04-24 | Method and system for planning sprinkling route of sprinkling truck and sprinkling truck |
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| CN110209159B CN110209159B (en) | 2023-08-11 |
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| CN110209159B (en) | 2023-08-11 |
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