CN112305964A - Automatic drive intelligent watering lorry control system - Google Patents
Automatic drive intelligent watering lorry control system Download PDFInfo
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- CN112305964A CN112305964A CN202011137985.4A CN202011137985A CN112305964A CN 112305964 A CN112305964 A CN 112305964A CN 202011137985 A CN202011137985 A CN 202011137985A CN 112305964 A CN112305964 A CN 112305964A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The utility model provides an automatic drive intelligent watering lorry control system, including the control mainboard of watering lorry, the communication interface connection of control mainboard has communication module, the data transmission port of control mainboard is connected with the watering module that is used for controlling the watering lorry to carry out watering work, the data transmission port of control mainboard is connected with the water yield monitoring module who is used for the interior surplus water yield of real-time supervision watering lorry, be connected with V2X car networking communication module on the data transmission port of control mainboard, V2X car networking communication module is used for acquireing street lamp and vehicle of watering lorry operation in-process roadside, pedestrian's information. According to the invention, the control mainboard of the sprinkler can be in information connection with surrounding vehicles, pedestrians and street lamps in a driving environment through the V2X intelligent vehicle networking, the information of the surrounding pedestrians and vehicles in the driving process of the sprinkler is monitored in real time and fed back to the control mainboard of the sprinkler, and when encountering the pedestrians and other vehicles, the operation of sprinkling water to avoid the pedestrians is automatically carried out, so that the purpose of scientific management is achieved.
Description
Technical Field
The invention relates to the technical field of intelligent control vehicles, in particular to an automatic driving intelligent watering cart control system.
Background
Along with the gradual development of scientific industry, high-rise buildings are more and more, the required water resource is huge, the accompanying problem is the shortage of the water resource, the watering lorries are frequently used to achieve the purposes of humidifying, cooling and dedusting in construction sites and dry areas, the watering amount of the current watering lorries can not be determined according to the length and the width of the distance to be driven, the watering amount is always the maximum, the water resource is continuously wasted under the problem of the shortage of the water resource, and the intelligent operation of the watering lorries can not be controlled. And the sprinkler mainly adopts the mode of artifical dodging now to dodging of pedestrian in the operation process, when running into the pedestrian at the road watering, operating personnel still need to drive the car and control closing and opening of watering shower nozzle simultaneously, it is very inconvenient to work, and uncertain factor is more, when the road at sprinkler place is too narrow and have other vehicles to drive, also be convenient for the work of watering to go on, current vehicle utilizes look around camera and infrared camera to discern the monitoring of pedestrian, the method that utilizes the camera to discern the pedestrian can reach the monitoring purpose, but a vehicle needs four ways of cameras at least, its cost also corresponding increase, and the rear end information on vehicle operation route can not be received, be unfavorable for scientific management, intelligent degree is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a sprinkler control system for monitoring the surrounding driving environment in real time by using an intelligent network.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides an automatic drive intelligent watering lorry control system, includes the control mainboard of watering lorry, and the control mainboard mainly used realizes the operation of data, the integration of information and to the control of watering lorry braking system and watering system, plays the effect of host processor. The communication interface of the control mainboard is connected with a communication module, the communication module mainly realizes the establishment of the communication function between the rear-end server and the sprinkler to play a role of data communication, the communication module transmits a data signal to a network server through a 4G network or a 5G network to form bidirectional data transmission connection between the control mainboard and the network server, the network server is similar to an upper computer and is used for counting and summarizing data of each sprinkler to be checked by an operator to realize intelligent sprinkling, the network server obtains the surface temperature of the sprinkler by receiving a real-time ground temperature monitoring satellite, the surface temperature is measured by the real-time ground temperature monitoring satellite through an infrared technology, the information transmission port of the control mainboard is connected with a positioning module, the positioning module comprises a GNSS module, and the GNSS module obtains the geographical position of the sprinkler by receiving the real-time positioning satellite, the GNSS module receives a broadcast rough measurement/capture code signal of a real-time positioning satellite, and obtains longitude, latitude and height parameters of the control mainboard by calculating a pseudo distance between the control mainboard and the real-time positioning satellite, a data transmission port of the control mainboard is connected with a sprinkling module for controlling a sprinkler to perform sprinkling work, the sprinkling module performs sprinkling work of different degrees according to an instruction given by the control mainboard, the control mainboard performs intelligent adjustment on the sprinkling module by calculating water demand in a region, waste of water resources is reduced, the sprinkling module feeds back the sprinkling amount in unit time to the control mainboard in real time, the data transmission port of the control mainboard is connected with a water amount monitoring module for monitoring the residual water amount in the sprinkler in real time, the data transmission end of the control mainboard is connected with a time measurement module of environmental information, the time measurement module of the environmental information monitors the communication electromagnetic wave of a preset fixed frequency band around the sprinkler by collecting the communication electromagnetic wave of the fixed frequency band The control mainboard judges interferents of the sprinkler when executing tasks according to the fed-back time measurement data, the control mainboard executes a sprinkling strategy according to the fed-back geographic position data and surface temperature data, the environmental information time measurement module comprises a V2X car networking communication module, the interferents of the sprinkler when executing tasks comprise roadside streetlamps, vehicles and pedestrians, the V2X car networking communication module acquires electromagnetic wave signals of fixed frequency bands of the roadside streetlamps, the vehicles and the pedestrians carrying mobile phones and feeds the electromagnetic wave signals back to the control mainboard, the control mainboard judges the distance between the interferents and the sprinkler according to the acquired electromagnetic wave signals and makes braking reaction, and a signal control port of the control mainboard is connected with a vehicle controller of the sprinkler through a CAN bus, the V2X communication module of vehicle networking is a vehicle communication system, and the vehicle communicates with other surrounding vehicles, people and objects through sensors and network communication technology, and carries out analysis and decision according to the collected information. And the data transmission port of the control mainboard is also connected with a display screen of a sprinkler for displaying the monitoring data collected by the control mainboard.
Preferably, the data transmission port of the control mainboard is connected with an oil quantity monitoring module, the oil quantity monitoring module is used for monitoring the residual oil quantity data in the oil tank of the sprinkler in real time and transmitting the monitoring data to the control mainboard in real time, and an operator calculates out whether the residual oil quantity data in the oil tank can complete the residual tasks of the sprinkler according to the displayed data.
Preferably, the terminal of oil mass monitoring module is the pressure sensor who sets up in the oil tank bottom of watering lorry, and the weight of pressure sensor monitoring oil tank passes through oil mass monitoring module and transmits extremely in the control mainboard, the control mainboard reachs remaining oil mass data in the oil tank through the pressure value that the monitoring obtained.
Preferably, the terminal of water yield monitoring module is the pressure sensor who sets up the water tank bottom at the watering lorry, and the weight of pressure sensor monitoring water tank passes through water yield monitoring module and transmits extremely in the control mainboard, the control mainboard reachs remaining water yield data in the water tank through the pressure value that the monitoring obtained.
Preferably, the communication module is a data communication transmission module for transmitting a 4G or 5G network protocol signal, and the 4G or 5G communication protocol can make data transmission more rapid and stable, and is not easy to cause packet drop.
Preferably, the terminal of the sprinkling module is a sprinkler head of a sprinkler, and the sprinkling module is used for controlling the water spraying amount of the sprinkler head in unit time according to the instruction sent by the control main board.
Preferably, the V2X car networking communication module includes a V2V module, a V2I module and a V2P module, the V2V module is used for making data connection between a control main board of the sprinkler and other vehicles on the way of the sprinkler, the V2V module determines the distance between the sprinkler and the other vehicles by collecting communication electromagnetic waves emitted by the other vehicles, the V2I module monitors the distance between pedestrians and the sprinkler in real time by collecting communication electromagnetic waves emitted by mobile phones of pedestrians around the sprinkler, the V2P module transmits collected communication electromagnetic waves emitted by infrastructure on the way around the way during the sprinkler running to the control main board, and the control main board determines the installation position of the infrastructure and the distance from the sprinkler by feedback signals of the electromagnetic waves.
Preferably, the watering strategy is as follows:
s1, the real-time ground temperature monitoring satellite monitors the ground surface temperature through infrared, the monitored ground surface temperature value is transmitted to the network server, the real-time positioning satellite transmits the position of the sprinkler to the control mainboard of the sprinkler through the GNSS module, the control mainboard transmits the positioning information of the sprinkler to the network server, the network server transmits the ground surface temperature of the area where the sprinkler will work to the control mainboard of the sprinkler through the communication module, and the ground surface temperature value T is obtained1And then the area S of the area to be worked of the sprinkler is calculated through the real-time positioning satellite1；
S2, setting a temperature threshold T2And the temperature reduction coefficient X of the unit area water volume1The temperature threshold value T2The temperature reduction coefficient X of the unit area water quantity is the numerical value of the surface temperature to be reached after the work of the sprinkler is finished1Measured through the actual cooling area, and the sprinkler is a coefficient variableSurface temperature value T of the working area1Down to a temperature threshold T2Required water consumption V1The calculation formula of (a) is as follows:
V1＝(T1-T2)*S1*X1，
the water consumption required by other working areas of the same sprinkler is named as V respectively2、V3…VnThe calculation formula and V1The same;
s3, water consumption V required by all working areas for which the sprinkler is responsible1、V2、V3…VnOverlapping to obtain the total water volume V to be filled in the water tank when the sprinkler executes the work tasksum，
Setting the average running speed of the sprinkler as v and the length of n work areas passed by the sprinkler when the sprinkler executes a task as LnN required water volume V of the working areanCalculating the water sprinkling quantity V of the sprinkler in unit timesComprises the following steps:
s4, according to VsumFill the water tank of the watering cart with water volume, control the water spraying amount V of the mainboard in unit timesThe data is transmitted to the sprinkling module, and the sprinkling module controls a sprinkling head of the sprinkling truck to sprinkle water with a corresponding volume to complete a work task;
s5, in the process of carrying out work tasks by the sprinkler, the V2X car networking communication module monitors the positions and road conditions of surrounding vehicles, pedestrians and infrastructure in real time during the driving process of the sprinkler, if the distance between the sprinkler and other vehicles, pedestrians and infrastructure is too close to reach the preset distance value of the control mainboard, the safety hazard is considered to exist, the control mainboard controls the vehicle controller of the sprinkler to start, so that the sprinkler is safely braked and sends signals to prompt staff and other surrounding staff.
Preferably, in step S3, the total amount V of water needed by the sprinkler to perform the task is calculatedsumAnd fill inAfter to the water tank, the weight of water yield monitoring module real-time supervision water tank to handle in transmitting the pressure value of monitoring to the control mainboard of watering lorry, the control mainboard reachs the real-time weight of water tank, then deduces the remaining water yield in the water tank.
Preferably, the control mainboard of the sprinkler transmits the positioning information, the road condition information, the monitored residual water amount and oil amount information of the sprinkler in the driving process to the network server through 4G or 5G network protocol communication, and the network server counts and records the information of a plurality of sprinklers to obtain the real-time operation information of each road.
The invention has the advantages and positive effects that:
1. according to the invention, the control mainboard of the sprinkler can be in information connection with surrounding vehicles, pedestrians and street lamps in a driving environment through the V2X intelligent vehicle networking, the information of the surrounding pedestrians and vehicles in the driving process of the sprinkler is monitored in real time and fed back to the control mainboard of the sprinkler, when the pedestrians and other vehicles are met, the operation of sprinkling and avoiding the pedestrians is automatically carried out, the purpose of scientific management is achieved, and the cost of a camera used by a traditional monitoring system is saved.
2. The V2X intelligent vehicle network is connected with a server, data statistics can be carried out on multiple batches of watering vehicles, a control mainboard of each watering vehicle transmits data monitored by the watering vehicle to the server, data statistics and recording are facilitated, a water quantity monitoring module is arranged in each watering vehicle and used for monitoring the residual water quantity in a water tank of the watering vehicle in real time, the control mainboard of each watering vehicle calculates the required watering quantity in the area by collecting the monitored ground temperature and the area of the area to be watered, and the watering module is used for sprinkling, so that waste of water resources is effectively reduced.
Drawings
Fig. 1 is a schematic diagram of the system module connection of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the automatic driving intelligent sprinkler control system according to the present invention includes a control mainboard of a sprinkler, wherein the control mainboard is mainly used for implementing data operation, information fusion and control of a sprinkler braking system and a sprinkler system, and plays a role of a main processor, and the specific type is determined by actual conditions as long as data processing operation can be implemented. The communication interface of the control mainboard is connected with a communication module, the communication module mainly realizes the establishment of the communication function between the rear-end server and the sprinkler to play a role of data communication, the communication module transmits a data signal to a network server through a 4G network or a 5G network to form bidirectional data transmission connection between the control mainboard and the network server, the network server is similar to an upper computer and is used for counting and summarizing data of each sprinkler for operators to check, intelligent sprinkling is realized, the network server obtains the surface temperature of the sprinkler by receiving a real-time ground temperature monitoring satellite, the surface temperature is measured by the real-time ground temperature monitoring satellite through an infrared technology, the surface temperature is the temperature of the ground, after solar heat energy is radiated to the ground, one part is reflected, the other part is absorbed by the ground to heat the ground, the temperature obtained after the temperature of the ground is measured is the surface temperature, the earth surface temperature can be different according to the location environment, the earth surface temperature is obtained mainly by a remote sensing inversion method, the real-time earth temperature monitoring satellite can be measured by comparing the precision of various inversion algorithms, the information transmission port of the control mainboard is connected with a positioning module, the positioning module comprises a GNSS module, the GNSS module obtains the geographic position of the watering lorry by receiving the real-time positioning satellite, the GNSS module receives the broadcast rough measurement/capture code signal of the real-time positioning satellite, the longitude, latitude and height parameters of the control mainboard are obtained by calculating the pseudo distance between the control mainboard and the real-time positioning satellite, and the methods for monitoring data of the real-time positioning satellite and the real-time earth temperature monitoring satellite and the data communication method are the existing algorithms, and are not repeated herein. The data transmission port of the control mainboard is connected with a sprinkling module for controlling the sprinkling truck to carry out sprinkling work, the sprinkling module carries out sprinkling work of different degrees according to instructions given by the control mainboard, the control mainboard carries out intelligent regulation on the sprinkling module by calculating water demand in an area to reduce waste of water resources, the sprinkling module feeds back the sprinkling amount in unit time to the control mainboard in real time, the data transmission port of the control mainboard is connected with a water amount monitoring module for monitoring the residual water amount in the sprinkling truck in real time, the data transmission end of the control mainboard is connected with an environmental information timing module, the environmental information timing module monitors a plurality of pieces of timing data by collecting communication electromagnetic waves of a preset fixed frequency band around the sprinkling truck and transmits the measured timing data to the control mainboard, and the control mainboard judges interferents of the sprinkling truck when executing tasks by the fed back timing data, the control mainboard executes a watering strategy through fed back geographic position data and surface temperature data, the environment information time measuring module comprises a V2X vehicle networking communication module, interferents of the watering cart during task execution comprise roadside street lamps, vehicles and pedestrians, the V2X vehicle networking communication module acquires electromagnetic wave signals of fixed frequency bands of the roadside street lamps, the vehicles and the pedestrians carrying mobile phones during the operation process of the watering cart and feeds the electromagnetic wave signals back to the control mainboard, the distance between the interferent and the sprinkler is judged and a braking reaction is made through the obtained electromagnetic wave signal by the control mainboard, the signal control port of the control mainboard is connected with a vehicle controller of the sprinkler through a CAN bus, the V2X vehicle networking communication module is a vehicle communication system, the vehicle is communicated with other surrounding vehicles, people and objects through a sensor and a network communication technology, and analysis and decision are made according to the collected information. The data transmission port of the control mainboard is also connected with a display screen of a sprinkler for displaying monitoring data collected by the control mainboard.
In addition, the data transmission port of the control mainboard is also connected with an oil quantity monitoring module which is used for monitoring the residual oil quantity of the sprinkler in real time and transmitting the monitoring data to the control mainboard in real time, the operator calculates whether the residual oil quantity can complete the residual tasks of the sprinkler according to the displayed data, the terminal of the oil quantity monitoring module is a pressure sensor arranged at the bottom of an oil tank of the sprinkler, the pressure sensor monitors the weight of the oil tank and transmits the weight to the control mainboard through the oil quantity monitoring module, the control mainboard reachs the interior residual oil volume of oil tank through the pressure value that the monitoring obtained, and the terminal of water yield monitoring module is the pressure sensor who sets up the water tank bottom at the watering lorry, and the weight of pressure sensor monitoring water tank passes through water yield monitoring module and transmits to the control mainboard in, and the control mainboard reachs the residual water volume in the water tank through the pressure value that the monitoring obtained.
In this embodiment, the communication module is the data communication transmission module of transmission 4G or 5G network protocol signal, and 4G or 5G's communication protocol can make the transmission of data more stable fast, and the difficult condition that falls the package takes place, and the terminal of watering module is the sprinkler bead of watering lorry, and the module of watering is used for the water spray volume in the unit interval of the instruction control sprinkler bead that sends according to the control mainboard.
The V2X car networking communication technology is based on 5.9 GHz's special short range communication technology, is a Wi-Fi derivative product specially defined for fast moving objects, even can establish reliable radio link under the condition of non-line of sight, V2X is known as Vihicle to every, namely the contact of car and anything, the car networking establishes the new car technical development direction through integrating Global Positioning System (GPS) navigation technology, car-to-car communication technology, wireless communication and long-range induction technology, has realized the compatibility of manual driving and automatic driving.
In this embodiment, the V2X car networking communication module includes a V2V module (vehicle to vehicle), a V2I module (vehicle to in front structure) and a V2P module (vehicle to peer), the V2V module is used to connect the control mainboard of the sprinkler with other vehicles on the way side of the sprinkler, the V2V module judges the driving environment of the sprinkler by collecting the driving information of other vehicles, the V2I module is used to collect the running conditions of pedestrians on the way side of the sprinkler, the road condition of pedestrians on the way side of the sprinkler is monitored in real time by collecting the mobile phone emission signals of the pedestrians on the way side, the V2P module is used to collect the installation positions of the infrastructure around the way side of the sprinkler and transmit the installation positions to the control mainboard of the sprinkler to judge the road condition of the sprinkler, in brief, the model of the system is collocated, and the model of the sprinkler can be analyzed for the real-time traffic information in the automatic driving mode, the driving route with the best road condition is automatically selected, so that the traffic jam is greatly relieved. In addition, by using the vehicle-mounted sensor and the camera system, the surrounding environment can be sensed, and rapid adjustment can be made, so that zero traffic accidents are realized, for example, when a pedestrian suddenly appears, the vehicle can be automatically decelerated to a safe speed or stopped. The V2X internet of vehicles communication module shares data (e.g., location and speed) with surrounding vehicles and base stations, which can help drivers to be aware of an impending potential hazard, significantly enhancing collision avoidance, and thereby greatly reducing mortality and personal injury severity. In addition, the technology can also give a warning for the upcoming traffic jam, provide a substitute route, reduce the emission of carbon dioxide by means of an adaptive cruise system and more intelligent transportation management, ensure environment-friendly driving and further improve the traffic efficiency.
The sprinkling strategy executed by the control main board through the fed-back geographic position data and the fed-back surface temperature data is as follows:
s1, the real-time ground temperature monitoring satellite monitors the ground surface temperature through infrared, the monitored ground surface temperature value is transmitted to the network server, the real-time positioning satellite transmits the position of the sprinkler to the control mainboard of the sprinkler through the GNSS module, the control mainboard transmits the positioning information of the sprinkler to the network server, the network server transmits the ground surface temperature of the area where the sprinkler will work to the control mainboard of the sprinkler through the communication module, and the ground surface temperature value T is obtained1And then the area S of the area to be worked of the sprinkler is calculated through the real-time positioning satellite1；
S2, setting a temperature threshold T2And the temperature reduction coefficient X of the unit area water volume1The temperature threshold value T2The temperature reduction coefficient X of the unit area water quantity is the numerical value of the surface temperature to be reached after the work of the sprinkler is finished1Measured by the actual cooling area, and the surface temperature value T of the working area is measured by the sprinkler as a coefficient variable1Down to a temperature threshold T2Required water consumption V1The calculation formula of (a) is as follows:
V1＝(T1-T2)*S1*X1，
the water consumption required by other working areas of the same sprinkler is named as V respectively2、V3…VnThe calculation formula and V1The same;
s3, water consumption V required by all working areas for which the sprinkler is responsible1、V2、V3…VnOverlapping to obtain the total water volume V to be filled in the water tank when the sprinkler executes the work tasksum，
Setting the average running speed of the sprinkler as v and the length of n work areas passed by the sprinkler when the sprinkler executes a task as LnN required water volume V of the working areanCalculating the sprinkling time of the sprinklerQuantity VsComprises the following steps:
calculating the total water volume V required by the sprinkler when executing the tasksumAfter the water tank is filled with the water, the water quantity monitoring module monitors the weight of the water tank in real time, transmits the monitored pressure value to a control mainboard of the sprinkler for processing, and the control mainboard obtains the real-time weight of the water tank and then deduces the residual water quantity in the water tank;
s4, according to VsumFill the water tank of the watering cart with water volume, control the water spraying amount V of the mainboard in unit timesThe data is transmitted to the sprinkling module, the sprinkling module controls a sprinkling head of the sprinkling truck to sprinkle water with corresponding volume to complete a work task, and sprinkling is carried out according to the obtained sprinkling amount in unit time, so that the road surface is efficiently and economically cooled;
s5, in the process of carrying out work tasks by the sprinkler, the V2X car networking communication module monitors the positions and road conditions of surrounding vehicles, pedestrians and infrastructure in real time during the driving process of the sprinkler, if the distance between the sprinkler and other vehicles, pedestrians and infrastructure is too close to reach the preset distance value of the control mainboard, the safety hazard is considered to exist, the control mainboard controls the vehicle controller of the sprinkler to start, so that the sprinkler is safely braked and sends signals to prompt staff and other surrounding staff.
When the system is implemented, the surface temperature of a certain area is measured according to a real-time ground temperature monitoring satellite, the sprinkler calculates the total sprinkling quantity required for reducing the surface temperature of the area to a certain value, the total sprinkling quantity is filled into a water tank of the sprinkler, the control mainboard controls the sprinkling quantity of the sprinkling module in unit time and cools the area, waste of water resources is reduced, when the sprinkler works, the V2X car networking communication module collects surrounding car, person and object information and feeds the information back to the control mainboard, the control mainboard analyzes the collected distance data, if the distance reaches a safety threshold value too closely, a braking system of the sprinkler is automatically controlled to reduce the running speed or stop the sprinkler, the safety of the sprinkler and the surrounding environment is maintained, and the control mainboard of the sprinkler transmits the positioning information, road condition information, monitored residual water quantity and oil quantity information of the sprinkler in the running process to a network server through 4G or 5G network protocol communication, the network server carries out statistics and recording by collecting the information of a plurality of watering lorries to obtain the real-time operation information of each road, thereby facilitating the statistics and management of operators.
According to the invention, the control mainboard of the sprinkler can be in information connection with surrounding vehicles, pedestrians and street lamps in a driving environment through the V2X intelligent vehicle networking, the information of the surrounding pedestrians and vehicles in the driving process of the sprinkler is monitored in real time and fed back to the control mainboard of the sprinkler, when the pedestrians and other vehicles are met, the operation of sprinkling and avoiding the pedestrians is automatically carried out, the purpose of scientific management is achieved, and the cost of a camera used by a traditional monitoring system is saved.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but other embodiments derived from the technical solutions of the present invention by those skilled in the art are also within the scope of the present invention.
Claims (9)
1. The utility model provides an automatic drive intelligent watering lorry control system which characterized in that: the intelligent control system comprises a control mainboard of the sprinkler, wherein a communication interface of the control mainboard is connected with a communication module, the communication module is connected with a network server through a network protocol, the network server acquires earth surface temperature data of the sprinkler through receiving a real-time earth temperature monitoring satellite, the earth surface temperature data measured by the real-time earth temperature monitoring satellite is transmitted to the control mainboard through the network server, an information transmission port of the control mainboard is connected with a positioning module, the positioning module acquires geographical position data of the sprinkler through receiving the real-time positioning satellite and transmits the geographical position data to the control mainboard, the control mainboard transmits the geographical position data to the network server through the communication module, a data transmission port of the control mainboard is connected with a sprinkling module for controlling the sprinkler to perform sprinkling work, and the sprinkling module feeds back the sprinkling work efficiency to the control mainboard in real time, survey the module when the data transmission end of control mainboard is connected with environmental information, survey the module and survey the data when monitoring a plurality of through the communication electromagnetic wave of the predetermined fixed frequency channel around gathering the watering lorry during environmental information, and survey data transmission extremely when will record in the control mainboard, the control mainboard is surveyed the data and is judged the interference thing of watering lorry when carrying out the task through the time of feedback, the control mainboard carries out the watering strategy through geographical position data and the earth's surface temperature data of feedback, the watering strategy is as follows:
s1, the network server transmits the earth surface temperature data of a certain working area where the sprinkler will work to the control mainboard of the sprinkler through the communication module to obtain the earth surface temperature value T1And then the area S of the area to be worked of the sprinkler is calculated through the real-time positioning satellite1；
S2, setting a temperature threshold T2And the temperature reduction coefficient X of the unit area water volume1The temperature threshold value T2The temperature reduction coefficient X of the unit area water quantity is the numerical value of the surface temperature to be reached after the work of the sprinkler is finished1The surface temperature value T of the working area of the sprinkler is obtained as a coefficient variable by measuring the actual cooling area1Down to a temperature threshold T2Required water consumption V1The water consumption required by other working areas of the same sprinkler is named as V2、V3…VnAnd calculating the water consumption V required by all the working areas which are responsible for the sprinkler1、V2、V3…VnOverlapping to obtain the total water volume V to be filled in the water tank when the sprinkler executes the work tasksum；
S3, setting the average running speed of the sprinkler as v and the length of n work areas passed by the sprinkler when the sprinkler executes tasks as LnN required water consumption of the working area is VnTo obtain the sprinkling volume V of the sprinkler in unit times；
S4, according to the total water volume VsumFill water on watering cartThe volume of water in the tank, the sprinkling volume V of the main board in unit timesThe data is transmitted to the sprinkling module, and the sprinkling module controls a sprinkling head of the sprinkling truck to sprinkle water with a corresponding volume to complete a work task;
s5, in the process of carrying out a work task by the sprinkler, the environmental information time measurement module monitors the interference objects around the sprinkler in real time during driving, when the distance between the sprinkler and the interference objects is too close to reach the preset distance value of the control mainboard, the safety hazard is considered to exist, the control mainboard controls the vehicle controller of the sprinkler to start, the sprinkler is safely braked, and a signal is sent to prompt staff and other peripheral staff.
2. The automatic driving intelligent sprinkler control system of claim 1, wherein: the data transmission port of control mainboard is connected with the water yield monitoring module that is arranged in the water tank of real-time supervision watering lorry surplus water yield data and is arranged in the oil tank of real-time supervision watering lorry oil mass monitoring module of surplus oil mass data, water yield monitoring module in with the water tank that records surplus water yield data and surplus oil mass data feeds back in real time in the oil tank that oil mass monitoring module records extremely in the control mainboard.
3. The automatic driving intelligent sprinkler control system of claim 1, wherein: the module is surveyed during environmental information includes V2X car networking communication module, and the interference of watering lorry when carrying out the task includes roadside street lamp, vehicle and pedestrian, V2X car networking communication module acquires roadside street lamp, vehicle and the pedestrian of watering lorry operation in-process and carries the electromagnetic wave signal of the fixed frequency channel of cell-phone and feeds back to in the control mainboard, the control mainboard judges the distance between interference and the watering lorry and makes braking reaction through the electromagnetic wave signal that obtains.
4. The automatic driving intelligent sprinkler control system of claim 3, wherein: the V2X car networking communication module includes V2V module, V2I module and V2P module, the V2V module is used for constituting data connection with the control mainboard of watering lorry and other vehicles on the way of watering lorry operation roadside, the V2V module judges the interval distance of watering lorry and other vehicles through the communication electromagnetic wave of gathering other vehicle transmission, the V2I module monitors the distance between pedestrian and the watering lorry in real time of traveling through the communication electromagnetic wave of gathering the cell-phone transmission of pedestrian around gathering, the V2P module with the watering lorry travel in-process roadside infrastructure transmission that gathers send the communication electromagnetic wave of sending to in the control mainboard, the control mainboard passes through the feedback signal of electromagnetic wave and judges the mounted position of infrastructure and the interval distance with the watering lorry.
5. The automatic driving intelligent sprinkler control system of claim 1, wherein: the amount of water V required for a certain working area in step S2 of the watering strategy1The calculation formula of (2) is as follows:
V1＝(T1-T2)*S1*X1；
the sprinkling volume V of the sprinkler in unit timesThe calculation formula of (2) is as follows:
water consumption V required by n working areas for sprinkler2、V3…VnAnd V1The same is true.
6. The automatic driving intelligent sprinkler control system of claim 2, wherein: the terminal of oil mass monitoring module is the pressure sensor who detects the oil tank pressure on watering lorry, and the pressure value of pressure sensor monitoring oil tank passes through oil mass monitoring module and transmits extremely in the control mainboard, the control mainboard reachs surplus oil mass data in the oil tank through the pressure value that the monitoring obtained.
7. The automatic driving intelligent sprinkler control system of claim 2, wherein: the terminal of water yield monitoring module is the pressure sensor who detects the water tank pressure of watering lorry, and the pressure value of pressure sensor monitoring water tank passes through water yield monitoring module and transmits extremely in the control mainboard, the control mainboard reachs residual water volume data in the water tank through the pressure value that the monitoring obtained.
8. The automatic driving intelligent sprinkler control system of claim 1, wherein: the terminal of the sprinkling module is a sprinkler head of the sprinkler, and the sprinkling module controls the sprinkling work efficiency of the sprinkler head according to the sprinkling instruction sent by the control mainboard.
9. The automatic driving intelligent sprinkler control system of claim 1, wherein: the communication module is a data communication transmission module for transmitting 4G or 5G network protocol signals.
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