CN108181903A - A kind of sanitation cart working path planing method based on the detection of road surface cleannes - Google Patents
A kind of sanitation cart working path planing method based on the detection of road surface cleannes Download PDFInfo
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- CN108181903A CN108181903A CN201711445813.1A CN201711445813A CN108181903A CN 108181903 A CN108181903 A CN 108181903A CN 201711445813 A CN201711445813 A CN 201711445813A CN 108181903 A CN108181903 A CN 108181903A
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- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000001514 detection method Methods 0.000 title claims abstract description 67
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 70
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000003749 cleanliness Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 71
- 230000003020 moisturizing effect Effects 0.000 claims description 23
- 238000005303 weighing Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 description 14
- 230000001105 regulatory effect Effects 0.000 description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000004134 energy conservation Methods 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 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
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/14—Rainfall or precipitation gauges
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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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses a kind of sanitation cart working path planing methods based on the detection of road surface cleannes, and road surface cleannes are determined using following methods；Method 1：The increment of rubbish determines road surface cleannes in dustbin in the unit of account time；Method 2：Road surface cleannes are judged by driver's view-based access control model；Method 3：Camera in sanitation cart front end is installed and is sent to remote monitoring platform to obtain to clean live pavement image and live pavement image will be cleaned, road surface cleannes are determined based on the cleaning scene pavement image that camera obtains by the operator of remote control table；The rotating speed of motor is cleaned based on road surface cleanliness control；Sanitation cart working path planing method further includes rubbish and topples over control method.The sanitation cart working path planing method based on the detection of road surface cleannes is easy to implement, can realize Intelligent watering and dump rubbish.
Description
Technical field
The present invention relates to a kind of sanitation cart working path planing methods based on the detection of road surface cleannes.
Background technology
When the existing responsible sanitation cart for cleaning road surface in its travelling route, needs to add water, when needs to topple over rubbish
Rubbish is required to manually voluntarily determine, often leads to problems with：
(1) filling up area closest because of water shortage farther out, and need return plus water, sweeping efficiency is caused to reduce, with
And oil consumption or electric energy is caused to increase；
(2) because trash repository completely need to retract refuse depot dump rubbish be further continued for operation cause operating efficiency reduce and
Oil consumption or electric energy is caused to increase；
Therefore, it is necessary to design a kind of new sanitation cart working path planing method detected based on road surface cleannes.
Invention content
The technical problems to be solved by the invention are to provide a kind of sanitation cart working path detected based on road surface cleannes
Planing method can should intelligently adjust cleaning motor speed based on the sanitation cart working path planing method that road surface cleannes detect.
The technical solution of invention is as follows：
A kind of sanitation cart working path planing method based on the detection of road surface cleannes, which is characterized in that use with lower section
Method determines road surface cleannes；
Method 1：The increment of rubbish determines road surface cleannes in dustbin in the unit of account time；
Method 2：Road surface cleannes are judged by driver's view-based access control model；
Method 3：Camera is installed in sanitation cart front end to obtain the live pavement image of cleaning and live road surface figure will be cleaned
It is true based on the cleaning scene pavement image that camera obtains by the operator of remote control table as being sent to remote monitoring platform
Determine road surface cleannes；
The rotating speed of motor is cleaned based on road surface cleanliness control；Road surface is more cleaned, then the rotating speed for cleaning motor is smaller；
Sanitation cart working path planing method further includes rubbish and topples over control method.
In method 1, rotating speed n=k2* γ 2, γ 2 are work unit milimeter number mean Spam collecting amount；
K2 is constant.
In method 2 and method 3, cleannes are set as 5 grades, rotating speed n=i*k3* γ 2, i=1,2 ..., 5, i represent grade
Not, k3 represents constant, i.e. rank is higher, and rotating speed is bigger.
The sanitation cart working path planing method based on the detection of road surface cleannes further includes water compensating control method；
Environmental protection working vehicle based on the detection of road surface cleannes includes watering mechanism and garbage collecting mechanism；Further include control
Device, speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level pass
Sensor and dustbin capacity sensor are connected with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Controller is also associated with locating module；
Controller based on locating module calculate environmental protection working vehicle in nearest △ t period operating range △ s, based on rubbish
Rubbish tankage sensor calculates increment △ V of the rubbish tankage in unit distance；
Calculate work unit milimeter number mean Spam collecting amount γ 2=△ V/ △ s；It is controlled based on γ 2 and cleans motor
Rotating speed n.
Camera and communication module are further included on environmental protection working vehicle.
In method 2, driver presses first by button or touch screen input cleannes level signal, such as 5 buttons
Button represents that current cleannes are 1 grade, etc.；In method 2, remote control person leads to man-machine interface and sends cleannes level signal
To sanitation cart.
The present invention can also be according to rainfall detection with water-saving；
A kind of sanitation cart job control method based on rainfall detection, Operation Van are examined by the rainfall based on rain sensor
Real-time rainfall value during slowdown monitoring circuit detection operation；According to the aperture of rainfall value regulating pondage regulating valve to adjust in cleaning agency
Water spray, with the water storage dosage in water saving tank.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rain
The output voltage values of quantity sensor.K1 is according to actual conditions value.
Including the water compensating control method based on rainfall detection；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；Whether needed plus water as in Z2, then in next section (i.e. Z1 to z2
Between section) determine again.
After sanitation cart crosses moisturizing point Z1, then return to step 11；After return to step 11, Z1 and Z2 are redefined.
The computational methods of work unit milimeter number averagely watering amount β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
Sanitation cart at the uniform velocity travels；At the uniform velocity refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.Such as it is
20km/h。
Cistern water level is obtained by water level sensor measurement, and sanitation cart is equipped with controller (such as MCU), has in controller
For the computing module of calculating parameter.
It further includes rubbish and topples over control method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances；
Operation terminal also there is rubbish to topple over place.
It has collected quantity of refuse and has passed through detection or use proximity sensor or the ultrasonic sensor detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The calculation formula of work unit milimeter number mean Spam collecting amount is:γ 2=(M-b)/k.
A kind of environmental protection working vehicle based on rainfall detection, including watering mechanism and garbage collecting mechanism；Further include controller,
Speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level sensor
It is connected with dustbin capacity sensor with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Environmental protection working vehicle further includes rainfall detection circuit, and rainfall detection circuit includes rain sensor and amplifier；Rainfall
The signal of sensor output enters controller by amplifier；Controller also controls the aperture of water regulating valve, specific control electricity
Road is existing mature technology.
Amplifier is the adjustable amplifier of amplification factor based on multiple selector.
Multiple selector selects a multiple selector for four, and the amplifier is OP07 operational amplifiers.
The signal output end output rain collection signal Vin of rain sensor, the signal output end is through resistance R0's
The inverting input of operational amplifier (model OP07 uses LM353 etc.) is connect, the noninverting input of operational amplifier is through electricity
R0 ground connection is hindered, the noninverting input of operational amplifier also connects four through 4 resistance R01-R04 respectively and selects 4 of a selector to input
Channel, four, which select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier OP07, connects the ADC ends of controller；
2 output ports of controller connect four and the channel of a selector are selected to select end A and B respectively；
The power plant of the sanitation cart is driven using lithium battery.New-energy automobile, energy conservation and environmental protection.Combustion can also be used
Oily vehicle or mixed motor-car.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rain
The output voltage values of quantity sensor；K1 is according to actual conditions value.
The sanitation cart is driven by lithium battery.Using new-energy automobile, energy conservation and environmental protection.Sanitation cart can also use fuel oil
Vehicle or using hybrid electric vehicle.
In addition, multiple sanitation carts have locating module, and all wirelessly communicate and connect with monitor supervision platform.
It is connected in addition, each sanitation cart is wirelessly communicated with remote monitoring center, and receives remote monitoring center and send out
Instruction, instruction include path planning instruction, i.e., each vehicle is completed jointly according to what route running by multiple sanitation carts
Some region of cleaning work.Sanitation cart has locating module in itself, can be travelled according to path planning, avoid yawing, can realize
The manipulation downward driving of unmanned automatic driving or remote platform.
Advantageous effect：
The present invention based on road surface cleannes detection sanitation cart working path planing method, by cistern water level detect with
And the detection of the real-time residual capacity of dustbin, in conjunction with current location to the distance of nearest moisturizing point and rubbish pour(ing) point,
Synthesis judges wherein moisturizing in advance, wherein dumps rubbish, can significantly improve cleaning work efficiency, is also avoided that and walks stroke more
Sweeper energy consumption is caused to increase, in addition, the present invention can also implement water spray control by rainfall detection, thus using water wisely,
Further, the present invention is also based on road surface cleannes detection and realizes the rotating speed control for cleaning motor so that entire operation
Journey is more intelligent.Thus, the sanitation cart working path planing method of the invention based on the detection of road surface cleannes has significant warp
Benefit of helping and social benefit.
Description of the drawings
Fig. 1 is sanitation cart working path and area schematic.
Fig. 2 is schematic block circuit diagram.
Specific embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1 and 2, a kind of sanitation cart job control method based on rainfall detection, Operation Van is by being based on
Real-time rainfall value during the rainfall detection circuit detection operation of rain sensor；According to opening for rainfall value regulating pondage regulating valve
Degree is to adjust the water spray in cleaning agency, with the water storage dosage in water saving tank.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rain
The output voltage values of quantity sensor.K1 is according to actual conditions value.
Including the water compensating control method based on rainfall detection；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；Whether needed plus water as in Z2, then in next section (i.e. Z1 to z2
Between section) determine again.
After sanitation cart crosses moisturizing point Z1, then return to step 11；After return to step 11, Z1 and Z2 are redefined.
The computational methods of work unit milimeter number averagely watering amount β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
Sanitation cart at the uniform velocity travels；At the uniform velocity refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.Such as it is
20km/h。
Cistern water level is obtained by water level sensor measurement, and sanitation cart is equipped with controller (such as MCU), has in controller
For the computing module of calculating parameter.
It further includes rubbish and topples over control method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances；
Operation terminal also there is rubbish to topple over place.
It has collected quantity of refuse and has passed through detection or use proximity sensor or the ultrasonic sensor detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The calculation formula of work unit milimeter number mean Spam collecting amount is:γ 2=(M-b)/k.
A kind of environmental protection working vehicle based on rainfall detection, including watering mechanism and garbage collecting mechanism；Further include controller,
Speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level sensor
It is connected with dustbin capacity sensor with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Environmental protection working vehicle further includes rainfall detection circuit, and rainfall detection circuit includes rain sensor and amplifier；Rainfall
The signal of sensor output enters controller by amplifier；Controller also controls the aperture of water regulating valve, specific control electricity
Road is existing mature technology.
Amplifier is the adjustable amplifier of amplification factor based on multiple selector.
Multiple selector selects a multiple selector for four, and the amplifier is OP07 operational amplifiers.
The signal output end output rain collection signal Vin of rain sensor, the signal output end is through resistance R0's
The inverting input of operational amplifier (model OP07 uses LM353 etc.) is connect, the noninverting input of operational amplifier is through electricity
R0 ground connection is hindered, the noninverting input of operational amplifier also connects four through 4 resistance R01-R04 respectively and selects 4 of a selector to input
Channel, four, which select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier OP07, connects the ADC ends of controller；
2 output ports of controller connect four and the channel of a selector are selected to select end A and B respectively；
The power plant of the sanitation cart is driven using lithium battery.New-energy automobile, energy conservation and environmental protection.Combustion can also be used
Oily vehicle or mixed motor-car.
Aperture (percentage) K=1-k1*Rx of water regulating valve；K1 is constant, and the value of K is between 0-1；Rx is rain
The output voltage values of quantity sensor；K1 is according to actual conditions value.
The sanitation cart is driven by lithium battery.Using new-energy automobile, energy conservation and environmental protection.Sanitation cart can also use fuel oil
Vehicle or using hybrid electric vehicle.
The present invention can also detect implementation path planning according to road surface cleannes；
A kind of sanitation cart working path planing method based on the detection of road surface cleannes, which is characterized in that use with lower section
Method determines road surface cleannes；
Method 1：The increment of rubbish determines road surface cleannes in dustbin in the unit of account time；
Method 2：Road surface cleannes are judged by driver's view-based access control model；
Method 3：Camera is installed in sanitation cart front end to obtain the live pavement image of cleaning and live road surface figure will be cleaned
It is true based on the cleaning scene pavement image that camera obtains by the operator of remote control table as being sent to remote monitoring platform
Determine road surface cleannes；
The rotating speed of motor is cleaned based on road surface cleanliness control；Road surface is more cleaned, then the rotating speed for cleaning motor is smaller；
Sanitation cart working path planing method further includes rubbish and topples over control method.
In method 1, rotating speed n=k2* γ 2, γ 2 are work unit milimeter number mean Spam collecting amount；
K2 is constant.
In method 2 and method 3, cleannes are set as 5 grades, rotating speed n=i*k3* γ 2, i=1,2 ..., 5, i represent grade
Not, k3 represents constant, i.e. rank is higher, and rotating speed is bigger.
The sanitation cart working path planing method based on the detection of road surface cleannes further includes water compensating control method；
Environmental protection working vehicle based on the detection of road surface cleannes includes watering mechanism and garbage collecting mechanism；Further include control
Device, speed detection sensor, cistern water level sensor and dustbin capacity sensor；Speed detection sensor, cistern water level pass
Sensor and dustbin capacity sensor are connected with controller；Watering mechanism and garbage collecting mechanism are controlled by controller；
Controller is also associated with locating module；
Controller based on locating module calculate environmental protection working vehicle in nearest △ t period operating range △ s, based on rubbish
Rubbish tankage sensor calculates increment △ V of the rubbish tankage in unit distance；
Calculate work unit milimeter number mean Spam collecting amount γ 2=△ V/ △ s；It is controlled based on γ 2 and cleans motor
Rotating speed n.
Camera and communication module are further included on environmental protection working vehicle.
In method 2, driver presses first by button or touch screen input cleannes level signal, such as 5 buttons
Button represents that current cleannes are 1 grade, etc.；In method 2, remote control person leads to man-machine interface and sends cleannes level signal
To sanitation cart.
In addition, multiple sanitation carts have locating module, and all wirelessly communicate and connect with monitor supervision platform.
It is connected in addition, each sanitation cart is wirelessly communicated with remote monitoring center, and receives remote monitoring center and send out
Instruction, instruction include path planning instruction, i.e., each vehicle is completed jointly according to what route running by multiple sanitation carts
Some region of cleaning work.Sanitation cart has locating module in itself, can be travelled according to path planning, avoid yawing, can realize
The manipulation downward driving of unmanned automatic driving or remote platform.
It has collected quantity of refuse and has passed through detection of weighing.
Quantity of refuse has been collected to detect by infrared emission pipe.Infrared emission pipe is used to check that the sanitary fill of dustbin to be high
Degree, infrared emission pipe are multigroup, vertical equidistantly arrangement.
The operation principle of rainfall detection is as follows：
The signal output end output rain collection signal Vin of rain sensor, the signal output end is through resistance R0's
The inverting input of operational amplifier OP07 (or using LM353 etc.) is connect, the noninverting input of operational amplifier OP07 is through resistance
R0 is grounded, the noninverting input of operational amplifier OP07 also respectively through 4 resistance R01-R04 connect four select 4 of a selector it is defeated
Enter channel, four, which select the output channel of a selector to meet the output end vo ut, Vout of operational amplifier OP07, meets the ADC of controller
End；
In addition 2 output ports of controller connect four the channel of a selector are selected to select end A and B respectively；
The relationship of Vout and Vin is as follows：
Vout=Vin* (Rx+R0)/R0；
Wherein, Rx=R01, R02, R03 or R04；Determine which resistance selected based on gated end AB；And R01, R02,
R03 and R04 are different；Preferred R04=5*R03=25*R02=100*R01；R01=5*R0. it can conveniently realize
Range and precision switching.
Embodiment 2：
Original input information：Cistern water level (a) has collected quantity of refuse (b), current vehicle location information (X), current vehicle speed
(c), the activity duration (t), operation mileage travelled (k), specified rubbish have toppled over dot position information (Y), specified filling up area position
Information 1 (Z1), specified filling up area location information 2 (Z2), operation end point location information (F).
Water tank volume：L；Rubbish tankage：M
The data information calculated from original input information：
Current residual moisture storage capacity=a* ε；
Current residual rubbish tankage=M-b；
Work unit time averagely watering amount β 1=(L-a* ε)/t；
Work unit milimeter number averagely watering amount β 2=(L-a* ε)/k；
Work unit time mean Spam collecting amount γ 1=b/t；
Work unit milimeter number mean Spam collecting amount γ 2=b/k；
Current service line average speed ￡=k/t
Current vehicle location (X) and specified rubbish pour(ing) point position (Y) distance：S1；
Current vehicle location (X) and specified filling up area position (Z1) distance：S2；
Current vehicle location (X) and specified filling up area position (Z2) distance：S7；
Specified rubbish pour(ing) point (Y) and operation final position (F) distance：S3；
Specified filling up area (Z1) and operation final position (F) distance：S4；
Specified filling up area (Z2) and operation final position (F) distance：S8；
Note, ε are water tank cross-sectional area.
It reaches filling up area and is expected surplus water Ls=L-a* ε-S2* (L-a* ε)/k；
Reach expected rubbish pour(ing) point dustbin residual capacity Ms=M-b-S1*b/k；
Being expected when to cistern water level being zero can operation distance S5=(L-a* ε)/β 2；
Dustbin completely expection can operation distance S6=(M-b)/γ 2；
If 0≤Ls≤(S5-S2) * β 2＆S5<S7 then must add water in Z1 points；
If 2≤Ls of (S7-S2) * β≤(S8+S7) * β 2, can no longer Z1 points add water, but water must be added in Z2 points；
If 2≤Ms of S1* γ≤(S1+S3) * γ 2 must dump rubbish in Y points.
Claims (10)
1. a kind of sanitation cart working path planing method based on the detection of road surface cleannes, which is characterized in that using following methods
Determine road surface cleannes；
Method 1：The increment of rubbish determines road surface cleannes in dustbin in the unit of account time；
Method 2：Road surface cleannes are judged by driver's view-based access control model；
Method 3：Camera in sanitation cart front end is installed and is sent out with obtaining the live pavement image of cleaning and live pavement image will be cleaned
It send to remote monitoring platform, road is determined based on the cleaning scene pavement image that camera obtains by the operator of remote control table
Face cleannes；
The rotating speed of motor is cleaned based on road surface cleanliness control；
Sanitation cart working path planing method further includes rubbish and topples over control method.
2. the sanitation cart working path planing method according to claim 1 based on the detection of road surface cleannes, feature exist
In in method 1, rotating speed n=k2* γ 2, γ 2 are work unit milimeter number mean Spam collecting amount；
K2 is constant.[in method 2 and method 3, cleannes are set as 5 grades, rotating speed n=i*k3* γ 2, i=1,2 ..., 5, i table
Show rank, k3 represents constant, i.e. rank is higher, and rotating speed is bigger].
3. the sanitation cart working path planing method according to claim 1 based on the detection of road surface cleannes, feature exist
In further including water compensating control method；
Water compensating control method includes the following steps：
Step 11：The detection parameter related with moisturizing：
Detect or calculate following parameter：
(1) detection current residual moisture storage capacity Lx；
(2) work unit milimeter number averagely watering amount β 2；
(3) current location is calculated to the distance of 2 nearest moisturizing points of front, and unit is kilometer；
The distance for wherein arriving first nearest moisturizing point Z1 is S2, and the distance to secondary near moisturizing point Z2 is S7；
Step 12：Current location is calculated to the water loss Lz1 of Z1；Current location is calculated to the water loss Lz2 of Z2；
Lz1=S2* β 2；Lz2=S7* β 2；
Step 13：Judge whether to need to carry out moisturizing in Z1 moisturizings point：
If Lz1<Lx≤Lz2 then must add water in Z1 points；
If Lz2<Lx does not then add water in Z1 points；
After sanitation cart crosses moisturizing point Z1, then return to step 11.
4. the sanitation cart job control method according to claim 3 based on rainfall detection, which is characterized in that job ticket
The computational methods of position milimeter number averagely watering amount β 2 are：β 2=(L-a* ε)/k；
Wherein L is water tank volume, and a is water tank current level, and ε is water tank cross-sectional area, and k is operation mileage travelled.
5. the sanitation cart job control method according to claim 3 based on rainfall detection, which is characterized in that sanitation cart is even
Speed traveling；At the uniform velocity refer to speed in the range of ± the 10% of pre-set velocity v0, v0 is constant.
6. according to sanitation cart job control method of the claim 3-5 any one of them based on rainfall detection, which is characterized in that
Cistern water level is obtained by water level sensor measurement, and sanitation cart is equipped with controller, has based on calculating parameter in controller
Calculate module.
7. the sanitation cart job control method according to claim 6 based on rainfall detection, which is characterized in that further include rubbish
Rubbish topples over control method；
Rubbish is toppled over control method and is included the following steps：
Step 21：Detection topples over related parameter with rubbish：
Detect or calculate following parameter：
(1) detection has currently collected quantity of refuse b；
(2) work unit milimeter number mean Spam collecting amount γ 2
(3) current vehicle location and specified rubbish pour(ing) point position Y distances：S1；
Step 22：Calculating dustbin completely expection can operation distance S6=(M-b)/γ 2
Step 23：Judge whether to need to dump rubbish in specified rubbish pour(ing) point Y：
If S1≤S6 ＜ S1+S3, must dump rubbish in Y points；
M is rubbish tankage,
S3 is specified rubbish pour(ing) point Y and operation final position F distances.
8. the sanitation cart job control method according to claim 7 based on rainfall detection, which is characterized in that collected rubbish
Rubbish amount passes through detection of weighing.
9. the sanitation cart job control method according to claim 7 based on rainfall detection, which is characterized in that collected rubbish
Rubbish amount is detected by infrared emission pipe.
10. the sanitation cart job control method according to claim 7 based on rainfall detection, which is characterized in that operation
The calculation formula of unit milimeter number mean Spam collecting amount is:γ 2=(M-b)/k.
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