CN-116104036-B - Intelligent road sweeper and control method and device thereof

CN116104036BCN 116104036 BCN116104036 BCN 116104036BCN-116104036-B

Abstract

The invention provides an intelligent road sweeper and a control method and device thereof, and relates to the technical field of sweeper. The control method includes steps S01 to S05, and step S10. S01, acquiring a picture shot by a front camera and preprocessing the picture. S02, acquiring an area to be cleaned through an image segmentation algorithm according to the preprocessed picture shot by the front camera. S03, acquiring the type and the area of the garbage to be cleaned through a target detection algorithm according to the area to be cleaned. S04, obtaining the road surface cleanliness according to the type and the area of the garbage to be cleaned. And S05, acquiring the power of the exhaust fan, the power of the second driving assembly and the power of the water pump according to the road surface cleanliness. And S10, when the area to be cleaned enters the bottom of the vehicle body, the exhaust fan, the second driving assembly and the water pump are controlled to operate with power. The intelligent road sweeper automatically recognizes the dirty condition in front of the vehicle, automatically adjusts suction force of the sucker, water pressure of the spray head and rotating speed of the brush, and cleans up the ground with minimum energy consumption.

Inventors

LIN TIANLIANG
WEN JIANHE
CHEN QIHUAI
YAO YU
MIAO CHENG
LI ZHONGSHEN
FU SHENGJIE
REN HAOLING
GUO TONG

Assignees

华侨大学

Dates

Publication Date: 20260508
Application Date: 20230113

Claims (7)

1. An intelligent road sweeper, characterized by comprising: A vehicle body; the dust collection device (5) comprises a dustbin (6) arranged on the vehicle body, a suction nozzle and an exhaust fan, wherein the suction nozzle is positioned below the vehicle body, and the exhaust fan is connected with the suction nozzle and the dustbin (6) and is configured to suck objects in front of the suction nozzle into the dustbin (6); the cleaning device (1) comprises a disc brush, a first driving assembly and a second driving assembly, wherein the disc brush, the first driving assembly and the second driving assembly are arranged on the vehicle body, the disc brush is positioned on two sides of the bottom of the vehicle body, the first driving assembly is used for driving the disc brush to lift, and the second driving assembly is used for driving the disc brush to rotate; the flushing device comprises a water tank, a spray head and a water pump, wherein the water tank, the spray head and the water pump are arranged on the vehicle body; The detection device comprises a front camera (2) arranged on the vehicle body, wherein the front camera (2) is configured to shoot a road surface image in front of the vehicle body; -a control device (7) electrically connected to the front camera (2), the suction fan, the first drive assembly, the second drive assembly and the water pump, the control device (7) comprising a processor and a memory, the processor being configured to execute a computer program stored in the memory to implement: acquiring a picture shot by the front camera (2) and preprocessing the picture; Acquiring an area to be cleaned through an image segmentation algorithm according to a picture shot by the preprocessed front camera (2); According to the area to be cleaned, acquiring the category and the area of the garbage to be cleaned through a target detection algorithm; obtaining road surface cleanliness according to the type and the area of the garbage to be cleaned, wherein the road surface cleanliness The calculation model of (2) is as follows: In which, in the process, And The road surface cleanliness correction coefficient is the weight sum of all garbage in the area to be cleaned, C1 is the ratio of the area of all garbage in the area to be cleaned to the area of the area to be cleaned, and S is the area of the area to be cleaned; Acquiring the power of the exhaust fan, the power of the second driving assembly and the power of the water pump according to the road surface cleanliness, wherein the power is a preset value according to the road surface cleanliness; when the area to be cleaned enters the bottom of the main body, controlling the exhaust fan, the second driving assembly and the water pump to operate according to the power; The detection device further comprises a rear camera (3) arranged on the vehicle body, wherein the rear camera (3) is configured to shoot a road surface image behind the vehicle body; When the area to be cleaned enters the bottom of the main body, the exhaust fan, the second driving assembly and the water pump are controlled to operate according to the power, and then the cleaning device further comprises: Acquiring a picture shot by the rear camera (3) and preprocessing the picture; acquiring a picture after cleaning the area to be cleaned through an image matching algorithm according to the picture shot by the preprocessed rear camera (3); According to the picture after cleaning the area to be cleaned, acquiring the types of the uncleaned garbage through a target detection algorithm; And correcting the weight of the type of the uncleaned garbage according to the type of the uncleaned garbage, wherein the weight for correcting the type of the uncleaned garbage comprises a weight value of +1 of the type of the uncleaned garbage.
2. The intelligent road sweeper according to claim 1, characterized in that the sweeper (1) further comprises a pressure sensor configured to detect the pressure of the disc brush against the road surface; the power of the exhaust fan, the second driving assembly and the water pump is obtained according to the road surface cleanliness, and the method specifically comprises the following steps: Acquiring the power of the exhaust fan, the first driving assembly, the second driving assembly and the water pump according to the road surface cleanliness; When the area to be cleaned enters the bottom of the main body, the exhaust fan, the second driving assembly and the water pump are controlled to operate according to the power, and the cleaning device specifically comprises: When the area to be cleaned enters the bottom of the main body, the exhaust fan, the first driving assembly, the second driving assembly and the water pump are controlled to operate according to the power.
3. The intelligent road sweeper of claim 1 wherein the initial weight of each garbage category is 1, the initial weight of paper towels is 2, the initial weight of garbage bags is 3, the initial weight of soil is 4, and the initial weight of stones is 5; weight sum of all garbage in area to be cleaned The calculation model of (2) is as follows: in the formula, Is the number of the garbage detected in the area to be cleaned, The weight of the nth garbage; The ratio of the area of all the refuse in the area to be cleaned to the area of the area to be cleaned The calculation model of (2) is as follows: in the formula, Is the number of the garbage detected in the area to be cleaned, A target detection frame width representing the object, Representing the height of the object target detection frame, and S represents the area of the cleaning area; the corresponding relation between the power and the road surface cleanliness is as follows: when the road surface cleanliness is not more than 50, the rotating speed of the disc brush is 60r/min, the rotating speed of the exhaust fan is 1200r/min, and the water pump does not work; When the road surface cleanliness is not more than 100, the rotating speed of the disc brush is 80r/min, the rotating speed of the exhaust fan is 1500r/min, and the water pump does not work; When the road surface cleanliness is not more than 150, the rotating speed of the disc brush is 90r/min, the rotating speed of the exhaust fan is 2000r/min, and the working pressure of the water pump is 5mpa; When the road surface cleanliness is not more than 200, the rotating speed of the disc brush is 100r/min, the rotating speed of the exhaust fan is 2500r/min, and the working pressure of the water pump is 8mpa; When the road surface cleanliness is more than 250, the rotating speed of the disc brush is 120r/min, the rotating speed of the exhaust fan is 3000r/min, and the working pressure of the water pump is 10mpa.
4. An intelligent road sweeper according to any one of claims 1 to 3, characterized in that said obtaining and preprocessing the pictures taken by said front camera (2) comprises: the pictures shot by the front camera (2) are acquired; The method comprises the steps of carrying out graying, geometric transformation and image enhancement on a picture shot by the front camera (2) to obtain a preprocessed picture shot by the front camera (2); the method for acquiring the area to be cleaned by the image segmentation algorithm according to the picture shot by the preprocessed front camera (2) specifically comprises the following steps: Acquiring an area to be cleaned through an image semantic segmentation algorithm based on an FCN-8S network structure according to a picture shot by the preprocessed front camera (2); the method for acquiring the category and the area of the garbage to be cleaned through the target detection algorithm according to the area to be cleaned specifically comprises the following steps: and acquiring the type and the area of the garbage to be cleaned through a target detection algorithm based on yolov network structures according to the area to be cleaned, wherein the area of the garbage to be cleaned is the width and the height of a target frame.
5. An intelligent road sweeper according to any one of claims 1 to 3, characterized in that the detection means further comprises a radar (4) arranged on the main body of the sweeper, the radar (4) being configured to detect the position of the refuse to be cleaned in front of the main body; when the area to be cleaned enters the bottom of the main body, the exhaust fan, the second driving assembly and the water pump are controlled to operate according to the power, and the cleaning device further comprises: the picture of the area to be cleaned and the detection data of the radar (4) are subjected to joint calibration, and the position information of garbage to be cleaned in the area to be cleaned is obtained; acquiring the distance between the garbage to be cleaned and the vehicle body according to the position information; Acquiring the moving speed of the vehicle body; acquiring the time for the garbage to be cleaned to pass through the bottom of the vehicle body according to the distance and the moving speed; When the area to be cleaned enters the bottom of the main body, the exhaust fan, the second driving assembly and the water pump are controlled to operate according to the power, and the cleaning device specifically comprises: and controlling the exhaust fan, the second driving assembly and the water pump to operate according to the time when the garbage to be cleaned passes through the bottom of the vehicle body and the power.
6. A control method of an intelligent road sweeper, characterized by controlling an intelligent road sweeper according to any one of claims 1 to 5; The control method comprises the following steps: Acquiring a picture shot by the front camera and preprocessing the picture; acquiring an area to be cleaned through an image segmentation algorithm according to a picture shot by the preprocessed front camera; According to the area to be cleaned, acquiring the category and the area of the garbage to be cleaned through a target detection algorithm; obtaining road surface cleanliness according to the type and the area of the garbage to be cleaned, wherein the road surface cleanliness The calculation model of (2) is as follows: In which, in the process, And The road surface cleanliness correction coefficient is the weight sum of all garbage in the area to be cleaned, C1 is the ratio of the area of all garbage in the area to be cleaned to the area of the area to be cleaned, and S is the area of the area to be cleaned; Acquiring the power of the exhaust fan, the power of the second driving assembly and the power of the water pump according to the road surface cleanliness, wherein the power is a preset value according to the road surface cleanliness; when the area to be cleaned enters the bottom of the vehicle body, the exhaust fan, the second driving assembly and the water pump are controlled to operate according to the power.
7. A control device of an intelligent road sweeper, characterized by being used for executing the control method of the intelligent road sweeper according to claim 6; the control device comprises: The front image acquisition module is used for acquiring images shot by the front camera and preprocessing the images; The front image segmentation module is used for acquiring an area to be cleaned through an image segmentation algorithm according to the preprocessed image shot by the front camera; The front picture identification module is used for acquiring the type and the area of the garbage to be cleaned through a target detection algorithm according to the area to be cleaned; The cleanliness calculating module is used for obtaining the pavement cleanliness according to the type and the area of the garbage to be cleaned, wherein the pavement cleanliness is obtained by the aid of the cleanliness calculating module The calculation model of (2) is as follows: In which, in the process, And The road surface cleanliness correction coefficient is the weight sum of all garbage in the area to be cleaned, C1 is the ratio of the area of all garbage in the area to be cleaned to the area of the area to be cleaned, and S is the area of the area to be cleaned; The cleaning power acquisition module is used for acquiring the powers of the exhaust fan, the second driving assembly and the water pump according to the road surface cleanliness, wherein the power is a preset value according to the road surface cleanliness; And the execution module is used for controlling the exhaust fan, the second driving assembly and the water pump to operate according to the power when the area to be cleaned enters the bottom of the vehicle body.

Description

Intelligent road sweeper and control method and device thereof Technical Field The invention relates to the technical field of sweeper trucks, in particular to an intelligent road sweeper truck and a control method and device thereof. Background The road sweeper is provided with the sweeping brush, the suction nozzle and the spray head on the automobile chassis, so that the road surface is flushed and cleaned, garbage is sucked into the dustbin, and the road surface cleaning, garbage recovery and transportation operation are completed, so that the road surface is ensured to be clean. The rotation speed of the traditional road sweeper brush, the pressure of the brush on the ground, the suction force of the suction nozzle and the water flow pressure of the spray nozzle can not be adjusted, and the road sweeper brush is set according to the dirtiest road surface by default. Therefore, when cleaning a relatively clean road surface, the maximum power is used for cleaning, and a large amount of resource waste is caused. The working power of each component of the road sweeper with adjustable part of sweeping power can be manually controlled in an instrument panel of a cab. However, the manual control requires the control personnel in the cab to timely pay attention to the condition of the road surface and make accurate judgment, so that the control difficulty of the road sweeper is improved, and the difficulty is also increased for safe driving of the driver. In view of the above, the applicant has studied the prior art and has made the present application. Disclosure of Invention The invention provides an intelligent road sweeper and a control method and device thereof, which aim to improve at least one of the technical problems. A first aspect, The embodiment of the invention provides an intelligent road sweeper, which comprises a sweeper main body, a dust collection device, a sweeping device, a flushing device, a detection device and a control device. The dust suction device comprises a dustbin arranged on the main body suction nozzle and air exhauster. The suction nozzle is positioned below the vehicle body. The suction fan is coupled to the suction nozzle and the dustbin and is configured to suck objects in front of the suction nozzle into the dustbin. The cleaning device comprises a disc brush, a first driving assembly and a second driving assembly, wherein the disc brush is arranged on the vehicle body. The disk brushes are positioned at two sides of the bottom of the vehicle body. The first driving assembly is configured to drive the disk brush to lift. The second drive assembly is configured to drive the disk brush to rotate. The flushing device comprises a water tank, a spray head and a water pump which are arranged on the vehicle body. The shower nozzle is located the below of car main part. The water pump is coupled to the water tank and the spray head and is configured to flush water from the water tank through the spray head toward the road surface. The detection device comprises a front camera arranged on the vehicle body. The front camera is configured to capture an image of a road surface in front of the vehicle body. The control device is electrically connected with the front camera, the exhaust fan, the first driving assembly, the second driving assembly and the water pump. The control device includes a processor and a memory. The processor is configured to execute the computer program stored in the memory to implement steps S01 to S05, and step S10. S01, acquiring a picture shot by a front camera and preprocessing the picture. S02, acquiring an area to be cleaned through an image segmentation algorithm according to the preprocessed picture shot by the front camera. S03, acquiring the type and the area of the garbage to be cleaned through a target detection algorithm according to the area to be cleaned. S04, obtaining the road surface cleanliness according to the type and the area of the garbage to be cleaned. The calculation model of the road surface cleanliness AC is as follows: where α and β are road surface cleanliness correction coefficients, C1 is a weight sum of all the refuse in the area to be cleaned, C2 is a ratio of an area of all the refuse in the area to be cleaned to an area of the area to be cleaned, and S is an area of the area to be cleaned. And S05, acquiring the power of the exhaust fan, the power of the second driving assembly and the power of the water pump according to the road surface cleanliness. Wherein, the power is a value preset according to the road surface cleanliness. And S10, when the area to be cleaned enters the bottom of the vehicle body, the exhaust fan, the second driving assembly and the water pump are controlled to operate with power. A second aspect, The embodiment of the invention provides a control method of an intelligent road sweeper, which comprises the steps of S01 to S05 and S10. S01, acquiring a picture shot by a front camera and preprocessing the