CN107578634B - A kind of the scheduling system and dispatching method of road cleaner - Google Patents
A kind of the scheduling system and dispatching method of road cleaner Download PDFInfo
- Publication number
- CN107578634B CN107578634B CN201710628951.7A CN201710628951A CN107578634B CN 107578634 B CN107578634 B CN 107578634B CN 201710628951 A CN201710628951 A CN 201710628951A CN 107578634 B CN107578634 B CN 107578634B
- Authority
- CN
- China
- Prior art keywords
- road
- section
- cleaner
- road cleaner
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004140 cleaning Methods 0.000 claims abstract description 69
- 230000007613 environmental effect Effects 0.000 claims description 18
- 239000010802 sludge Substances 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005406 washing Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 239000002689 soil Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000003703 image analysis method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
Abstract
The present invention provides the scheduling system and dispatching method of a kind of road cleaner, wherein system includes: that section obtains module, for the current location and destination according to road cleaner, obtains the road cleaner and reach at least one section of next relay point as candidate road section and the length of each candidate road section；Information of vehicles obtains module, for obtaining the average speed and cleaning standard degree of the road cleaner；Scheduler module, for according to the length of each candidate road section, the average speed of the road cleaner and preceding a road section cleaning standard degree, driven into candidate road section road cleaner number and averagely clean standard degree, a section, the running section as road cleaner are obtained from least one described candidate road section.The present invention combines Path selection with dynamic effects of the road cleaner to environment, improves the accurate scheduling of slag-soil truck, has standardized the traveling specification of slag-soil truck, has optimized the effective rate of utilization of road cleaner.
Description
Technical field
The present invention relates to technical field of vehicle navigation, more particularly, to the scheduling system and dispatching party of road cleaner
Method.
Background technique
With the high speed development of Real estate industry in the continuous propulsion of urbanization process and city, need in city
It is more and more to carry out clean road cleaner, due to lacking effective management, road cleaner is to the improvement of environment and unknown
It is aobvious.
The dispatching method of existing road cleaner usually arranges road cleaner inflexiblely, and is checking road cleaning
Vehicle occurs repairing road cleaner or arrange new road cleaning when obvious problem (not spraying water cannot perhaps sweep the floor)
Vehicle cleans, but this method ignores road cleaner to the dynamic effects of environment (especially air quality), and fixed road is clear
The sweep-out pattern of clean vehicle causes the waste of road cleaner, it is clear that the dispatching method of the road cleaner of the prior art, to row
Sail the ecological environment of area peripheral edge improvement do not play the role of it is due.
Summary of the invention
The present invention provides a kind of tune of road cleaner for overcoming the above problem or at least being partially solved the above problem
Degree system and dispatching method.
According to an aspect of the present invention, a kind of scheduling system of road cleaner is provided, comprising:
Section obtains module and obtains the road cleaner for the current location and destination according to road cleaner
At least one section of next relay point is reached as candidate road section and the length of each candidate road section；
Information of vehicles obtains module, for obtaining the average speed and cleaning standard degree of the road cleaner；
Scheduler module, for according to the length of each candidate road section, the average speed of the road cleaner and previous
The cleaning standard degree in section, driven into candidate road section road cleaner number and averagely clean standard degree, from it is described at least
A section, the running section as road cleaner are obtained in one candidate road section.
Preferably, the scheduling system of the road cleaner further include:
Navigation module, for being that the road cleaner navigates according to the running section of the road cleaner.
Preferably, the scheduling system of the road cleaner further include: control centre；
The section obtains module and is also used to:
The current location and destination of road cleaner are sent to the control centre, and are received the control centre and returned
Map；
The control centre is used for:
After receiving road cleaner current location and destination, determined according to current air quality index information
The a plurality of section between vehicle current location and destination is cleaned on road, and the map containing a plurality of section is back to institute
It states section and obtains module.
Preferably, the section obtains module and is specifically used for:
Using the direction of the current location of the road cleaner to destination as reference direction；
The direction in each section of next relay point and the angle of the reference direction are reached according to road cleaner, from small
To being ranked up greatly；
Forward a certain number of sections will be sorted as the candidate road section.
Preferably, the scheduler module is specifically used for:
To each candidate road section, according to the length of the candidate road section, the average speed of the road cleaner and preceding
The cleaning standard degree of a road section, driven into the candidate road section road cleaner number and averagely clean standard degree, obtain pair
Should candidate road section environmental impact assessment value, the environmental impact assessment value influences the environment in section for evaluation path cleaning vehicle；
Using candidate road section corresponding to minimum environmental impact assessment value as the running section of the road cleaner.
Preferably, the environmental impact assessment value of the correspondence candidate road section is obtained according to the following formula:
Wherein, QNIndicate the environmental impact assessment value of n-th candidate road section, riIndicate i-th road for having driven into n-th candidate road section
The cleaning standard degree of vehicle is cleaned, M indicates the sum for having driven into the road cleaner of n-th candidate road section within a certain period of time, l table
Show the length of n-th candidate road section, raIndicate the cleaning standard degree of preceding a road section of the road cleaner, v indicates the road
The average speed of road cleaning vehicle.
Preferably, the navigation module is also used to:
When the road cleaner drives into the running section, Xiang Suoshu scheduler module sends the first information of vehicles, when
When the road cleaner is driven out to the running section, Xiang Suoshu scheduler module sends the second information of vehicles；
The scheduler module is also used to:
According to first information of vehicles and the second information of vehicles, for the road cleaner for having driven into candidate road section is updated
Number and averagely cleaning standard degree；
Wherein, first information of vehicles includes the unique identification information of the road cleaner and drives into the traveling road
The time of section, second information of vehicles include the unique identification information of the road cleaner, are driven out to the running section
Time and cleaning standard degree in the running section.
Preferably, the cleaning standard degree includes that bath pressure specification degree, closed standard degree, speed standard degree and vehicle body are clear
Clean standard degree.
According to another aspect of the present invention, a kind of dispatching method of road cleaner is also provided, comprising:
According to the current location and destination of road cleaner, obtains the road cleaner and reach next relay point
At least one section is as candidate road section and the length of each candidate road section；
Obtain the average speed and cleaning standard degree of the road cleaner；
According to the length of each candidate road section, the cleaning specification of the average speed of the road cleaner and preceding a road section
It spends, driven into the number of the road cleaner of candidate road section and averagely clean standard degree, from least one described candidate road section
Obtain a section, the running section as road cleaner.
Preferably, the dispatching method of the road cleaner further include:
The a plurality of institute between road cleaner current location and destination is determined according to current air quality index information
State section.
The scheduling system and dispatching method for a kind of road cleaner that the application proposes, according to the present bit of road cleaner
It sets and destination, obtains the road cleaner and reach at least one section of next relay point as candidate road section and every
The length of a candidate road section obtains the average speed and cleaning standard degree of the road cleaner；According to each candidate road section
Length, the cleaning standard degree of the average speed of the road cleaner and preceding a road section, the road cleaning for having driven into candidate road section
The number of vehicle and averagely cleaning standard degree, obtain a section, as road cleaner from least one described candidate road section
Running section, the present invention combines Path selection with dynamic effects of the road cleaner to environment, improves slag-soil truck
Accurate scheduling, has standardized the traveling specification of slag-soil truck, has optimized the effective rate of utilization of road cleaner.
Detailed description of the invention
Fig. 1 is the functional block diagram according to the scheduling system of the road cleaner of the embodiment of the present invention；
Fig. 2 is the scene schematic diagram that next relay point is reached according to the road cleaner of the embodiment of the present invention；
Fig. 3 is the flow diagram according to the dispatching method of the road cleaner of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In order to overcome the above problem of the prior art, the embodiment of the present invention provides a kind of scheduling system of road cleaner,
Referring to Fig. 1, comprising:
Section obtains module and obtains the road cleaner for the current location and destination according to road cleaner
At least one section of next relay point is reached as candidate road section and the length of each candidate road section；
Information of vehicles obtains module, for obtaining the average speed and cleaning standard degree of the road cleaner；
Scheduler module, for according to the length of each candidate road section, the average speed of the road cleaner and it is preceding all the way
Section cleaning standard degree, driven into candidate road section road cleaner number and averagely cleaning standard degree, from described at least one
A section, the running section as road cleaner are obtained in a candidate road section.
For section obtains module, section obtains module and can be set on road cleaner, in road cleaner
Before carrying out operation, driver obtains the destination of module input road cleaner to section, and section obtains module itself can be with
Positioning unit is set, can also be connect with the positioning device being arranged on road cleaner, to obtain the position of road cleaner in real time
Confidence breath；According to the current location and destination of road cleaner, obtains road cleaner and reach next relay point at least
One section, referring to fig. 2, road cleaner x is currently located at section A, drives towards destination Z, along the driving direction of road cleaner,
The relay point (i.e. next relay point) nearest apart from road cleaner is relay point 1, and relay point 1 with road A in addition to connecting, also
It is connect simultaneously with section B, section C, section D, then according to the current location and destination of road cleaner, such as according to current
The direction of position and destination can obtain section B and section C as candidate road section (if obviously only can be from from section D traveling
Destination is more and more remoter), candidate road section can also be obtained according to travelling along different sections of highway to the path length of destination, example
Such as, if from relay point 1 by section B to destination, path length 3km, from relay point 1 by section C to destination, road
Electrical path length is 3.5km, from relay point 1 by path D to destination, path length 5km, then path B and path C is as time
Routing diameter, map needed for obtaining module for section, there may be sections to obtain in module, or is arranged in road cleaner
Memory in addition cloud, the specific storage location of not to map of the embodiment of the present invention be defined.
Selection for positioning unit or positioning device can use GPS locator, Beidou locator, WiFi locator
Or bluetooth ibeacon locator is one or more, for example, can be positioned by GPS locator or Beidou in open section
Device is positioned, in tunnel, so that it may be positioned using WiFi locator or bluetooth ibeacon locator.
For information of vehicles obtains module, information of vehicles obtains module and can be set on road cleaner, passes through
It is connect with the vehicle-mounted OBD device of road cleaner, obtains the instantaneous velocity and average speed of road cleaner, need to illustrate
It is that vehicle-mounted OBD device is a kind of device for obtaining the parameters such as automobile engine, exhaust system, fuel system after vehicle start-up,
Such as Tencent's road box etc..
The cleaning standard degree of the embodiment of the present invention, including whether being closed to the bath pressure of road cleaner in the process of moving
Whether tight, speed standard degree, vehicle body the clean level of lattice, enclosed hood carries out Quantitative marking respectively, for the prison for pressure of washing by water
It surveys, has been presented for many schemes in the prior art, such as hydraulic pressure sensor is set in the water jet of road cleaner, pass through water
Whether pressure sensor detects bath pressure, tight for enclosed hood, can load the side of closed sensor in compartment compartment cover
Formula monitors.The degree of hypervelocity can be obtained by vehicle-mounted OBD device, and the clean level of vehicle body can be by being arranged in crossing
Camera shoots corresponding picture first, and then picture is sent to information of vehicles and obtains module by camera, is obtained by information of vehicles
Modulus block is analyzed, and analyzes the clarity of license plate number by existing image analysis method and analysis vehicle body covers sludge
Area obtains.
In one alternate embodiment, the range up to standard of setting bath pressure, if washing by water pressure not reaching in bath pressure
Range is marked, then pressure specification degree of washing by water is 0, and anti-regular is 1；If the enclosed hood of road cleaner is tight, closed standard degree
It is 1, anti-regular is 0；Road cleaner is set in the maximum value up to standard of current road segment and minimum value up to standard, if road cleaner exists
The average speed in the section is between maximum value up to standard and minimum value up to standard, then speed standard degree is 1, if road cleaner
Present speed is greater than the maximum value up to standard in place section, then obtains speed standard degree according to the following formula:
Wherein f indicates speed standard degree, and v1 indicates the current speed of road cleaner, and v0 indicates road where road cleaner
The maximum value up to standard of the regulation of section.
For vehicle body cleaning standard degree for, can by existing image analysis method analyze license plate number clarity with
And the area of analysis vehicle body covering sludge obtains, for example, if license plate number is clear, vehicle body covers the area of sludge less than 10%,
So vehicle body cleaning standard degree is 1, if license plate number is clear, but vehicle body covers the area of sludge in 10%-30%, then vehicle body
Cleaning standard degree is 0.4, if license plate number is fuzzy, vehicle body covers the area of sludge in 30%-60%, then vehicle body cleaning specification
Degree is 0, if the area of vehicle body covering sludge is greater than 60%, it is -0.5 that vehicle body, which cleans standard degree,.
It follows that the cleaning standard degree of road cleaner is higher, illustrate that road cleaner gets over the improvement of section environment
Significantly.
For scheduler module, why according to the length of each candidate road section, the speed of road cleaner and previous
The cleaning standard degree in section, the road cleaner number for having driven into each candidate road section and averagely cleaning standard degree selection travel road
Section, be because candidate road section length and road cleaner speed determine road cleaner the candidate road section when driving
Between, running time is longer, then the air quality at the candidate crossing may more be improved, meanwhile, have been subjected to this candidate road
Improvement of the road cleaner for the previous period that the average cleaning standard degree of the road cleaner of section illustrates to the candidate road section
Degree, therefore, combining above-mentioned several parameters can be from selecting a road to enhancement of environment along section in candidate road section
Duan Zuowei running section.
On the basis of the various embodiments described above, the scheduling system of the road cleaner of the embodiment of the present invention, further includes: navigation
Module, for being that the road cleaner navigates according to the running section of the road cleaner.Specifically, navigation module
It can be navigated by voice, such as tell driver to travel to the left, to right travel or Turning travel etc., it can also be aobvious
Map and vehicle line are shown in display screen, are watched for driver.
On the basis of the various embodiments described above, the scheduling system of the road cleaner of the embodiment of the present invention, further includes: scheduling
Center, control centre, which is used to obtain module to section, provides the section selection scheme of a coarseness, as can be seen from the above embodiments,
When the path to road cleaner selects, it is necessary first to according to the current location of road cleaner and destination acquisition road
Section, then selects candidate road section in the section of acquisition, form section is finally just selected from candidate road section, therefore, in scheduling
The heart provides the basis of scheduling: providing section.
Section obtains module and is also used to: the control centre Xiang Suoshu sends the current location and destination of road cleaner, and
Receive the map that control centre returns；
Control centre is used for: after receiving road cleaner current location and destination, according to current air quality
Index information determines a plurality of section between road cleaner current location and destination, and the map containing a plurality of section is returned
It is back to section and obtains module.
For section obtains module, by the way that the current location and destination of road cleaner occur to control centre,
And then the map that control centre returns is received, if section, which obtains module, to be selected according to the map of entire city or whole region
Select candidate road section, it is clear that treating capacity is very big, and obtaining module just because of section in the embodiment of the present invention is returned in control centre
Section is obtained on the map returned, greatly reduces calculation amount.
For control centre, control centre determines a reasonable connected region of two positions, herein reasonable
Property be on the one hand the complexity for being reduced as far as section selection, so-called complexity, which refers to, to detour and the number sought something far and wide when it is within reach, separately
On the one hand the section for selecting the air quality index of road poor as far as possible is travelled, because if selection air quality index
Preferable section is travelled, and can be caused to waste to road cleaner, be planned some roads (i.e. section) first, be very useful
's.
On the basis of the above embodiments, section obtains module and is specifically used for:
Using the direction of the current location of road cleaner to destination as reference direction；
The direction in each section of next relay point and the angle of reference direction are reached according to road cleaner, from small to large
It is ranked up；
Forward a certain number of sections will be sorted as candidate road section.
Specifically, such as the direction of the current location of road cleaner to destination is 30 ° of east by north, and road cleaner
The section for reaching next relay point has 3, and the direction in first section is 15 ° of east by north, and the direction in second section is east
20 ° by north, the direction in third section is 40 ° of east by north, then can be using first section and third section as candidate
Section.
In another alternative embodiment, section obtains module can also be according to each section distance to destination length
Select candidate road section.
On the basis of the various embodiments described above, scheduler module is specifically used for:
To each candidate road section, according to the clear of the length of the candidate road section, the speed of road cleaner and preceding a road section
Clean standard degree, have been subjected to the candidate road section road cleaner number and averagely clean standard degree, obtain the corresponding candidate road
The environmental impact assessment value of section, environmental impact assessment value influence the environment in section for evaluation path cleaning vehicle；
Using candidate road section corresponding to highest environmental impact assessment value as the running section of road cleaner.
Specifically, the environmental impact assessment value of the corresponding candidate road section is obtained according to the following formula:
Wherein, QNIndicate the environmental impact assessment value of n-th candidate road section, riIndicate i-th road for having driven into n-th candidate road section
The cleaning standard degree of vehicle is cleaned, M indicates the sum for having driven into the road cleaner of n-th candidate road section within a certain period of time, l table
Show the length of n-th candidate road section, raIndicate the cleaning standard degree of preceding a road section of road cleaner, v indicates road cleaner
Average speed.It should be noted thatTo be quantified as unit of minute, due to general section length be 1km with
Under, if calculated in hours, it is clear thatValue will be generally less than 1, such value is too small, if calculated in seconds, value again can be too
Greatly, it is most accurate to be carried out using minute as unit usually to the statistics of road cleaner according to inventor for quantification effect.
On the basis of the various embodiments described above, navigation module is also used to: when road cleaner drives into running section, to tune
It spends module and sends the first information of vehicles, when road cleaner is driven out to running section, send the second information of vehicles to scheduler module；
Scheduler module is also used to: according to the first information of vehicles and the second information of vehicles, updating the road for having driven into candidate road section
It cleans the number of vehicle and averagely cleans standard degree in road；
Wherein, the first information of vehicles includes the unique identification information of road cleaner and drives into time of running section, the
Two information of vehicles include the unique identification information of road cleaner, the time for being driven out to running section and the cleaning in running section
Standard degree.
For navigation module, when road cleaner drives into running section, the unique identification of road cleaner is sent
Information and the time for driving into running section, scheduler module can be made more accurately to update the road cleaner for having driven into candidate road section
Number, by send road cleaner unique identification information (such as license plate number, motor number etc.), can be by each road
The driving information (such as speed and cleaning standard degree) of road cleaning vehicle is bound with unique identification information, is easier in retrieval
Inquiry.
On the basis of the various embodiments described above, cleaning standard degree includes bath pressure specification degree, closed standard degree, speed rule
Model degree and vehicle body clean standard degree.
According to another aspect of the present invention, also very a kind of dispatching method of road cleaner, comprising:
According to the current location and destination of road cleaner, obtains road cleaner and reach next relay point at least
One section is as candidate road section and the length of each candidate road section；
Obtain the speed and cleaning standard degree of road cleaner；
According to the cleaning standard degree of the length of each candidate road section, the speed of road cleaner and preceding a road section, drive into
The number of the road cleaner of candidate road section and averagely cleaning standard degree, obtain a section from least one candidate road section,
Running section as road cleaner.
On the basis of the above embodiments, the dispatching method of road cleaner further include:
The a plurality of road between road cleaner current location and destination is determined according to current air quality index information
Section.
As shown in figure 3, the dispatching method of the road cleaner of the embodiment of the present invention, comprising:
Step 301, section obtain road cleaner occurs to control centre for module current location and destination；
After step 302, control centre receive navy barrow current location and destination, according to current air quality index information
It determines a plurality of section between road cleaner current location and destination, and the map containing a plurality of section is back to
The section obtains module；
Step 303, section obtain module and obtain the next relaying of the road cleaner arrival from the section on map
At least one section of point is as candidate road section and the length of each candidate road section；
Step 304, information of vehicles obtain the average speed and cleaning standard degree that module obtains the road cleaner；
Step 305, scheduler module are to each candidate road section, according to the length of the candidate road section, the road cleaner
Speed and preceding a road section cleaning standard degree, have been subjected to the candidate road section road cleaner number and average cleaning specification
Degree, obtains the environmental impact assessment value of the corresponding candidate road section, and the environmental impact assessment value influences the environment in section for evaluation path cleaning vehicle；
Step 306, scheduler module are using candidate road section corresponding to minimum environmental impact assessment value as the row of the road cleaner
Sail section；
Step 307, navigation module are that the road cleaner navigates according to the running section of the road cleaner,
When the road cleaner drives into the running section, Xiang Suoshu scheduler module sends the first information of vehicles, when the road
When cleaning vehicle is driven out to the running section, the second information of vehicles is sent to scheduler module；
According to first information of vehicles and the second information of vehicles, candidate road section has been driven into update for step 308, scheduler module
Road cleaner number and averagely clean standard degree.
Finally, the present processes are only preferable embodiment, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (9)
1. a kind of scheduling system of road cleaner characterized by comprising
Section obtains module, for the current location and destination according to road cleaner, obtains the road cleaner and reaches
At least one section of next relay point is as candidate road section and the length of each candidate road section；
Information of vehicles obtains module, for obtaining the average speed and cleaning standard degree of the road cleaner；
Scheduler module, for according to the length of each candidate road section, the average speed of the road cleaner and in preceding a road section
Cleaning standard degree, driven into candidate road section road cleaner number and averagely clean standard degree, from it is described at least one
A section, the running section as road cleaner are obtained in candidate road section；
Wherein, the cleaning standard degree includes bath pressure specification degree, closed standard degree, speed standard degree and vehicle body cleaning specification
Degree；
The acquisition methods of the bath pressure specification degree are as follows: the range up to standard of setting bath pressure, if bath pressure is not being washed by water
The range up to standard of pressure, then pressure specification degree of washing by water are 0, and anti-regular is 1；
The acquisition methods of the closed standard degree are as follows: if the enclosed hood of road cleaner is tight, closed standard degree is 1, instead
Canonical is 0；
The acquisition methods of the speed standard degree are as follows: setting road cleaner is up to standard in the maximum value up to standard and minimum of current road segment
Value, if road cleaner is between maximum value up to standard and minimum value up to standard in the average speed in the section, then speed specification
Degree is 1, if road cleaner present speed is greater than the maximum value up to standard in place section, obtains speed specification according to the following formula
Degree:
Wherein f indicates speed standard degree, and v1 indicates the current speed of road cleaner, section where v0 indicates road cleaner
The maximum value up to standard of regulation；
The acquisition methods of vehicle body cleaning standard degree are as follows: if license plate number is clear, vehicle body covers the area of sludge less than 10%,
So vehicle body cleaning standard degree is 1, if license plate number is clear, but vehicle body covers the area of sludge in 10%-30%, then vehicle body
Cleaning standard degree is 0.4, if license plate number is fuzzy, vehicle body covers the area of sludge in 30%-60%, then vehicle body cleaning specification
Degree is 0, if the area of vehicle body covering sludge is greater than 60%, it is -0.5 that vehicle body, which cleans standard degree,.
2. the scheduling system of road cleaner as described in claim 1, which is characterized in that further include:
Navigation module, for being that the road cleaner navigates according to the running section of the road cleaner.
3. the scheduling system of road cleaner as claimed in claim 2, which is characterized in that further include: control centre；
The section obtains module and is also used to:
The current location and destination of road cleaner are sent to the control centre, and receive the ground that the control centre returns
Figure；
The control centre is used for:
After receiving road cleaner current location and destination, determine that road is clear according to current air quality index information
A plurality of section between clean vehicle current location and destination, and the map containing a plurality of section is back to the road
Section obtains module.
4. the scheduling system of road cleaner as claimed in claim 1 or 3, which is characterized in that the section obtains module tool
Body is used for:
Using the direction of the current location of the road cleaner to destination as reference direction；
The direction in each section of next relay point and the angle of the reference direction are reached according to road cleaner, from small to large
It is ranked up；
Forward a certain number of sections will be sorted as the candidate road section.
5. the scheduling system of road cleaner as claimed in claim 2, which is characterized in that the scheduler module is specifically used for:
To each candidate road section, according to the length of the candidate road section, the road cleaner average speed and it is preceding all the way
The cleaning standard degree of section, driven into the candidate road section road cleaner number and averagely clean standard degree, obtain corresponding is somebody's turn to do
The environmental impact assessment value of candidate road section, the environmental impact assessment value influence the environment in section for evaluation path cleaning vehicle；
Using candidate road section corresponding to minimum environmental impact assessment value as the running section of the road cleaner.
6. the scheduling system of road cleaner as claimed in claim 5, which is characterized in that it is described right to obtain according to the following formula
Should candidate road section environmental impact assessment value:
Wherein, QNIndicate the environmental impact assessment value of n-th candidate road section, riIndicate i-th road cleaning for having driven into n-th candidate road section
The cleaning standard degree of vehicle, M indicate that the sum for having driven into the road cleaner of n-th candidate road section within a certain period of time, l indicate the
The length of N number of candidate road section, raIndicate the cleaning standard degree of preceding a road section of the road cleaner, v indicates that the road is clear
The average speed of clean vehicle, e are natural constant.
7. the scheduling system of the road cleaner as described in claim 2 or 5, which is characterized in that the navigation module is also used to:
When the road cleaner drives into the running section, Xiang Suoshu scheduler module sends the first information of vehicles, when described
When road cleaner is driven out to the running section, Xiang Suoshu scheduler module sends the second information of vehicles；
The scheduler module is also used to:
According to first information of vehicles and the second information of vehicles, update the number for having driven into the road cleaner of candidate road section and
Averagely clean standard degree；
Wherein, first information of vehicles includes the unique identification information of the road cleaner and drives into the running section
Time, second information of vehicles include the unique identification information of the road cleaner, the time for being driven out to the running section
And the cleaning standard degree in the running section.
8. a kind of dispatching method of road cleaner characterized by comprising
According to the current location and destination of road cleaner, obtains the road cleaner and reach next relay point at least
One section is as candidate road section and the length of each candidate road section；
Obtain the average speed and cleaning standard degree of the road cleaner；
According to the length of each candidate road section, the cleaning standard degree of the average speed of the road cleaner and preceding a road section,
It drives into the number of the road cleaner of candidate road section and averagely cleans standard degree, obtain one from least one described candidate road section
A section, the running section as road cleaner；
Wherein, the cleaning standard degree includes bath pressure specification degree, closed standard degree, speed standard degree and vehicle body cleaning specification
Degree；
The acquisition methods of the bath pressure specification degree are as follows: the range up to standard of setting bath pressure, if bath pressure is not being washed by water
The range up to standard of pressure, then pressure specification degree of washing by water are 0, and anti-regular is 1；
The acquisition methods of the closed standard degree are as follows: if the enclosed hood of road cleaner is tight, closed standard degree is 1, instead
Canonical is 0；
The acquisition methods of the speed standard degree are as follows: setting road cleaner is up to standard in the maximum value up to standard and minimum of current road segment
Value, if road cleaner is between maximum value up to standard and minimum value up to standard in the average speed in the section, then speed specification
Degree is 1, if road cleaner present speed is greater than the maximum value up to standard in place section, obtains speed specification according to the following formula
Degree:
Wherein f indicates speed standard degree, and v1 indicates the current speed of road cleaner, section where v0 indicates road cleaner
The maximum value up to standard of regulation；
The acquisition methods of vehicle body cleaning standard degree are as follows: if license plate number is clear, vehicle body covers the area of sludge less than 10%,
So vehicle body cleaning standard degree is 1, if license plate number is clear, but vehicle body covers the area of sludge in 10%-30%, then vehicle body
Cleaning standard degree is 0.4, if license plate number is fuzzy, vehicle body covers the area of sludge in 30%-60%, then vehicle body cleaning specification
Degree is 0, if the area of vehicle body covering sludge is greater than 60%, it is -0.5 that vehicle body, which cleans standard degree,.
9. the dispatching method of road cleaner as claimed in claim 8, which is characterized in that further include:
Determine that a plurality of institute between road cleaner current location and destination is candidate according to current air quality index information
Section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628951.7A CN107578634B (en) | 2017-07-28 | 2017-07-28 | A kind of the scheduling system and dispatching method of road cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628951.7A CN107578634B (en) | 2017-07-28 | 2017-07-28 | A kind of the scheduling system and dispatching method of road cleaner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107578634A CN107578634A (en) | 2018-01-12 |
| CN107578634B true CN107578634B (en) | 2019-10-25 |
Family
ID=61035931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710628951.7A Active CN107578634B (en) | 2017-07-28 | 2017-07-28 | A kind of the scheduling system and dispatching method of road cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107578634B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109671271A (en) * | 2018-12-29 | 2019-04-23 | 福建龙马环卫装备股份有限公司 | A kind of running parameter configuration system and method improving sweeper cleaning rate |
| CN110335485A (en) * | 2019-06-25 | 2019-10-15 | 芜湖酷哇机器人产业技术研究院有限公司 | Automatic Pilot type sweeper dispatching method and system based on big data platform |
| CN111554090A (en) * | 2020-04-21 | 2020-08-18 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Road recognition system and road recognition method |
| CN115167475B (en) * | 2022-08-19 | 2024-10-22 | 智道网联科技(北京)有限公司 | Operation scheduling method and device for unmanned sweeper, cloud control platform and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103993574A (en) * | 2014-05-23 | 2014-08-20 | 中联重科股份有限公司 | Method, equipment and system for controlling water spraying pressure of sprinkler and sprinkler |
| CN105787665A (en) * | 2016-02-29 | 2016-07-20 | 广西升禾环保科技股份有限公司 | System for providing environment management service |
| CN105825666A (en) * | 2016-05-13 | 2016-08-03 | 杭州电子科技大学 | Method for intelligent scheduling of urban watering cars based on pavement humidity detection |
| CN106652459A (en) * | 2017-02-28 | 2017-05-10 | 北京航空航天大学 | Intelligent roadside traffic air pollution monitoring system |
| CN206339262U (en) * | 2016-12-16 | 2017-07-18 | 郑州北斗七星通讯科技有限公司 | A kind of city sprinkling truck car-mounted terminal based on Big Dipper location technology |
| US9765562B2 (en) * | 2014-05-07 | 2017-09-19 | Vivint, Inc. | Weather based notification systems and methods for home automation |
-
2017
- 2017-07-28 CN CN201710628951.7A patent/CN107578634B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9765562B2 (en) * | 2014-05-07 | 2017-09-19 | Vivint, Inc. | Weather based notification systems and methods for home automation |
| CN103993574A (en) * | 2014-05-23 | 2014-08-20 | 中联重科股份有限公司 | Method, equipment and system for controlling water spraying pressure of sprinkler and sprinkler |
| CN105787665A (en) * | 2016-02-29 | 2016-07-20 | 广西升禾环保科技股份有限公司 | System for providing environment management service |
| CN105825666A (en) * | 2016-05-13 | 2016-08-03 | 杭州电子科技大学 | Method for intelligent scheduling of urban watering cars based on pavement humidity detection |
| CN206339262U (en) * | 2016-12-16 | 2017-07-18 | 郑州北斗七星通讯科技有限公司 | A kind of city sprinkling truck car-mounted terminal based on Big Dipper location technology |
| CN106652459A (en) * | 2017-02-28 | 2017-05-10 | 北京航空航天大学 | Intelligent roadside traffic air pollution monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107578634A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107578634B (en) | A kind of the scheduling system and dispatching method of road cleaner | |
| Mandhare et al. | Intelligent road traffic control system for traffic congestion: a perspective | |
| US10379533B2 (en) | System and method for autonomous vehicle fleet routing | |
| DE102008024777B4 (en) | Method and device for estimating traffic information and motor vehicle navigation device | |
| CN105318889B (en) | Departure place and destination extraction element, departure place and destination extracting method | |
| DE102019113865A1 (en) | INTELLIGENT MOTOR VEHICLES, SYSTEMS AND CONTROL LOGIC FOR REAL-TIME ROUTE GUIDANCE AND ADAPTIVE DRIVE CONTROL | |
| CN110363984B (en) | Traffic flow prediction method and apparatus | |
| CN106652515A (en) | Vehicle automatic control method, vehicle automatic control device, and vehicle automatic control system | |
| KR20150128712A (en) | Lane-level vehicle navigation for vehicle routing and traffic management | |
| DE102006023676A1 (en) | Headlight jet control system and headlight jet control method | |
| CN102252682B (en) | Navigation with grids | |
| CN105976606A (en) | Intelligent urban traffic management platform | |
| US11106922B2 (en) | System and method for collecting data from lanes-of-interest | |
| CN107464437B (en) | A kind of route selection system and routing resource of slag-soil truck | |
| JP2023153240A (en) | route search device | |
| CN110490393B (en) | Taxi passenger-searching route planning method, system and medium combining experience and direction | |
| US20210350707A1 (en) | Systems and methods of platoon leadership as a service | |
| CN101981604A (en) | Signalized intersection information acquiring device, signalized intersection information acquiring method, and signalized intersection information acquiring program | |
| US20210293557A1 (en) | Methods and apparatus for ascertaining a driving route for a motor vehicle | |
| CN103185589A (en) | Method, device and system for planning running route of group vehicles | |
| CN101807348B (en) | Dynamic network navigation system and method | |
| CN113424209A (en) | Trajectory prediction using deep learning multi-predictor fusion and bayesian optimization | |
| US20070208506A1 (en) | Travel system for a vehicle | |
| CN107403548B (en) | Dispatching system and dispatching method for sprinkler | |
| US20230419830A1 (en) | Determining right of way |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A dispatching system and method of road cleaning vehicle Effective date of registration: 20210908 Granted publication date: 20191025 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN EXSUN BEIDOU SPACE TECHNOLOGY Co.,Ltd. Registration number: Y2021420000089 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230921 Granted publication date: 20191025 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN EXSUN BEIDOU SPACE TECHNOLOGY Co.,Ltd. Registration number: Y2021420000089 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A scheduling system and method for road cleaning vehicles Granted publication date: 20191025 Pledgee: Wuhan Optics Valley Small and Medium Duty Venture Capital Co.,Ltd. Pledgor: WUHAN EXSUN BEIDOU SPACE TECHNOLOGY Co.,Ltd. Registration number: Y2024980014413 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |