CN109610396A - Unmanned cleaning vehicle and its sprinkler system control method - Google Patents
Unmanned cleaning vehicle and its sprinkler system control method Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 190
- 230000003020 moisturizing effect Effects 0.000 claims abstract description 57
- 238000012423 maintenance Methods 0.000 claims abstract description 34
- 238000005507 spraying Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000005457 optimization Methods 0.000 claims abstract description 12
- 238000002347 injection Methods 0.000 claims description 14
- 239000007924 injection Substances 0.000 claims description 14
- 239000007921 spray Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 claims description 3
- 230000002463 transducing effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000035508 accumulation Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
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Abstract
The present invention provides a kind of unmanned cleaning vehicle and its sprinkler system control method, sprinkling system controller starts control signal and sprinkling control parameter according to sprinkling, and water pump is opened in control and nozzle valve carries out spraying operation；Sprinkling system controller acquisition hydraulic signal and water level signal are simultaneously analyzed；When hydraulic signal and/or water level signal exception, output sprinkler system maintenance request accordingly and/or stop operation instruction and/or the moisturizing instruction based on the analysis results of sprinkling system controller；When hydraulic signal and water level signal are normal, sprinkling system controller calculates operation balance information according to hydraulic signal and water level signal, and operation balance information is sent to vehicle-mounted central controller；Vehicle-mounted central controller matches working path information according to operation balance information, carries out path optimization's processing and/or vehicle running state parameter optimization, makes vehicle according to the working path and/or vehicle running state parameter progress spraying operation after optimization processing.
Description
Technical field
The present invention relates to automatic Pilot applied technical fields, more particularly to a kind of unmanned cleaning vehicle and its watering system
System control method.
Background technique
Unmanned technology is a kind of new technology reduced or substitute vehicle driver, is alleviating traffic congestion, is improving road
The fields such as road safety, the personnel's burden for reducing the industries such as job that requires special skills have big advantage, and unmanned will bring is overturned
The change of property.
Current clean environment vehicle is broadly divided into municipal environmental sanitation vehicles and region clean vehicle and household cleaning machine
Three kinds of people, municipal environmental sanitation vehicles are mostly special function vehicle (that is, road sweeper, sprinkling truck, rubbish van etc.)；Region clean
Vehicle is mostly middle-size and small-size vehicle, and collection watering, cleaning and waste handling one, household cleaning machine people then mainly cleans and rubbish
Collecting function.
Current environmental sanitation sprinkling truck and region clean vehicle is the vehicle of manned operation, needed in work one or it is more
People operates control, greatly labor intensive resource.With the development of unmanned technology, it is expected to being applied in the field.
The present invention discusses for unmanned technology is applied to automatic environmental cleaning field application emphatically.
Summary of the invention
The purpose of the embodiment of the present invention is that the unmanned cleaning vehicle of one kind and its sprinkler system control method are provided, it can
Sprinkler operation is realized in the optimization for carrying out working path automatically according to water carrying capacity in an optimal manner within effective time, and can be automatic
Complete moisturizing, abnormality detection, return and repair the work such as website, compared with the prior art, greatly reduce personnel's investment at
This, makes one to free from the field that weight physical strength, low technical, low value export.
In view of this, in a first aspect, the embodiment of the invention provides a kind of unmanned cleaning vehicle and its sprinkler systems
Control method, comprising:
The unmanned vehicle-mounted central controller enquiring vehicle location information and working path information for cleaning vehicle, when described
When vehicle location information and the working path information match, sprinkling starting control signal is generated, and export to sprinkling system
Controller；
The sprinkling system controller starts control signal and sprinkling control parameter according to sprinkling, and water pump and spray are opened in control
Mouth valve makes the nozzle valve carry out spraying operation according to the corresponding watering amount of the sprinkling control parameter and watering range；
During the spraying operation, the sprinkling system controller in real time or timing acquiring pressure sensor water
The water level signal of signal and water-level gauge is pressed, and collected hydraulic signal and water level signal are analyzed；Wherein, the pressure
Force snesor is set to the nozzle valve or is set on the pipeline of the nozzle valve connection；The water-level gauge is set to institute
It states in the water tank of piping connection；
When the hydraulic signal and/or water level signal exception, the sprinkling system controller is corresponding based on the analysis results
Output sprinkler system maintenance request and/or stop operation instruction and/or moisturizing instruction；
When the hydraulic signal and water level signal are normal, the sprinkling system controller is in real time or timing is according to institute
It states hydraulic signal and water level signal calculates operation balance information, and the operation balance information is sent to the vehicle-mounted central control
Device processed；The operation balance information includes vehicle-mounted surplus water and remaining activity duration；
The vehicle-mounted central controller is in real time or timing is according to operation balance information matching working path information, to not
The working path of completion carries out path optimization's processing and/or optimizes processing to vehicle running state parameter, generates vehicle row
Control signal is sailed, makes the unmanned vehicle that cleans according to the working path and/or vehicle running state ginseng after optimization processing
Number carries out spraying operation.
Preferably, believed in the unmanned vehicle-mounted central controller for cleaning vehicle according to location information and working path
Breath generate sprinkling starting control signal, and export to sprinkling system controller before, the method also includes:
The sprinkling system controller obtains the water level signal of the water-level gauge received from inspection control instruction；
When the water level signal indicates the water level in the water tank lower than setting initial water level, the sprinkling system control
Device exports moisturizing instruction.
Preferably, after sprinkling system controller output moisturizing instruction, the method also includes:
The vehicle-mounted central controller receives the moisturizing instruction of the sprinkling system controller output, is referred to according to the moisturizing
Enable the location information for obtaining current vehicle position information and inquiring optimal moisturizing point according to the current vehicle position information；
Moisturizing navigation programming road is generated according to the location information of the current vehicle position information and the optimal moisturizing point
Diameter, and generate vehicle driving control signal and make the unmanned cleaning vehicle automatic according to the moisturizing navigation programming route
It travels to the optimal moisturizing point；
The vehicle-mounted central controller generates moisturizing and controls signal, controls the water injection pipe and external water supply pipe pair of vehicle
Connect, and generate the automatically controlled water injection valve that the water supply pipe is opened in the control of moisturizing opening control signal, thus by the water supply pipe and
Water injection pipe carries out moisturizing to the water tank；
During the moisturizing, the vehicle-mounted central controller controls the sprinkling system controller and acquires water level in real time
The water level signal of meter, when the water level signal indicate the water level in the water tank reach setting full water water level when, it is described it is vehicle-mounted in
It entreats controller to generate moisturizing tube wall and controls signal, the automatically controlled water injection valve of the water supply pipe is closed in control, and is controlled and disconnected the note
The connection of water pipe and external water supply pipe.
Preferably, during the spraying operation, the method also includes:
The transducing signal that the vehicle-mounted central controller acquires one or more onboard sensors is handled, and obtains one
Item or multinomial sensing detecting data；The sensing detecting data includes: travel speed, pavement temperature, pavement state parameters, environment
One or more of particulate matter and barrier parameter；
The vehicle detection sensing data is sent to the sprinkling system controller by the vehicle-mounted central controller；
The sprinkling system controller handles the vehicle monitoring sensing data, and updates institute according to processing result
State sprinkling control parameter；The sprinkling control parameter includes: that spray pressure, spray rate, spray angle and nozzle valve are opened
One or more of selection parameter.
Preferably, when the water level signal exception, the sprinkling system controller exports accordingly based on the analysis results
Stop operation instruction and moisturizing instruction specifically:
When the water level signal exception, the sprinkling system controller exports the instruction that stops operation, described to close
Water pump and nozzle valve；And
The moisturizing instruction is exported to the vehicle-mounted central controller.
Preferably, when the hydraulic signal exception, the sprinkling system controller exports accordingly based on the analysis results
Sprinkler system maintenance request and/or the instruction that stops operation specifically:
When the hydraulic signal indicates the hydraulic pressure of the pressure sensor detection greater than upper pressure limit threshold value, the sprinkling
The variation of system controller acquisition water level signal within default first period；
If the variable quantity of water level signal is not less than normal range (NR), the sprinkling system controller is to the vehicle-mounted central control
Device processed sends sprinkler system maintenance request, records the sprinkler system maintenance to the vehicle-mounted central controller and requests, and
The unmanned cleaning vehicle is controlled after the completion of current spraying operation returns to setting maintenance website；
If the variable quantity of water level signal is lower than normal range (NR), the sprinkling system controller exports the instruction that stops operation,
The water pump and nozzle valve are closed to control, and sends the instruction that stops operation to the vehicle-mounted central controller, to control
It makes the unmanned cleaning vehicle and returns to setting maintenance website.
Preferably, when the hydraulic signal exception, the sprinkling system controller exports accordingly based on the analysis results
Sprinkler system maintenance request and/or the instruction that stops operation specifically:
When the hydraulic signal indicates the hydraulic pressure of the pressure sensor detection less than low pressure limit threshold value, the sprinkling
The variation of system controller acquisition water level signal within default first period；
If the variable quantity of water level signal is not higher than normal range (NR), the sprinkling system controller is to the vehicle-mounted central control
Device processed sends sprinkler system maintenance request, records the sprinkler system maintenance to the vehicle-mounted central controller and requests, and
The unmanned cleaning vehicle is controlled after the completion of current spraying operation returns to setting maintenance website；
If the variable quantity of water level signal is higher than normal range (NR), the sprinkling system controller exports the instruction that stops operation,
The water pump and nozzle valve are closed to control, and sends the instruction that stops operation to the vehicle-mounted central controller, to control
It makes the unmanned cleaning vehicle and returns to setting maintenance website.
It is further preferred that the method also includes: the variable quantity of the water level signal is determined according to sprinkling control parameter
Normal range (NR).
It is further preferred that the sprinkling system controller output stops operation after instruction, the method also includes:
The vehicle-mounted central controller generates a charge book according to current vehicle location information and working path information.
Second aspect, the embodiment of the invention provides unmanned cleaning vehicles, including vehicle described in above-mentioned first aspect
Carry central controller, sprinkling system controller, pressure sensor, water-level gauge, water pump, nozzle valve and water tank.
The unmanned cleaning vehicle and its sprinkler system control method of the offer of the embodiment of the present invention, can be according to load water
The automatic optimization for carrying out working path of amount, realizes sprinkler operation in an optimal manner within effective time, and can be automatically performed moisturizing,
Abnormality detection returns and repairs the work such as website, compared with the prior art, greatly reduces the cost of personnel's investment, make one from
The field that weight physical strength, low technical, low value export frees.
Detailed description of the invention
Fig. 1 is the unmanned sprinkler system control method flow chart for cleaning vehicle provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The sprinkler system control method of the unmanned cleaning vehicle of the offer of the embodiment of the present invention is mainly used for solving nothing
In the automatic cleaning vehicle control ring border that people participates in, the automatic job function of unmanned sweeper vehicle is realized, and pass through vehicle
Central controller is carried to realize and external data communication.
Unmanned cleaning vehicle involved in the present invention is based on automatic Pilot technology, loads on unmanned cleaning vehicle
There are vehicle-mounted central controller and sprinkling system controller, data, instruction are realized by system bus or wireless signal between them
Transmission.In addition there are water pump, water tank, pressure sensor is set to nozzle valve or is set to the pipeline of nozzle valve connection
On；Water-level gauge is set in the water tank of piping connection；Pressure sensor and nozzle valve are controlled by sprinkling system controller.Below
Sprinkler system control method is illustrated by specific embodiment.
Fig. 1 is the unmanned sprinkler system control method flow chart for cleaning vehicle provided in an embodiment of the present invention.In conjunction with
Shown in Fig. 1, the sprinkler system control method of unmanned cleaning vehicle of the invention mainly includes the following steps:
Step 100, sprinkling system controller obtains the water level signal of water-level gauge received from inspection control instruction；
Specifically, will do it self-test, the mainly water level in inspection water tank first in unmanned cleaning vehicle launch
Whether on initially setting water level.Water-level gauge is installed in water tank, the water level being used to indicate in water tank.
Step 110, determine whether the water level in water level signal instruction water tank is lower than setting initial water level；
Initial setting water level can be lowest water level, can be full-water level, some water level being also possible among water tank,
Such as 1/2 water level.Initial setting water level determines that starting sprinkling can be started by carrying vehicle under the conditions of which kind of water meets in water tank
Operation.Preferably, initially setting water level is usually full-water level.
If water level signal indicates that the water level in water tank lower than setting initial water level, executes step 120, if water level signal
Indicate that the water level in water tank not less than setting initial water level, executes step 130.
Step 120, sprinkling system controller output moisturizing instruction.
Specifically, the output moisturizing of sprinkling system controller is instructed to vehicle-mounted central controller.
Vehicle-mounted central controller instructs according to moisturizing after receiving the moisturizing instruction of sprinkling system controller output and obtains vehicle
Current location information and the location information that optimal moisturizing point is inquired according to current vehicle position information；And it is current according to vehicle
The location information of location information and optimal moisturizing point generates moisturizing navigation programming route, and generates vehicle driving control signal and make
Unmanned cleaning vehicle is according to moisturizing navigation programming route automatic running to optimal moisturizing point；
Vehicle-mounted central controller generates moisturizing and controls signal, and the water injection pipe for controlling vehicle is docked with external water supply pipe, and
Generate the automatically controlled water injection valve that water supply pipe is opened in the control of moisturizing opening control signal, thus by water supply pipe and water injection pipe to water tank into
Row moisturizing；
During moisturizing, vehicle-mounted central controller control sprinkling system controller acquires the water level letter of water-level gauge in real time
Number, it specifically can be through current signal or voltage signal, and be converted to the digital signal of instruction cistern water level, work as water level signal
When indicating that the water level in water tank reaches setting full water water level, vehicle-mounted central controller generates moisturizing tube wall and controls signal, and control is closed
The automatically controlled water injection valve of water supply pipe is closed, and controls the connection for disconnecting water injection pipe and external water supply pipe.
Thus the process of moisturizing is completed.Subsequent moisturizing during vehicle sprinkler operation, and so processing.
Spraying operation is executed later.
Step 130, the unmanned vehicle-mounted central controller enquiring vehicle location information for cleaning vehicle and working path letter
Breath generates sprinkling starting control signal, and export to sprinkling system when vehicle location information and working path information match
Controller；
Specifically, unmanned cleaning vehicle is according to current vehicle location information and working path information, by automatic
Driving technology, by a position on vehicle automatic running to working path information, this position can be defined point
It sets, or apart from current vehicle position location distance is nearest or time shortest position etc., is also possible to according to working as front truck
The optimal operation start position that position location and working path determine.By determining that vehicle has arrived to vehicle location monitor
When up to the position, that is, start to start sprinkler operation.
Step 140, sprinkling system controller starts control signal and sprinkling control parameter according to sprinkling, and water pump is opened in control
And nozzle valve, so that nozzle valve is carried out spraying operation according to the corresponding watering amount of sprinkling control parameter and watering range；
Specifically, vehicle-mounted central controller believes the sensing that one or more onboard sensors acquire during sprinkling
It number is handled, obtains one or more sensing detecting datas；Onboard sensor can be specifically including but not limited to: wheel speed meter,
Ultrasonic radar detector, laser detector, camera, temperature sensor, particle concentration monitor or corpuscular counter etc..
Sensing detecting data includes: travel speed, pavement temperature, pavement state parameters, ambient particle object and barrier ginseng
One or more of number；Vehicle detection sensing data is sent to sprinkling system controller by vehicle-mounted central controller；Sprinkling system
System controller handles vehicle monitoring sensing data, and updates sprinkling control parameter according to processing result；Sprinkling control ginseng
Number includes: that spray pressure, spray rate, spray angle and nozzle valve open one or more of selection parameter.
It is sailed to intersection during by traffic lights control for example, unmanned cleaning vehicle is expert at, by acquiring wheel speed meter
Data monitoring be in low speed or halted state to vehicle, can be generated control signal-off watering, after green light clearance after, monitoring
Instruction vehicle is counted to wheel speed and reaches normally travel speed, is again turned on sprinkle water function.
For another example, unmanned to clean vehicle by load in the radar detedtor of vehicle periphery or infrared in running section
In front of the assembly monitors such as detector to the front, side of vehicle or there are pedestrian, vehicle or other objects, vehicle-mounted central controller in side
It generates corresponding sensing data and is sent to sprinkling system controller, so that stopping watering being made in control, reduce watering width, close
Unilateral side watering, or change the modes of operation such as watering direction.
For another example, when, there are wet and slippery or Irish bridge, unmanned cleaning vehicle can be adopted according to camera in running section
The image data collected makes the instruction for stopping watering.
Also such as, when that there are dust accumulations in running section is more, situations such as fugitive dust is heavier when cleaning, vehicle-mounted central controller can root
Corresponding sprinkling control parameter is generated according to the particle concentration data of the particle meter sampling loaded on unmanned cleaning vehicle, with
It makes that vehicle such as increasing watering amount or expand watering region to operate.
It is passed in addition, pavement temperature detector or environment temperature Tang survey device etc. can also be loaded on unmanned cleaning vehicle
Sensor can adjust the size of watering amount according to the high or low of pavement temperature in real time, to reach road surface cooling or prevent watering from making
At the needs of icing.
Step 150, during spraying operation, sprinkling system controller in real time or timing acquiring pressure sensor water
The water level signal of signal and water-level gauge is pressed, and collected hydraulic signal and water level signal are analyzed；
Specifically, vehicle needs to consider in operation process the surplus and pot life of vehicle-mounted water, by by hydraulic pressure
The information reportings such as signal and water level signal plan that vehicle in the time planning and driving path of operation to vehicle-mounted central controller
Watering time match is neutralized, fulfil assignment region to greatest extent within the effective time, while duplicate paths row is reduced or avoided
It sails.Furthermore by the monitoring to hydraulic pressure and water level signal, it has also been found that there is abnormal situation in sprinkler system in operation process,
And preliminary judgement is made automatically.
Step 160, when hydraulic signal and/or water level signal exception, sprinkling system controller is corresponding based on the analysis results
Output sprinkler system maintenance request and/or stop operation instruction and/or moisturizing instruction；
Wherein specifically, when water level signal exception, sprinkling system controller exports the instruction that stops operation, to close water
Pump and nozzle valve；And to vehicle-mounted central controller output moisturizing instruction.
When hydraulic signal exception, the output sprinkler system maintenance request accordingly based on the analysis results of sprinkling system controller
And/or it stops operation to instruct and can specifically be divided into two kinds of situations.
One is when the hydraulic pressure of hydraulic signal instruction pressure sensor detection is greater than upper pressure limit threshold value:
The variation of sprinkling system controller acquisition water level signal within default first period；For example, being controlled in sprinkling system
The hydraulic signal that device receives pressure sensor becomes beyond the water level for after upper pressure limit threshold value, starting to monitor in fixed time period t
Change, to calculate water content consumption.
If the variable quantity of water level signal is not less than normal range (NR), i.e. water content consumption is normal, then determines pressure sensor certainly
Body is abnormal or pipeline has foreign matters from being blocked, and sprinkling system controller sends sprinkler system maintenance to vehicle-mounted central controller and asks
It asks, to vehicle-mounted central controller record sprinkler system maintenance request, and controls after the completion of current spraying operation unmanned
It cleans vehicle and returns to setting maintenance website；
If the variable quantity of water level signal is lower than normal range (NR), i.e. water content consumption disappears lower than normal downward trend or nothing
Consumption, then determining that pressure pipeline blocking is serious can not even spray, and sprinkling system controller exports the instruction that stops operation, to control
It switches off the pump and nozzle valve, and stops operation instruction to vehicle-mounted central controller transmission, to control unmanned sweeper
Return setting maintenance website.
Another kind is, when the hydraulic pressure of hydraulic signal instruction pressure sensor detection is less than low pressure limit threshold value:
The variation of sprinkling system controller acquisition water level signal within default first period；For example, being controlled in sprinkling system
The hydraulic signal that device receives pressure sensor becomes lower than the water level for after low pressure limit threshold value, starting to monitor in fixed time period t
Change, to calculate water content consumption.
If the variable quantity of water level signal is not higher than normal range (NR), i.e. water content consumption is normal, then determines pressure sensor certainly
Body is abnormal or pipeline has leakage, and sprinkling system controller sends sprinkler system maintenance request to vehicle-mounted central controller,
To vehicle-mounted central controller record sprinkler system maintenance request, and unmanned cleaning is controlled after the completion of current spraying operation
Vehicle returns to setting maintenance website；
If the variable quantity of water level signal is higher than normal range (NR), i.e. water content consumption is greater than normal downward trend, then determines to manage
Road serious leak, the output of sprinkling system controller stop operation instruction, switch off the pump and nozzle valve to control, and to vehicle-mounted
Central controller sends the instruction that stops operation, and returns to setting maintenance website to control unmanned cleaning vehicle.
The normal range (NR) of the variable quantity of above-mentioned water level signal is determined according to sprinkling control parameter.Different spraying operations
Under the conditions of, the normal range (NR) of the variable quantity of corresponding water level signal is different.Sprinkling system controller can join according to sprinkling
Number is calculated automatically from.
In the case where the output of any of the above-described sprinkling system controller stops operation instruction, vehicle-mounted central controller all can root
A charge book is generated according to current vehicle location information and working path information, to record the feelings that current work has been completed
Condition and remaining the case where not spraying path, so as to update working path information according to the charge book, and it can pass through
Wi-Fi reports cleaning work control centre, and cleaning work control centre is enabled to know that feelings are completed in the operation of the vehicle
Condition carries out follow-up decision, such as decides whether the unfinished spraying operation of a processing of separately sending a car, or wait the vehicle moisturizing or maintenance
Continue remaining spraying operation after the completion.
Step 170, when hydraulic signal and water level signal are normal, sprinkling system controller is in real time or timing is according to water
It presses signal and water level signal to calculate operation balance information, and operation balance information is sent to vehicle-mounted central controller；
Specifically, unmanned cleaning vehicle can in real time or operation road is completed in timing basis during spraying operation
Diameter and the working path information of planning determine remaining unfinished path, and can be according to current sprinkling control parameter and vehicle row
It sails the activity duration that state parameter calculates expected residual, such as car speed will affect the time that residual paths traveling is completed,
Fountain height influences whether surplus water is enough etc..Therefore available operation balance information specifically includes vehicle-mounted remaining water
Amount and remaining activity duration.
Step 180, vehicle-mounted central controller is in real time or timing is according to operation balance information matching working path information, to not
The working path of completion carries out path optimization's processing and/or optimizes processing to vehicle running state parameter, generates vehicle row
Sail control signal, make it is unmanned cleaning vehicle according to after optimization processing working path and/or vehicle running state parameter into
Row spraying operation.
The sprinkler system control method of the embodiment of the present invention, logic control is clear, and treatment effeciency is high, and response type speed is fast；
Automatic driving vehicle existing controller equipment and data can be made full use of, newly-increased external device data demand is small, adaptability
It is good, to effectively reduce equipment investment expense, can fast implement.
The sprinkler system control method of the offer of the embodiment of the present invention can carry out automatically working path according to water carrying capacity
Optimization, realizes sprinkler operation in an optimal manner within effective time, and can be automatically performed moisturizing, abnormality detection, return to overhaul stand
The work such as point greatly reduce the cost of personnel's investment compared with the prior art, make one from weight physical strength, low technical, low value
The field of output frees.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of unmanned sprinkler system control method for cleaning vehicle, which is characterized in that the control method includes:
The unmanned vehicle-mounted central controller enquiring vehicle location information and working path information for cleaning vehicle, when the vehicle
When location information and the working path information match, sprinkling starting control signal is generated, and export to sprinkling system and control
Device；
The sprinkling system controller starts control signal and sprinkling control parameter according to sprinkling, and water pump and nozzle group valve are opened in control
Door makes the nozzle valve carry out spraying operation according to the corresponding watering amount of the sprinkling control parameter and watering range；
During the spraying operation, the sprinkling system controller is in real time or the hydraulic pressure of timing acquiring pressure sensor is believed
Number and water-level gauge water level signal, and collected hydraulic signal and water level signal are analyzed；Wherein, the pressure passes
Sensor is set to the nozzle valve or is set on the pipeline of the nozzle valve connection；The water-level gauge is set to the pipe
In the water tank of road connection；
When the hydraulic signal and/or water level signal exception, the sprinkling system controller is corresponding defeated based on the analysis results
Sprinkler system maintenance request and/or stop operation instruction and/or moisturizing instruction out；
When the hydraulic signal and water level signal are normal, the sprinkling system controller is in real time or timing is according to the water
It presses signal and water level signal to calculate operation balance information, and the operation balance information is sent to the vehicle-mounted central and is controlled
Device；The operation balance information includes vehicle-mounted surplus water and remaining activity duration；
The vehicle-mounted central controller is in real time or timing is according to operation balance information matching working path information, to unfinished
Working path carry out path optimization's processing and/or processing optimized to vehicle running state parameter, generation vehicle driving control
Signal processed, make it is described it is unmanned clean vehicle according to after optimization processing working path and/or vehicle running state parameter into
Row spraying operation.
2. sprinkler system control method according to claim 1, which is characterized in that in the unmanned cleaning vehicle
Vehicle-mounted central controller generates sprinkling starting control signal according to location information and working path information, and exports to sprinkling system
Before controller, the method also includes:
The sprinkling system controller obtains the water level signal of the water-level gauge received from inspection control instruction；
When the water level signal indicates the water level in the water tank lower than setting initial water level, the sprinkling system controller is defeated
Moisturizing instructs out.
3. sprinkler system control method according to claim 1 or 2, which is characterized in that in the sprinkling system controller
After exporting moisturizing instruction, the method also includes:
The vehicle-mounted central controller receives the moisturizing instruction of the sprinkling system controller output, is obtained according to moisturizing instruction
Pick-up current location information and the location information that optimal moisturizing point is inquired according to the current vehicle position information；
Moisturizing navigation programming route is generated according to the location information of the current vehicle position information and the optimal moisturizing point, and
Generating vehicle driving control signal makes the unmanned cleaning vehicle according to the moisturizing navigation programming route automatic running
To the optimal moisturizing point；
The vehicle-mounted central controller generates moisturizing and controls signal, and the water injection pipe for controlling vehicle is docked with external water supply pipe, and
It generates the control of moisturizing opening control signal and opens the automatically controlled water injection valve of the water supply pipe, to pass through the water supply pipe and water injection pipe
Moisturizing is carried out to the water tank；
During the moisturizing, the vehicle-mounted central controller controls the sprinkling system controller and acquires water-level gauge in real time
Water level signal, when the water level signal indicates that the water level in the water tank reaches setting full water water level, the vehicle-mounted central control
Device processed generates moisturizing tube wall and controls signal, and the automatically controlled water injection valve of the water supply pipe is closed in control, and is controlled and disconnected the water injection pipe
With the connection of external water supply pipe.
4. sprinkler system control method according to claim 1, which is characterized in that during the spraying operation,
The method also includes:
The transducing signal that the vehicle-mounted central controller acquires one or more onboard sensors is handled, obtain one or
Multinomial sensing detecting data；The sensing detecting data includes: travel speed, pavement temperature, pavement state parameters, ambient particle
One or more of object and barrier parameter；
The vehicle detection sensing data is sent to the sprinkling system controller by the vehicle-mounted central controller；
The sprinkling system controller handles the vehicle monitoring sensing data, and updates the spray according to processing result
Spill control parameter；The sprinkling control parameter includes: that spray pressure, spray rate, spray angle and nozzle valve open selection
One or more of parameter.
5. sprinkler system control method according to claim 1, which is characterized in that when the water level signal exception, institute
It states sprinkling system controller and exports stop operation instruction and moisturizing instruction accordingly based on the analysis results specifically:
When the water level signal exception, the sprinkling system controller exports the instruction that stops operation, to close the water pump
And nozzle valve；And
The moisturizing instruction is exported to the vehicle-mounted central controller.
6. sprinkler system control method according to claim 1, which is characterized in that when the hydraulic signal exception, institute
State sprinkling system controller based on the analysis results output sprinkler system maintenance request accordingly and/or stop operation instruct it is specific
Are as follows:
When the hydraulic signal indicates the hydraulic pressure of the pressure sensor detection greater than upper pressure limit threshold value, the sprinkling system
The variation of controller acquisition water level signal within default first period；
If the variable quantity of water level signal is not less than normal range (NR), the sprinkling system controller is to the vehicle-mounted central controller
Sprinkler system maintenance request is sent, records the sprinkler system maintenance request to the vehicle-mounted central controller, and current
The unmanned cleaning vehicle is controlled after the completion of spraying operation returns to setting maintenance website；
If the variable quantity of water level signal is lower than normal range (NR), the sprinkling system controller exports the instruction that stops operation, to
The water pump and nozzle valve are closed in control, and send the instruction that stops operation to the vehicle-mounted central controller, to control
It states unmanned cleaning vehicle and returns to setting maintenance website.
7. sprinkler system control method according to claim 1, which is characterized in that when the hydraulic signal exception, institute
State sprinkling system controller based on the analysis results output sprinkler system maintenance request accordingly and/or stop operation instruct it is specific
Are as follows:
When the hydraulic signal indicates the hydraulic pressure of the pressure sensor detection less than low pressure limit threshold value, the sprinkling system
The variation of controller acquisition water level signal within default first period；
If the variable quantity of water level signal is not higher than normal range (NR), the sprinkling system controller is to the vehicle-mounted central controller
Sprinkler system maintenance request is sent, records the sprinkler system maintenance request to the vehicle-mounted central controller, and current
The unmanned cleaning vehicle is controlled after the completion of spraying operation returns to setting maintenance website；
If the variable quantity of water level signal is higher than normal range (NR), the sprinkling system controller exports the instruction that stops operation, to
The water pump and nozzle valve are closed in control, and send the instruction that stops operation to the vehicle-mounted central controller, to control
It states unmanned cleaning vehicle and returns to setting maintenance website.
8. sprinkler system control method according to claim 6 or 7, which is characterized in that the method also includes: according to spray
Spill the normal range (NR) that control parameter determines the variable quantity of the water level signal.
9. according to any sprinkler system control method of claim 5-7, which is characterized in that the sprinkling system controller
Output stops operation after instruction, the method also includes:
The vehicle-mounted central controller generates a charge book according to current vehicle location information and working path information.
10. a kind of unmanned cleaning vehicle, which is characterized in that the unmanned cleaning vehicle includes the claims 1-
9 any vehicle-mounted central controller, sprinkling system controller, pressure sensor, water-level gauge, water pump, nozzle valve and the water
Case.
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