CN111893930A - Unmanned intelligent sweeping machine based on machine vision - Google Patents
Unmanned intelligent sweeping machine based on machine vision Download PDFInfo
- Publication number
- CN111893930A CN111893930A CN201911365946.7A CN201911365946A CN111893930A CN 111893930 A CN111893930 A CN 111893930A CN 201911365946 A CN201911365946 A CN 201911365946A CN 111893930 A CN111893930 A CN 111893930A
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- machine vision
- vehicle
- sweeping machine
- machine
- motors
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
- E01H1/053—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes having vertical axes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned intelligent road sweeper based on machine vision, belonging to the field of sanitation vehicles. In order to solve the problems of low efficiency and low automation degree of the existing sweeping machine, the sweeping machine has the functions of autonomous navigation, autonomous driving and autonomous operation through machine vision and an artificial neural network. According to the invention, the lane lines are pasted on the advancing route of the vehicle, the camera positioned in front of the vehicle transmits the captured lane line images to the development board, and then the development board processes the images to extract the path navigation information in the images, so that the autonomous driving function of the vehicle is realized by changing the rotating speed of the motor. In addition, the invention is additionally provided with an infrared sensor and a photoelectric encoder to carry out double closed-loop control on the sweeping machine, thereby ensuring the safe and autonomous driving of the sweeping machine.
Description
Technical Field
The invention belongs to the field of sanitation vehicles, and particularly relates to a novel driverless sanitation vehicle.
Background
The sweeping machine is a special vehicle for sweeping road surface garbage. The sweeping machine is one of the environmental sanitation equipments, and has the functions of saving time and labor. Is a novel efficient cleaning device integrating road surface cleaning, garbage recovery and transportation. Can be widely applied to road cleaning operations of city streets, municipal squares, airport road surfaces, city residential areas, parks and the like. The sweeping machine not only can sweep garbage, but also can remove dust and purify air on a road, ensures the cleanness and tidiness of the road, prevents dust from flying, prolongs the service life of the road surface, and has the advantages of reducing and preventing traffic accidents.
On the one hand, the existing sweeping machine has certain requirements on the driving technique and the operation technique of drivers, and if the sweeping machine is not operated properly, accidents are easily caused. Most importantly, most of the existing sweeping machines need to be driven or controlled by sanitation workers, so that automatic and intelligent operation cannot be realized, the work efficiency cannot be improved, and the waste of manpower and financial resources is caused.
Disclosure of Invention
In view of the above situation, the present invention provides a sweeping machine with simple structure, convenient operation, safety, reliability, high automation and intelligence, which realizes the functions of autonomous navigation, autonomous driving and autonomous operation through machine vision and artificial neural network. The invention mainly aims at the environment of parks, high-grade districts, logistics parks, industrial parks and the like which have simple vehicle conditions but heavy cleaning tasks. The main work of the invention is to autonomously sweep one or more turns around the work site at a rate of three to five kilometers per hour. Only a small amount of guard and maintenance personnel are needed, the labor cost is greatly reduced, and the core value of energy conservation, environmental protection and intelligence is emphatically reflected.
The function of the invention is realized as follows:
firstly, starting from the autonomous operation function of the sweeping machine, the main driving wheels of the sweeping machine are two rear wheels which are respectively driven by two driving motors. The driven wheel is a universal wheel positioned in front and plays a role in auxiliary steering. The two disk brushes in front of the vehicle are respectively driven by two disk brush motors, and the rolling brush is driven by a rolling brush motor. What the dish brush played with the round brush is the effect of cleaning operation, and dish brush motor clockwise rotation on the left side, dish brush motor anticlockwise rotation on the right side sweep the vehicle both sides rubbish to the dead ahead of vehicle, sweep rubbish into the dustbin of sweeping machine by the round brush again to the autonomous operation function of sweeping machine has been realized.
Then starting from the autonomous driving function of the sweeping machine, firstly, a lane line is pasted on the advancing route of the vehicle, a camera positioned in front of the vehicle transmits a shot lane line image to a raspberry development board, the image is subjected to a series of processing such as graying processing, filtering noise reduction, image segmentation, expansion and corrosion, shadow removal and the like through the development board, and path navigation information in the image is extracted, so that the rotating speed of a motor is changed to realize the autonomous driving function of the vehicle. The specific operation is as follows:
when the lane line is a straight line, the lane line indicates that the vehicle moves straight ahead, and the dual-drive motor is controlled to move forward at the same rotating speed.
When the lane line is a right-turn curved line, the lane line shows a right turn ahead, the rotating speed of the left driving motor is kept unchanged, and the rotating speed of the right driving motor is reduced.
When the lane line is a left-turn bending line, the lane line shows a left turn ahead, the rotating speed of the right driving motor is kept unchanged, and the rotating speed of the left driving motor is reduced.
When the infrared sensor of the development board displays that an obstacle exists in front of the development board, the requirement for braking is indicated, and the dual-drive motor is controlled to stop rotating.
In addition, in order to ensure the low-speed safe running of the vehicle, the invention is respectively provided with a photoelectric encoder on the driving motor, the photoelectric encoders are used for measuring the rotating speed of the motor and feeding the rotating speed back to the development board, the actual rotating speed is compared with the given rotating speed of the development board, and the driving motor is immediately controlled to stop rotating when the error is large, thereby effectively avoiding the occurrence of accidents.
The invention has the beneficial effects that: the problem of unmanned driving of sweeping is tentatively solved, and the intellectuality of environmental protection work has been realized, has saved time cost and cost of labor, has alleviateed sanitationman's work burden greatly.
Drawings
Fig. 1 is a schematic structural view of a front sweeping machine.
Fig. 2 is a schematic structural view of the side sweeping machine.
Fig. 3 is a view of the entire vehicle with the outer shell attached.
Fig. 4 is a structural view of the universal wheel.
Fig. 5 is a pin diagram of the single chip microcomputer.
Fig. 6 is a circuit diagram of the infrared sensor.
In the figure, 1 disk brush, 2 universal wheels, 3 disk brush motors, 4 cameras, 5 development boards, 6 power supplies, 7 rolling brush motors, 8 rolling brushes, 9 garbage cans, 10 left driving motors, 11 left driving wheels, 12 control circuit bodies, 13 structure bodies, 14 right driving motors and 15 right driving wheels.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Referring to fig. 1 to 4, an unmanned intelligent sweeping vehicle based on machine vision comprises a sweeping component and a driving component, wherein the sweeping component comprises a rolling brush 8, a disc brush 1 and a garbage can 9. The disc brush collects the garbage on the two sides to the front of the rolling brush, and the garbage is swept into the garbage can by the rolling brush to realize the cleaning function.
The driving part consists of a universal wheel 2, a camera 4, a development board 5, dual-driving motors 10 and 14 and dual- driving wheels 11 and 15. Firstly, a lane line is pasted on the advancing route of a vehicle, a camera 4 positioned in front of the vehicle transmits a captured lane line image to a development board 5, then the development board 5 carries out a series of processing such as graying processing, filtering and noise reduction, image segmentation, expansion and corrosion, shadow removal and the like on the image, and extracts path navigation information in the image, thereby realizing the autonomous driving function of the vehicle by changing the rotating speed of a dual-drive motor.
The specific operation is as follows:
when the lane line after the processing of the development board 5 is displayed as a straight line, the forward straight line is indicated, and the dual drive motors 10 and 14 are controlled to move forward at the same rotating speed.
When the lane line processed by the development board 5 is displayed as a right turn curve, the curve indicates a right turn ahead, the rotation speed of the left drive motor 10 is kept unchanged, and the rotation speed of the right drive motor 14 is reduced.
When the lane line processed by the development board 5 is displayed as a left-turn curve, the curve indicates a left turn ahead, the rotation speed of the right driving motor 14 is kept unchanged, and the rotation speed of the left driving motor 10 is reduced.
The development board 5 comprises the infrared sensor module, and when an obstacle appears in front of the vehicle, the development board can timely control the double motors to stop rotating, so that safe driving is guaranteed.
In addition, in order to ensure the safe running of the vehicle at low speed, the invention respectively installs one photoelectric encoder on the driving motor, the photoelectric encoder is used for measuring the rotating speed of the motor and feeding the rotating speed back to the development board 5, the actual rotating speed is compared with the given rotating speed of the development board, and the driving motor is immediately controlled to stop rotating when the error is large, thereby effectively avoiding the occurrence of accidents.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. The utility model provides an unmanned small sweeper based on machine vision, includes automobile body owner frame (13) and machine vision control part (12), its characterized in that: the main vehicle body frame (13) is divided into a main body part and a cleaning part, and the machine vision control part (12) is divided into a main control module (5) and an image acquisition module (4).
2. The machine vision based unmanned sweeping vehicle of claim 1, wherein: the main body part of the main frame (13) of the vehicle body comprises two driving wheels (11) controlled by two motors (10), and the two motors respectively supply different rotating speeds to the two driving wheels to realize the steering function.
3. The two electric motors (10) according to claim 2 give the two driving wheels (11) different rotation speeds, characterized in that: the machine vision control part (12) collects lane lines and road signs through the image collection module (4), processes the collected images through the main control module (5), and outputs different PWM duty ratio signals to the two motors (10) to realize different rotating speeds of the two driving wheels (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911365946.7A CN111893930A (en) | 2019-12-26 | 2019-12-26 | Unmanned intelligent sweeping machine based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911365946.7A CN111893930A (en) | 2019-12-26 | 2019-12-26 | Unmanned intelligent sweeping machine based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| CN111893930A true CN111893930A (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911365946.7A Pending CN111893930A (en) | 2019-12-26 | 2019-12-26 | Unmanned intelligent sweeping machine based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114119434A (en) * | 2021-12-02 | 2022-03-01 | 东风悦享科技有限公司 | Cleaning tool automatic conversion method and system based on image analysis |
-
2019
- 2019-12-26 CN CN201911365946.7A patent/CN111893930A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114119434A (en) * | 2021-12-02 | 2022-03-01 | 东风悦享科技有限公司 | Cleaning tool automatic conversion method and system based on image analysis |
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