CN112306065A - Intelligent environment recognition control system for sweeping and washing vehicle - Google Patents
Intelligent environment recognition control system for sweeping and washing vehicle Download PDFInfo
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- CN112306065A CN112306065A CN202011233015.4A CN202011233015A CN112306065A CN 112306065 A CN112306065 A CN 112306065A CN 202011233015 A CN202011233015 A CN 202011233015A CN 112306065 A CN112306065 A CN 112306065A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 84
- 238000005406 washing Methods 0.000 title claims abstract description 34
- 238000007781 pre-processing Methods 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 239000010813 municipal solid waste Substances 0.000 claims description 66
- 239000007921 spray Substances 0.000 claims description 56
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 16
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 9
- 241000252254 Catostomidae Species 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 12
- 239000000428 dust Substances 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 239000003595 mist Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- -1 leaves Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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Abstract
The invention provides an intelligent environment recognition control system for a car sweeping and washing vehicle, which comprises: the system comprises a sensor group, a main controller and a tool group; the sensor group is used for acquiring the environmental condition and the road condition near the vehicle body; the main controller comprises an image processing module, an image preprocessing module, a multi-source information fusion module and an intelligent control module; the intelligent control module is configured to regulate the tool set according to environmental conditions and road conditions. The intelligent environment recognition control system for sweeping and washing the vehicle acquires the environment condition through the sensor group, and the main controller controls the tool group to avoid the road surface obstacles according to the road condition and adjusts and controls the cleaning degree of the tool group according to the environment condition.
Description
Technical Field
The invention relates to the technical field of road cleaning vehicles, in particular to an intelligent environment recognition control system for a sweeping and washing vehicle and a cleaning method thereof.
Background
With the increasing demands on the quality of life, in particular the environmental quality of living areas, there is an increasing interest in road cleaning, and sweeping vehicles have come into the field of vision as an essential cleaning tool in this field. In the prior art, various sweeping and washing vehicles exist, and due to the fact that the sweeping and washing vehicles often collide with obstacles or road shoulders of a road surface during working, the service life of sweeping and washing tools of the sweeping and washing vehicles is not long and the sweeping and washing tools are easy to damage; in addition, these sweeping cars often still adopt manual control's mode to control sweeping car's cleaning instrument, this has brought extra intensity of labour to the navigating mate, causes navigating mate's fatigue easily. Therefore, it is very necessary to invent an intelligent environmental recognition control system for sweeping and washing vehicles and a cleaning method thereof.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problem that a sweeping and washing tool of a sweeping and washing vehicle in the prior art is easy to damage, the invention provides an intelligent environment recognition control system for the sweeping and washing vehicle, which is used for solving the technical problem.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a sweep carwash intelligence environmental recognition control system, includes: the system comprises a sensor group, a main controller and a tool group;
the sensor group comprises a visual sensor, a laser emitter, an infrared sensor and an ultrasonic sensor, and the visual sensor, the laser emitter, the infrared sensor and the ultrasonic sensor are all arranged on the vehicle body; the visual sensor is used for acquiring a road surface image, the ultrasonic sensor is used for detecting garbage on the road surface and acquiring garbage distribution information, and the directions of the visual sensor and the ultrasonic sensor are consistent; the laser transmitter is used for measuring a vertical obstacle distance and a horizontal obstacle distance; the infrared sensor is used for acquiring air quality information of the surrounding environment;
the main controller comprises an image processing module, an image preprocessing module, a multi-source information fusion module and an intelligent control module;
the image preprocessing module is configured to process the road surface image into a preprocessed road surface image, the image preprocessing module being further configured to generate an ultrasonic image from the garbage distribution information; the multi-source information fusion module is configured to acquire garbage type information according to the preprocessed pavement image and the ultrasonic image, wherein the garbage type information comprises the number of solid garbage and the proportion of dirty garbage; the image processing module is configured to mark a rubbish type on the road surface image according to the rubbish type information; the intelligent control module is configured to regulate the toolset according to the vertical obstacle distance, the horizontal obstacle distance, the air quality information and the garbage type information.
Preferably, the tool set comprises an air valve group, a hydraulic valve group, an auxiliary engine, a fan, a high-pressure water pump, a sweeping disc, a spray rod, a suction cup and a loudspeaker, the intelligent control module is connected with the air valve group, the hydraulic valve group, the auxiliary engine, the sweeping disc and the loudspeaker, and the sweeping disc, the spray rod and the suction cup are sequentially arranged below the vehicle body along the length direction of the vehicle body;
the loudspeaker is used for emitting prompt tones;
the intelligent control module is in control connection with the suckers and the spray rods through the gas valve group, and the gas valve group is used for controlling the suction force of the suckers and the spray intensity of the spray rods;
the intelligent control module is in control connection with the sweeping disc and the spray rod through the hydraulic valve bank, and the hydraulic valve bank is used for controlling the sweeping disc and the spray rod to perform retraction operation and extension operation;
the intelligent control module is connected with the fan and the high-pressure water pump through the auxiliary engine in a control mode, and the auxiliary engine is in transmission connection with the fan and the high-pressure water pump;
the fan is connected with the sucker and used for providing suction force for sucking garbage to the sucker; the high-pressure water pump is connected with the spray rod and used for providing water flow for the spray rod.
Preferably, the image processing device further comprises an operation panel, wherein the operation panel comprises an operation switch and a display screen, the display screen is embedded in the operation panel, and the display screen is connected with the image processing module;
the operating switch is connected with the intelligent control module and comprises a power switch, an auxiliary engine switch, a spray rod switch, a sweeping disc switch, a sucking disc switch and a washing and sweeping control switch;
the power switch is a switch of the power supply of the main controller, the sensor group and the operation panel; the auxiliary engine switch is used for sending an instruction for opening and closing the auxiliary engine to the intelligent control module, the spray rod switch is used for sending an instruction for electrifying the spray rod to the intelligent control module, the tray sweeping switch is used for sending an instruction for electrifying the tray sweeping to the intelligent control module, and the sucker switch is used for sending an instruction for electrifying the sucker to the intelligent control module;
wash and sweep control switch including wash keep off, wash and sweep the shelves futilely, wash keep off be used for to intelligent control module sends and only opens the instruction of spray lance, wash sweep the shelves be used for to intelligent control module sends and opens simultaneously the spray lance, sweep the instruction of dish and sucking disc, sweep the shelves futilely be used for to intelligent control module sends and only opens sweep the instruction of dish and sucking disc.
The intelligent environment recognition control system for sweeping and washing the vehicle has the advantages that the sensor group is used for acquiring the vertical obstacle distance, the horizontal obstacle distance, the air quality information, the garbage distribution information and the garbage type information, the main controller controls the tool group to avoid the road obstacles according to the vertical obstacle distance and the horizontal obstacle distance, and the cleaning degree of the tool group is adjusted and controlled according to the air quality information, the garbage distribution information and the garbage type information.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic system structure diagram of a preferred embodiment of the intelligent environment recognition control system for car sweeping and washing according to the present invention.
FIG. 2 is a flow chart of a preferred embodiment of the environmental cleaning method of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
As shown in fig. 1, the invention provides an intelligent environmental recognition control system for a car sweeping and washing machine, which is characterized by comprising:
the sensor group comprises a visual sensor, a laser emitter, an infrared sensor and an ultrasonic sensor.
The vision sensor is a camera fixedly arranged at the front end of the vehicle body, the lens direction of the vision sensor is arranged downwards, and the vision sensor is used for shooting road surface images of a road at the front end of the vehicle body.
The ultrasonic sensor and the visual sensor are arranged at the front end of the vehicle body side by side, and the directions of the ultrasonic sensor and the visual sensor are consistent. The visual sensor acquires a road surface image, and the ultrasonic sensor emits ultrasonic waves and acquires garbage distribution information according to the received returned ultrasonic waves.
The laser emitter comprises a vertical laser emitter and a horizontal laser emitter. The vertical laser transmitter and the horizontal laser transmitter are both positioned at the bottom of the vehicle body. The transmitting end of the vertical laser transmitter is vertically arranged downwards, the vertical laser transmitter is used for measuring vertical obstacle distance, and the vertical obstacle distance is the vertical distance between the bottom of the vehicle body and a road obstacle. The transmitting end of the horizontal laser transmitter horizontally faces to the two sides of the vehicle body, the horizontal laser transmitter is used for measuring horizontal obstacle distance, and the horizontal obstacle distance is the horizontal distance between the bottom of the vehicle body and road surface obstacles located on the two sides of the vehicle body.
The infrared sensor is an infrared dust detector, and the infrared sensors are respectively arranged at the lower parts of the side edges of the two sides of the vehicle body. If the water spraying amount of the sweeping and washing vehicle is not enough during the operation process, dust is easily stirred up, and the stirred-up dust is generally scattered into the air from the two sides of the vehicle. The infrared sensor is used for acquiring air quality information, and the air quality information is the content condition of dust in the air around the vehicle body in the working process of the sweeping vehicle.
The main controller comprises an image processing module, an image preprocessing module, a multi-source information fusion module and an intelligent control module.
The image preprocessing module is configured to process the road surface image into a preprocessed road surface image by binarization processing of the image. The rubbish or dirt on the road surface can be present in the pre-processed road surface image in the form of a contour after being processed by the binary image.
The image preprocessing module is also configured to generate an ultrasonic image according to the garbage distribution information, and the garbage on the road surface comprises dirt stained on the road surface and fixed garbage such as leaves, plastic products and paper scraps scattered on the road. The ultrasonic waves received by the ultrasonic sensor and returned when encountering flat road surfaces are different from the ultrasonic waves received by the ultrasonic sensor and returned when encountering garbage on the road surfaces, and the image preprocessing module can generate an ultrasonic image according to the garbage distribution information acquired by the ultrasonic sensor.
The multi-source information fusion module is configured to obtain the garbage type information according to the preprocessed pavement image and the ultrasonic image. The preprocessing road surface image comprises positions of all garbage and stains on a road, the ultrasonic image comprises positions of solid garbage on the road, the multi-source information fusion module can judge the specific type of each garbage on the road according to the positions of all garbage and stains and the positions of the solid garbage, garbage type information is generated, the garbage type information comprises the number of the solid garbage and the proportion of the stain garbage, and the proportion of the stain garbage is the ratio of the area of a stain area to the area of the shot road surface.
The image processing module is configured to mark the garbage type on the road surface image according to the garbage type information, and the image processing module is used for enclosing the garbage appearing in the road surface image according to the garbage type information and the preprocessed road surface image and marking the garbage type.
The intelligent control module is an integrated circuit module with a data processing function and a control function, and is configured to regulate and control the cleaning strength and the position of the cleaning tool loaded on the washing and sweeping vehicle according to the vertical obstacle distance, the horizontal obstacle distance, the air quality information and the garbage type information.
The tool set comprises a gas valve group, a hydraulic valve group, an auxiliary engine, a fan, a high-pressure water pump, a sweeping disc, a spray rod, a suction disc and a loudspeaker, and the intelligent control module is connected with the gas valve group, the hydraulic valve group, the auxiliary engine, the sweeping disc and the loudspeaker.
Two side-by-side sweeping discs, two side-by-side spray rods and two side-by-side suction cups are sequentially arranged below the vehicle body along the length direction of the vehicle body. The spray rod comprises a water column spray head for washing away road surface stains and a water mist spray head for exciting water mist and reducing dust rising. The first rotation directions of the two sweeping disks are opposite, and the sweeping disk positioned on the left rotates anticlockwise. When the sweeping car works, garbage below the car body and near the car body flows to the lower part of the car body under the sweeping brushes of the two sweeping discs, then the spray rod sprays water columns to the swept areas to remove stains on the road surface, and water mist excited by the water columns can also play a certain role in inhibiting the dust.
The intelligent control module is in control connection with the suckers and the spray rods through the air valve group, and the air valve group can control the suction force of the suckers and the spray intensity of the spray rods.
The intelligent control module is in control connection with the sweeping disc and the spray rod through a hydraulic valve bank, and the hydraulic valve bank can control the sweeping disc and the spray rod to perform contraction operation and extension operation.
The intelligent control module is connected with the fan and the high-pressure water pump through an auxiliary engine, and the auxiliary engine is in transmission connection with the fan and the high-pressure water pump through a conveyor belt.
The intelligent control module is connected with the sweeping disc and can control the rotating speed of the sweeping disc. The fan is connected with the sucking disc, and the fan can provide required suction when absorbing rubbish to the sucking disc. The high-pressure water pump is connected with the spray rod and can provide water flow required by road surface flushing to the spray rod. The speaker is connected with intelligent control module, and when meetting special circumstances, the speaker can send the warning sound and remind the driver to notice the road conditions.
Based on the intelligent environment recognition control system for sweeping and washing the vehicle, the working method comprises the following steps:
s1, the vision sensor acquires a road surface image, and the image preprocessing module processes the road surface image into a preprocessed road surface image; the method comprises the steps that an ultrasonic sensor obtains garbage distribution information, and an image preprocessing module generates an ultrasonic image according to the garbage distribution information; the infrared sensor acquires air quality information;
s2, the multi-source information fusion module generates garbage type information according to the preprocessed pavement image and the ultrasonic image, wherein the garbage type information comprises the number of solid garbage and the proportion of dirt garbage; the image processing module marks the garbage type on the road surface image according to the garbage type information;
s3, judging whether the quantity of the solid garbage of the intelligent control module is larger than a first adjusting threshold value or not, if so, indicating that the quantity of the solid garbage is too large, the sucking disc can ensure that all the garbage is completely sucked and cleaned only by increasing the sucking force, and the sweeping disc can ensure that the solid garbage is completely cleaned only by increasing the rotating speed; the intelligent control module improves the suction force of the sucking disc by improving the power of the fan, and simultaneously adjusts the rotating speed of the sweeping disc to be large; otherwise, the intelligent control module does not change the current suction force of the sucker and the rotating speed of the sweeping disc;
the intelligent control module judges whether the dirt-garbage ratio is greater than a second adjusting threshold, and if the dirt-garbage ratio is greater than the second adjusting threshold, the intelligent control module increases the spraying strength of the spray rod by increasing the air pressure of the air pressure valve bank; otherwise, the intelligent control module does not change the current air pressure of the air pressure valve group;
the intelligent control module judges whether the air quality information is larger than a third adjusting threshold value or not, if the air quality information is larger than the second adjusting threshold value, the number of dust around the vehicle body is too large, and the intelligent control module increases the spraying intensity of the spray rod by adjusting the power of the high-pressure water pump; otherwise, the intelligent control module does not change the current power of the high-pressure water pump;
in the present embodiment, steps S1-S3 each include the steps of: the laser transmitter acquires a horizontal obstacle distance and a vertical obstacle distance;
the intelligent control module judges whether the horizontal obstacle distance is smaller than a horizontal avoidance threshold value or not, and controls the sweeping disc to retract through the hydraulic valve bank if the horizontal obstacle distance is smaller than the horizontal avoidance threshold value;
the intelligent control module judges whether the vertical obstacle distance is smaller than a vertical avoidance threshold value or not, and controls the sweeping disc and the spray rod to contract upwards through the hydraulic valve bank if the vertical obstacle distance is smaller than the vertical avoidance threshold value.
After the intelligent control module judges that the obstacle distance is smaller than the avoidance threshold value, the intelligent control module can control the loudspeaker to sound to prompt the driver to pay attention to the road condition, and the driver decelerates and walks slowly.
In the working process, part of the two sweeping disks can respectively extend out to the two sides of the vehicle body, if the distance between the vehicle body and a barrier or a road shoulder on the road surface is too close, the sweeping disks are easy to rub against the barrier or the road shoulder, and the sweeping disks can be cleaned and lowered or damaged. Due to their operational requirements, the swashplates and spray bars need to be kept quite close to the road surface. If the device is in sound collision with obstacles on the road, the service life of the sweeping disc and the spray rod is likely to be damaged. The positions of the sweeping discs and the spray rods are adjusted in advance by utilizing the horizontal obstacle distance and the vertical obstacle distance, so that the cleaning quality of the sweeping discs and the spray rods can be guaranteed, and the service lives of the sweeping discs and the spray rods can be prolonged.
According to another embodiment, the intelligent environment recognition control system for sweeping and washing the vehicle further comprises an operation panel, wherein the operation panel comprises an operation switch and a display screen. The display screen is embedded in the operation panel and is connected with the image processing module.
The operating switch is connected with the intelligent control module and comprises a power switch, an auxiliary engine switch, a spray rod switch, a sweeping disc switch, a sucker switch and a washing and sweeping control switch.
The power switch is a switch of a power supply of the main controller, the sensor group and the operation panel; the auxiliary engine switch is used for sending an instruction for opening and closing an auxiliary engine to the intelligent control module, the spray rod switch is used for sending an instruction for electrifying the spray rod to the intelligent control module, the tray sweeping switch is used for sending an instruction for electrifying the tray sweeping to the intelligent control module, and the sucker switch is used for sending an instruction for electrifying the sucker to the intelligent control module.
The washing and sweeping control switch comprises a washing gear, a washing and sweeping gear and a dry sweeping gear, the washing gear is used for sending an instruction of only opening the spray rod to the intelligent control module, the washing and sweeping gear is used for sending an instruction of simultaneously opening the spray rod, the sweeping disc and the sucking disc to the intelligent control module, and the dry sweeping gear is used for sending an instruction of only opening the sweeping disc and the sucking disc to the intelligent control module. When special weather is met, such as just raining or raining, the driver can adjust the washing and sweeping control switch to the dry sweeping gear, so that water can be saved, and waste is prevented.
In this embodiment, before step S1, the method further includes the following steps: the driver turns on the operating switch, the auxiliary engine, the main controller and the sensor group are electrified and start to work, and the spray rod, the sweeping disc and the suction disc work according to the gears of the washing and sweeping control switch after being electrified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of the term does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (3)
1. The utility model provides a sweep carwash intelligence environmental recognition control system which characterized in that includes: the system comprises a sensor group, a main controller and a tool group;
the sensor group comprises a visual sensor, a laser emitter, an infrared sensor and an ultrasonic sensor, and the visual sensor, the laser emitter, the infrared sensor and the ultrasonic sensor are all arranged on the vehicle body; the visual sensor is used for acquiring a road surface image, the ultrasonic sensor is used for detecting garbage on the road surface and acquiring garbage distribution information, and the directions of the visual sensor and the ultrasonic sensor are consistent; the laser transmitter is used for measuring a vertical obstacle distance and a horizontal obstacle distance; the infrared sensor is used for acquiring air quality information of the surrounding environment;
the main controller comprises an image processing module, an image preprocessing module, a multi-source information fusion module and an intelligent control module;
the image preprocessing module is configured to process the road surface image into a preprocessed road surface image, the image preprocessing module being further configured to generate an ultrasonic image from the garbage distribution information; the multi-source information fusion module is configured to acquire garbage type information according to the preprocessed pavement image and the ultrasonic image, wherein the garbage type information comprises the number of solid garbage and the proportion of dirty garbage; the image processing module is configured to mark a rubbish type on the road surface image according to the rubbish type information; the intelligent control module is configured to regulate the toolset according to the vertical obstacle distance, the horizontal obstacle distance, the air quality information and the garbage type information.
2. The intelligent environment recognition control system for sweeping and washing the car according to claim 1, wherein:
the tool set comprises an air valve group, a hydraulic valve group, an auxiliary engine, a fan, a high-pressure water pump, a sweeping disc, a spray rod, a sucker and a loudspeaker, the intelligent control module is connected with the air valve group, the hydraulic valve group, the auxiliary engine, the sweeping disc and the loudspeaker, and the sweeping disc, the spray rod and the sucker are sequentially arranged below the vehicle body along the length direction of the vehicle body;
the loudspeaker is used for emitting prompt tones;
the intelligent control module is in control connection with the suckers and the spray rods through the gas valve group, and the gas valve group is used for controlling the suction force of the suckers and the spray intensity of the spray rods;
the intelligent control module is in control connection with the sweeping disc and the spray rod through the hydraulic valve bank, and the hydraulic valve bank is used for controlling the sweeping disc and the spray rod to perform retraction operation and extension operation;
the intelligent control module is connected with the fan and the high-pressure water pump through the auxiliary engine in a control mode, and the auxiliary engine is in transmission connection with the fan and the high-pressure water pump;
the fan is connected with the sucker and used for providing suction force for sucking garbage to the sucker; the high-pressure water pump is connected with the spray rod and used for providing water flow for the spray rod.
3. The intelligent environment recognition control system for sweeping and washing the car according to claim 1, wherein:
the image processing device further comprises an operation panel, wherein the operation panel comprises an operation switch and a display screen, the display screen is embedded in the operation panel, and the display screen is connected with the image processing module;
the operating switch is connected with the intelligent control module and comprises a power switch, an auxiliary engine switch, a spray rod switch, a sweeping disc switch, a sucking disc switch and a washing and sweeping control switch;
the power switch is a switch of the power supply of the main controller, the sensor group and the operation panel; the auxiliary engine switch is used for sending an instruction for opening and closing the auxiliary engine to the intelligent control module, the spray rod switch is used for sending an instruction for electrifying the spray rod to the intelligent control module, the tray sweeping switch is used for sending an instruction for electrifying the tray sweeping to the intelligent control module, and the sucker switch is used for sending an instruction for electrifying the sucker to the intelligent control module;
wash and sweep control switch including wash keep off, wash and sweep the shelves futilely, wash keep off be used for to intelligent control module sends and only opens the instruction of spray lance, wash sweep the shelves be used for to intelligent control module sends and opens simultaneously the spray lance, sweep the instruction of dish and sucking disc, sweep the shelves futilely be used for to intelligent control module sends and only opens sweep the instruction of dish and sucking disc.
Applications Claiming Priority (2)
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