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CN114435183A - Control method and system for returning, charging and water adding of automatic spraying vehicle - Google Patents

Control method and system for returning, charging and water adding of automatic spraying vehicle Download PDF

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Publication number
CN114435183A
CN114435183A CN202111615904.1A CN202111615904A CN114435183A CN 114435183 A CN114435183 A CN 114435183A CN 202111615904 A CN202111615904 A CN 202111615904A CN 114435183 A CN114435183 A CN 114435183A
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driving range
spraying
automatic
route
vehicle
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CN114435183B (en
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张凯
涂辉兵
李广
程琳
邹玉春
桂国文
徐双全
邓俊双
邓翔浩
刘德生
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Jiangxi Transportation Engineering Group Co ltd
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Jiangxi Transportation Engineering Group Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/30—Spraying vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a control method and a system for returning, charging and water adding of an automatic spraying vehicle, according to the method provided by the invention, the first theoretical driving range can be determined according to the historical power consumption information and the initial electric quantity information of the automatic spraying vehicle, and determining a second theoretical driving range according to the historical spraying water consumption information and the initial water amount information of the automatic spraying vehicle, and then the minimum one of the first theoretical driving range and the second theoretical driving range is the target driving range, if the target driving range is not less than the range corresponding to the pre-planned spraying route, the electric quantity and the water quantity can meet the operation requirement of the pre-planned spraying route, and simultaneously, the spraying route comprises a return route, so that the water can be charged and added, thereby can effectively avoid the electric quantity not enough to lead to spraying the car and can't return smoothly and voyage and charge or the water yield is not enough to lead to carrying out the problem that long distance sprayed.

Description

Control method and system for returning, charging and water adding of automatic spraying vehicle
Technical Field
The invention relates to the technical field of spraying vehicles, in particular to a control method and a system for returning, charging and water adding of an automatic spraying vehicle.
Background
The guard rails of the highway need to be maintained by spraying water frequently, the traditional manual water spraying maintenance mode is low in efficiency, and the labor cost is high. Therefore, the automatic spraying vehicle is popularized and applied. The automatic spray vehicle is provided with a battery, a water tank, a driving motor and a roller, and can be charged in a base station, and after the water tank is filled with water, the automatic spray vehicle can travel along the protective guard and simultaneously perform spray operation.
In the prior art, the control of returning, charging and water adding of an automatic spraying vehicle is manually carried out, an operator directly puts the automatic spraying vehicle on a protective guard for water spraying maintenance after charging and filling the automatic spraying vehicle with water, but the spraying vehicle cannot smoothly return for charging due to different mileage for water spraying maintenance at different road sections if the electric quantity is insufficient; if the amount of water is insufficient, long-distance spraying cannot be performed and spraying cannot be performed during the return route.
Disclosure of Invention
Therefore, one embodiment of the invention provides a control method for adding water for return travel charging of an automatic spray vehicle, so as to solve the problem that the spray vehicle cannot smoothly return for charging if the electric quantity is insufficient in the prior art; if the water amount is insufficient, the long-distance spraying cannot be performed and the spraying cannot be performed in the returning route.
The control method for the return charging and water adding of the automatic spraying vehicle comprises the following steps:
acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route;
determining a first theoretical driving range of the automatic spraying vehicle according to the historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
determining a target driving range of the automatic spraying vehicle according to the first theoretical driving range and the second theoretical driving range, wherein the target driving range is the minimum of the first theoretical driving range and the second theoretical driving range;
judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route.
According to the control method for the return journey charging water adding of the automatic spraying vehicle, the first theoretical driving range is determined according to the historical power consumption information and the initial electric quantity information of the automatic spraying vehicle, and determining a second theoretical driving range according to the historical spraying water consumption information and the initial water amount information of the automatic spraying vehicle, and the minimum one of the first theoretical driving range and the second theoretical driving range is the target driving range, if the target driving range is not less than the range corresponding to the pre-planned spraying route, the electric quantity and the water quantity can meet the operation requirement of the pre-planned spraying route, and meanwhile, the spraying route comprises a return route, so that the spraying route can be returned to charge and add water, thereby can effectively avoid the electric quantity not enough to lead to spraying the car and can't return smoothly and sail and charge or the water shortage leads to carrying on the problem that the long distance sprayed.
In addition, the control method for the return charging and water adding of the automatic spraying vehicle according to the embodiment of the invention can also have the following additional technical characteristics:
further, after the step of determining whether the target driving range is not less than the range corresponding to the pre-planned spraying route, the method further includes:
if the target driving range is less than the range corresponding to the pre-planned spraying route, judging whether the first theoretical driving range is less than the second theoretical driving range;
if the first theoretical driving range is smaller than the second theoretical driving range, determining a first return position according to the first theoretical driving range and the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the first return position and charge and add water.
Further, after the step of determining whether the first theoretical driving range is less than the second theoretical driving range, the method further includes:
if the first theoretical driving range is larger than the second theoretical driving range, determining a second return position according to the second theoretical driving range and the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the second return position for charging and adding water.
Further, the method further comprises:
acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route;
acquiring wind speed information and wind direction information of the automatic spraying vehicle during running;
determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
according to the wind speed information and the wind direction information, carrying out weighted calculation on the first theoretical driving range to obtain a weighted first theoretical driving range;
determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
determining a target driving range of the automatic spraying vehicle according to the weighted first theoretical driving range and the weighted second theoretical driving range, wherein the target driving range is the minimum of the weighted first theoretical driving range and the weighted second theoretical driving range;
judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route.
Further, in the step of performing weighted calculation on the first theoretical driving range according to the wind speed information and the wind direction information to obtain a weighted first theoretical driving range, the weighted first theoretical driving range is calculated by using the following formula:
SL＝S1*(1+v1*a)+S2*(1+v2*b)
wherein S isLRepresenting the weighted first theoretical driving range, S1Indicating the number of miles driven downwind, v1Indicating the wind speed, S, downwind2Indicating the number of miles traveled against the wind, v2The wind speed of the upwind is represented, a represents a downwind scaling factor, and b represents an upwind scaling factor.
Further, the method further comprises:
after the automatic spraying vehicle finishes the spraying operation, calculating to obtain the effective time period of the spraying maintenance according to the current temperature, the current evaporation capacity and the average water spraying quantity on the surface of the protective guard;
acquiring real-time weather forecast information, wherein the real-time weather forecast information at least comprises a next rainfall time point;
when the next rainfall time point is judged to be within the effective time period of the spraying maintenance, controlling the automatic spraying vehicle not to perform spraying operation before the next rainfall time point;
when the next rainfall time point exceeds the effective time period of the spraying maintenance, and the corresponding exceeding time is less than a first preset time interval, controlling the automatic spraying vehicle not to perform spraying operation before the next rainfall time point;
and when the next rainfall time point is judged to exceed the effective time period for the current spraying maintenance, and the corresponding exceeding time is larger than a first preset time interval, controlling the automatic spraying vehicle to carry out spraying operation when the effective time period for the current spraying maintenance is cut off.
Further, the calculation formula of the effective time period of the spraying maintenance is represented as:
Figure BDA0003434927870000041
wherein t represents the effective time period of the current spraying maintenance,
Figure BDA0003434927870000042
represents the average amount of water sprayed from the guard rail surface, T represents the current temperature, loRepresenting the current evaporation amount;
Figure BDA0003434927870000043
wherein V represents the total water volume in the spray truck, SoM represents the actual total mileage of the spraying operation of the spraying vehicleoIndicating the spray area of a single showerhead in a spray truck.
The invention provides a control system for returning, charging and water adding of an automatic spraying vehicle, which aims to solve the problem that the spraying vehicle cannot smoothly return for charging if the electric quantity is insufficient in the prior art; if the water amount is insufficient, the long-distance spraying cannot be performed and the spraying cannot be performed in the returning route.
The return journey charging water adding control system for the automatic spraying vehicle comprises:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, and the spraying route comprises a return route;
the first determination module is used for determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
the second determination module is used for determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
a third determination module, configured to determine a target driving range of the automatic spray vehicle according to the first theoretical driving range and the second theoretical driving range, where the target driving range is a minimum of the first theoretical driving range and the second theoretical driving range;
the first judgment module is used for judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and the first control module is used for controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route if the target driving range is not less than the range corresponding to the pre-planned spraying route.
According to the control system for the return journey charging water adding of the automatic spraying vehicle, the first theoretical driving range is determined according to the historical power consumption information and the initial electric quantity information of the automatic spraying vehicle, and determining a second theoretical driving range according to the historical spraying water consumption information and the initial water amount information of the automatic spraying vehicle, and then the minimum one of the first theoretical driving range and the second theoretical driving range is the target driving range, if the target driving range is not less than the range corresponding to the pre-planned spraying route, the electric quantity and the water quantity can meet the operation requirement of the pre-planned spraying route, and simultaneously, the spraying route comprises a return route, so that the water can be charged and added, thereby can effectively avoid the electric quantity not enough to lead to spraying the car and can't return smoothly and voyage and charge or the water yield is not enough to lead to carrying out the problem that long distance sprayed.
In addition, the control system for returning, charging and water adding of the automatic spraying vehicle according to the above embodiment of the invention may further have the following additional technical features:
further, the system further comprises:
the second judgment module is used for judging whether the first theoretical driving range is smaller than the second theoretical driving range or not if the target driving range is smaller than the range corresponding to the pre-planned spraying route;
a fourth determining module, configured to determine a first return journey position according to the first theoretical driving range and the pre-planned spraying route if the first theoretical driving range is less than the second theoretical driving range;
and the second control module is used for controlling the automatic spraying vehicle to return to the first return position and charge and add water.
Further, the system further comprises:
a fifth determining module, configured to determine a second return journey position according to the second theoretical driving range and the pre-planned spraying route if the first theoretical driving range is greater than the second theoretical driving range;
and the third control module is used for controlling the automatic spraying vehicle to carry out return travel charging and water adding when the automatic spraying vehicle reaches the second return travel position.
Further, the system comprises:
the second acquisition module is used for acquiring wind speed information and wind direction information when the automatic spraying vehicle runs;
the weighted calculation module is used for carrying out weighted calculation on the first theoretical driving range according to the wind speed information and the wind direction information so as to obtain a weighted first theoretical driving range;
the third determining module is specifically configured to determine a target driving range of the automatic spray vehicle according to the weighted first theoretical driving range and the weighted second theoretical driving range, where the target driving range is the minimum of the weighted first theoretical driving range and the weighted second theoretical driving range.
Further, the weighting calculation module is specifically configured to calculate the weighted first theoretical driving range by using the following formula:
SL＝S1*(1+v1*a)+S2*(1+v2*b)
wherein S isLRepresenting the weighted first theoretical driving range, S1Indicating the number of miles driven downwind, v1Indicating the wind speed, S, downwind2Indicating the number of miles traveled against the wind, v2The wind speed of the upwind is represented, a represents a downwind scaling factor, and b represents an upwind scaling factor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method for return charging and water adding of an automatic spray vehicle according to a first embodiment of the invention;
FIG. 2 is a flow chart of a control method for return charging and water adding of an automatic spray vehicle according to a second embodiment of the invention;
fig. 3 is a flowchart of a control method for return charging and water adding of an automatic spray vehicle according to a third embodiment of the invention;
fig. 4 is a schematic structural diagram of a return charging and water adding control system for an automatic spray vehicle according to a fourth embodiment of the invention;
fig. 5 is a schematic structural diagram of a return charging and water adding control system for an automatic spray vehicle according to a fifth embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for controlling return charging and water adding of an automatic spraying vehicle according to a first embodiment of the present invention includes steps S101 to S106:
s101, acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route.
The automatic spray vehicle is provided with a battery, a water tank, a driving motor, a roller and a controller, can be charged in a base station, and can run along the guard rail and perform spray operation simultaneously after the water tank is filled with water. The initial electric quantity information of the automatic spraying vehicle refers to the electric quantity information when an operator charges the automatic spraying vehicle and prepares to put the automatic spraying vehicle in spraying operation, the electric quantity of the automatic spraying vehicle can be monitored in real time through the electric quantity management module, and the initial electric quantity information is sent to the controller through the electric quantity management module. The initial water amount information of the automatic spraying vehicle refers to water amount information when an operator prepares to put the automatic spraying vehicle in for spraying operation after the automatic spraying vehicle is filled with water, and specifically, a water level sensor is arranged in a water tank and sends the monitored water amount information to a controller.
The pre-planned spraying route refers to a high-speed road section on which the automatic spraying vehicle is about to perform spraying operation, and the spraying route needs to include a return route. During specific implementation, an APP or a WeChat applet can be arranged on the mobile terminal, an interactive interface is provided on the APP or the WeChat applet for a user to input a spraying route, and the mobile terminal can adopt Bluetooth, 4G, 5G and other modes to wirelessly communicate with the controller.
And S102, determining a first theoretical driving range of the automatic spraying vehicle according to the historical power consumption information of the automatic spraying vehicle and the initial electric quantity information.
The historical power consumption information refers to the comprehensive power consumption situation of the automatic spraying vehicle in the near term (for example, within 30 days), and can be specifically calculated according to the electric quantity used within a certain time and the driving mileage.
After the historical power consumption information and the initial electric quantity information are obtained, a first theoretical driving range of the automatic spraying vehicle can be calculated, and the first theoretical driving range reflects the driving range which can be driven according to the electric quantity of the automatic spraying vehicle.
S103, determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information.
The historical spraying water information refers to the comprehensive water consumption condition of the automatic spraying vehicle in the near term (for example, within 30 days), and can be specifically calculated according to the water consumption and the driving mileage within a certain time.
After the historical spraying water information and the initial electric quantity information are obtained, a second theoretical driving range of the automatic spraying vehicle can be calculated, and the second theoretical driving range reflects the driving range (namely the driving range capable of performing spraying maintenance) of the automatic spraying vehicle according to the water quantity.
And S104, determining a target driving range of the automatic spraying vehicle according to the first theoretical driving range and the second theoretical driving range, wherein the target driving range is the minimum of the first theoretical driving range and the second theoretical driving range.
Wherein the target driving range is the minimum of the first theoretical driving range and the second theoretical driving range. Specifically, if the first theoretical driving range is less than the second theoretical driving range, the first theoretical driving range is used as the target driving range, if the second theoretical driving range is less than the first theoretical driving range, the second theoretical driving range is used as the target driving range, and if the first theoretical driving range is equal to the second theoretical driving range, the first theoretical driving range or the second theoretical driving range can be used as the target driving range.
And S105, judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route.
The target driving range needs to be compared with a range (including a range of a return route) corresponding to a pre-planned spraying route.
And S106, if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return journey charging and water adding according to the return journey route.
The target driving range is not less than the range corresponding to the planned spraying route in advance, and the range which can be driven by the electric quantity of the automatic spraying vehicle and the range which can be sprayed and maintained by the automatic spraying vehicle can both meet the preset maintenance task.
In summary, according to the control method for returning, charging and adding water for the automatic spraying vehicle provided by the embodiment, the first theoretical driving range is determined according to the historical power consumption information and the initial electric quantity information of the automatic spraying vehicle, and determining a second theoretical driving range according to the historical spraying water consumption information and the initial water amount information of the automatic spraying vehicle, and then the minimum one of the first theoretical driving range and the second theoretical driving range is the target driving range, if the target driving range is not less than the range corresponding to the pre-planned spraying route, the electric quantity and the water quantity can meet the operation requirement of the pre-planned spraying route, and simultaneously, the spraying route comprises a return route, so that the water can be charged and added, thereby can effectively avoid the electric quantity not enough to lead to spraying the car and can't return smoothly and voyage and charge or the water yield is not enough to lead to carrying out the problem that long distance sprayed.
In addition, as an embodiment, after the step of determining whether the target driving range is not less than the range corresponding to the pre-planned spraying route, the method further includes:
if the target driving range is less than the range corresponding to the pre-planned spraying route, judging whether the first theoretical driving range is less than the second theoretical driving range;
if the first theoretical driving range is smaller than the second theoretical driving range, determining a first returning position according to the first theoretical driving range and the pre-planned spraying route, wherein the first returning position is a certain position in the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the first return position and charge and add water.
Through the steps, the automatic spraying vehicle can be ensured to have enough electric quantity to smoothly return.
Specifically, after the step of determining whether the first theoretical driving range is less than the second theoretical driving range, the method further includes:
if the first theoretical driving range is larger than the second theoretical driving range, determining a second returning position according to the second theoretical driving range and the pre-planned spraying route, wherein the second returning position is a certain position in the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the second return position for charging and adding water.
Through the steps, the automatic spraying vehicle is ensured to have enough electric quantity to smoothly return, and when the water quantity is insufficient, the automatic spraying vehicle returns to the home, so that invalid driving is avoided.
Referring to fig. 2, a method for controlling return charging and water adding of an automatic spraying vehicle according to a second embodiment of the present invention includes steps S201 to S208:
s201, acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route;
s202, acquiring wind speed information and wind direction information of the automatic spraying vehicle during running;
wherein, can specifically set up air velocity transducer on the automatic spray truck, wind speed information and wind direction information when monitoring the automatic spray truck through air velocity transducer and traveling, air velocity transducer and automatic spray truck in controller electric connection. The wind speed information refers to the size of the wind speed, and the wind direction information refers to whether the automatic spraying vehicle runs upwind or downwind.
S203, determining a first theoretical driving range of the automatic spraying vehicle according to the historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
s204, performing weighted calculation on the first theoretical driving range according to the wind speed information and the wind direction information to obtain a weighted first theoretical driving range;
in step S204, the weighted first theoretical driving range is calculated by using the following formula:
SL＝S1*(1+v1*a)+S2*(1+v2*b)
wherein S isLRepresenting the weighted first theoretical driving range, S1Indicating the number of miles driven downwind, v1Indicating the wind speed, S, downwind2Indicating the number of miles traveled against the wind, v2The wind speed of the upwind is represented, a represents a downwind scaling factor, and b represents an upwind scaling factor.
Wherein v is1And v2All use positive values, regardless of direction, the unit is m/s, the downwind scaling factor a is positive, and the upwind scaling factor b isNegative values, in units of s/m. The values of a and b can be empirical values or can be adjusted manually on the basis of the empirical values.
For example, the automatic spraying vehicle travels 3.5 kilometers downwind, and the wind speed v of the downwind18.5m/s, travels 2 km against the wind, wind speed v against the wind2At 9m/s, with values of a and b being 0.15 and-0.1, respectively, the weighted first theoretical driving range is: s. theL＝3.5*(1+8.5*0.15)+2*(1-9*0.1)km＝8.1625km。
S205, determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
s206, determining a target driving range of the automatic spraying vehicle according to the weighted first theoretical driving range and the weighted second theoretical driving range, wherein the target driving range is the minimum one of the weighted first theoretical driving range and the weighted second theoretical driving range;
s207, judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and S208, if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return journey charging and water adding according to the return journey route.
Compared with the first embodiment, in the embodiment, the wind resistance influencing the running of the automatic spraying vehicle is considered, the first theoretical driving range is weighted and calculated through the wind speed information and the wind direction information, the weighted first theoretical driving range is obtained, the actual working environment is closer, the calculation accuracy is improved, and other parts which are not described can be referred to the first embodiment, and are not described herein again.
Referring to fig. 3, a method for controlling return charging and water adding of an automatic spraying vehicle according to a third embodiment of the present invention includes steps S301 to S305:
s301, after the automatic spraying vehicle finishes the spraying operation, calculating to obtain the effective spraying maintenance time period according to the current temperature, the current evaporation capacity and the average water spraying quantity on the surface of the protective guard.
In this step, the calculation formula of the effective time period of the spray curing is represented as:
Figure BDA0003434927870000121
wherein t represents the effective time period of the current spraying maintenance,
Figure BDA0003434927870000122
represents the average amount of water sprayed from the guard rail surface, T represents the current temperature, loIndicating the current evaporation amount.
For the average water spraying amount of the surface of the guard rail, the specific calculation formula is as follows:
Figure BDA0003434927870000123
wherein V represents the total water volume in the spray truck, SoM represents the actual total mileage of the spraying operation of the spraying vehicleoIndicating the spray area of a single showerhead in a spray truck.
S302, acquiring real-time weather forecast information, wherein the real-time weather forecast information at least comprises a next rainfall time point.
And S303, when the next rainfall time point is judged to be in the effective time period of the spraying maintenance, controlling the automatic spraying vehicle not to perform the spraying operation before the next rainfall time point.
It can be understood that the spraying operation is not needed in the effective time period of the spraying maintenance. If the weather of rainfall is met, the spraying vehicle does not need to be started for spraying operation.
And S304, when the next rainfall time point is judged to exceed the effective time period of the spraying maintenance, and the corresponding exceeding time is less than the first preset time interval, controlling the automatic spraying vehicle not to perform the spraying operation before the next rainfall time point.
In this step, the time point of the next rainfall exceeds the effective time period of the current spraying maintenance. The automatic spraying vehicle should be started to perform spraying operation at this moment, but the exceeding time corresponding to the next rainfall time point is smaller than the first preset time interval, that is, the guard rail does not need to be sprayed and maintained urgently at this moment. And rainfall is immediately available, so that the automatic spraying vehicle does not need to be started for spraying operation in the aspect of resource saving.
S305, when the time point of next rainfall exceeds the effective time period of the spraying maintenance, and the corresponding exceeding time is larger than a first preset time interval, controlling the automatic spraying vehicle to perform spraying operation when the effective time period of the spraying maintenance is cut off.
In this step, if the exceeding time corresponding to the next rainfall time point is greater than the first preset time interval, it indicates that the guard rail cannot be maintained by waiting for the next rainfall. At this time, the automatic spray vehicle needs to be started to perform spraying operation.
Referring to fig. 4, a control system for returning, charging and water adding of an automatic spraying vehicle according to a fourth embodiment of the present invention includes:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, and the spraying route comprises a return route;
the first determination module is used for determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
the second determination module is used for determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
a third determination module, configured to determine a target driving range of the automatic spray vehicle according to the first theoretical driving range and the second theoretical driving range, where the target driving range is a minimum of the first theoretical driving range and the second theoretical driving range;
the first judgment module is used for judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and the first control module is used for controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route if the target driving range is not less than the range corresponding to the pre-planned spraying route.
In this embodiment, the system further includes:
the second judgment module is used for judging whether the first theoretical driving range is smaller than the second theoretical driving range or not if the target driving range is smaller than the range corresponding to the pre-planned spraying route;
a fourth determining module, configured to determine a first return journey position according to the first theoretical driving range and the pre-planned spraying route if the first theoretical driving range is less than the second theoretical driving range;
and the second control module is used for controlling the automatic spraying vehicle to return to the first return position and charge and add water.
In this embodiment, the system further includes:
a fifth determining module, configured to determine a second return journey position according to the second theoretical driving range and the pre-planned spraying route if the first theoretical driving range is greater than the second theoretical driving range;
and the third control module is used for controlling the automatic spraying vehicle to carry out return travel charging and water adding when the automatic spraying vehicle reaches the second return travel position.
According to the control system for returning, charging and adding water of the automatic spraying vehicle provided by the embodiment, the first theoretical driving range is determined according to the historical power consumption information and the initial electric quantity information of the automatic spraying vehicle, and determining a second theoretical driving range according to the historical spraying water consumption information and the initial water amount information of the automatic spraying vehicle, and then the minimum one of the first theoretical driving range and the second theoretical driving range is the target driving range, if the target driving range is not less than the range corresponding to the pre-planned spraying route, the electric quantity and the water quantity can meet the operation requirement of the pre-planned spraying route, and simultaneously, the spraying route comprises a return route, so that the water can be charged and added, thereby can effectively avoid the electric quantity not enough to lead to spraying the car and can't return smoothly and voyage and charge or the water yield is not enough to lead to carrying out the problem that long distance sprayed.
Referring to fig. 5, a return charging and water adding control system for an automatic spraying vehicle according to a fifth embodiment of the present invention includes:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, and the spraying route comprises a return route;
the second acquisition module is used for acquiring wind speed information and wind direction information when the automatic spraying vehicle runs;
the first determination module is used for determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
the weighted calculation module is used for carrying out weighted calculation on the first theoretical driving range according to the wind speed information and the wind direction information so as to obtain a weighted first theoretical driving range;
the second determination module is used for determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
a third determination module, configured to determine a target driving range of the automatic spray vehicle according to the weighted first theoretical driving range and the weighted second theoretical driving range, where the target driving range is a minimum of the weighted first theoretical driving range and the weighted second theoretical driving range;
the first judgment module is used for judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and the first control module is used for controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route if the target driving range is not less than the range corresponding to the pre-planned spraying route.
In this embodiment, the weighted calculating module is specifically configured to calculate the weighted first theoretical driving range by using the following formula:
SL＝S1*(1+v1*a)+S2*(1+v2*b)
wherein S isLRepresenting the weighted first theoretical driving range, S1Indicating the number of miles driven downwind, v1Indicating the wind speed, S, downwind2Indicating the number of miles traveled against the wind, v2The wind speed of the upwind is represented, a represents a downwind scaling factor, and b represents an upwind scaling factor.
Compared with the third embodiment, in the embodiment, the wind resistance influencing the running of the automatic spraying vehicle is considered, the first theoretical driving range is weighted and calculated through the wind speed information and the wind direction information, the weighted first theoretical driving range is obtained, the actual working environment is closer, the calculation accuracy is improved, and other parts which are not described can be referred to the third embodiment, and are not described herein again.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. The utility model provides a return journey charges control method who adds water for automatic spray vehicle which characterized in that includes:
acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route;
determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
determining a target driving range of the automatic spraying vehicle according to the first theoretical driving range and the second theoretical driving range, wherein the target driving range is the minimum of the first theoretical driving range and the second theoretical driving range;
judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route.
2. The return charge water adding control method for the automatic spraying vehicle as claimed in claim 1, wherein after the step of determining whether the target driving range is not less than the range corresponding to the pre-planned spraying route, the method further comprises:
if the target driving range is less than the range corresponding to the pre-planned spraying route, judging whether the first theoretical driving range is less than the second theoretical driving range;
if the first theoretical driving range is smaller than the second theoretical driving range, determining a first return position according to the first theoretical driving range and the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the first return position and charge and add water.
3. The return charge and water addition control method for the automatic spray vehicle according to claim 2, wherein after the step of determining whether the first theoretical driving range is less than the second theoretical driving range, the method further comprises:
if the first theoretical driving range is larger than the second theoretical driving range, determining a second return position according to the second theoretical driving range and the pre-planned spraying route;
and controlling the automatic spraying vehicle to return to the second return position for charging and adding water.
4. The return charge water adding control method for the automatic spray vehicle as claimed in claim 1, wherein the method further comprises:
acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, wherein the spraying route comprises a return route;
acquiring wind speed information and wind direction information of the automatic spraying vehicle during running;
determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
according to the wind speed information and the wind direction information, carrying out weighted calculation on the first theoretical driving range to obtain a weighted first theoretical driving range;
determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
determining a target driving range of the automatic spraying vehicle according to the weighted first theoretical driving range and the weighted second theoretical driving range, wherein the target driving range is the minimum of the weighted first theoretical driving range and the weighted second theoretical driving range;
judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and if the target driving range is not less than the range corresponding to the pre-planned spraying route, controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route, and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route.
5. The return charge water adding control method for the automatic spray vehicle as claimed in claim 4, wherein in the step of performing weighted calculation on the first theoretical driving range according to the wind speed information and the wind direction information to obtain the weighted first theoretical driving range, the weighted first theoretical driving range is calculated by using the following formula:
SL＝S1*(1+v1*a)+S2*(1+v2*b)
wherein S isLRepresenting the weighted first theoretical driving range, S1Indicating the number of miles driven downwind, v1Indicating the wind speed, S, downwind2Indicating the number of miles traveled against the wind, v2The wind speed of the upwind is represented, a represents a downwind scaling factor, and b represents an upwind scaling factor.
6. The return charge water adding control method for the automatic spray vehicle as claimed in claim 1, wherein the method further comprises:
after the automatic spraying vehicle finishes the spraying operation, calculating to obtain the effective time period of the spraying maintenance according to the current temperature, the current evaporation capacity and the average water spraying quantity on the surface of the protective guard;
acquiring real-time weather forecast information, wherein the real-time weather forecast information at least comprises a next rainfall time point;
when the next rainfall time point is judged to be within the effective time period of the spraying maintenance, controlling the automatic spraying vehicle not to perform spraying operation before the next rainfall time point;
when the time point of the next rainfall exceeds the effective time period of the spraying maintenance, and the corresponding exceeding time is less than a first preset time interval, controlling the automatic spraying vehicle not to perform spraying operation before the time point of the next rainfall;
and when the next rainfall time point is judged to exceed the effective time period for the current spraying maintenance, and the corresponding exceeding time is larger than a first preset time interval, controlling the automatic spraying vehicle to carry out spraying operation when the effective time period for the current spraying maintenance is cut off.
7. The return journey charging water adding control method for the automatic spraying vehicle as claimed in claim 6, wherein the calculation formula of the effective time period of the current spraying maintenance is represented as:
Figure FDA0003434927860000031
wherein t represents the effective time period of the current spraying maintenance,
Figure FDA0003434927860000032
represents the average amount of water sprayed from the surface of the guard rail, T represents the current temperature, loRepresenting the current evaporation amount;
Figure FDA0003434927860000033
wherein V represents the total water volume in the spray truck, SoM represents the actual total mileage of the spraying operation of the spraying vehicleoIndicating the spray area of a single showerhead in a spray truck.
8. The utility model provides a return voyage and charge watered control system for automatic spray truck which characterized in that, the system includes:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring initial electric quantity information of the automatic spraying vehicle, initial water quantity information of the automatic spraying vehicle and a pre-planned spraying route, and the spraying route comprises a return route;
the first determination module is used for determining a first theoretical driving range of the automatic spraying vehicle according to historical power consumption information of the automatic spraying vehicle and the initial electric quantity information;
the second determination module is used for determining a second theoretical driving range of the automatic spraying vehicle according to the historical spraying water consumption information of the automatic spraying vehicle and the initial water amount information;
a third determination module, configured to determine a target driving range of the automatic spray vehicle according to the first theoretical driving range and the second theoretical driving range, where the target driving range is a minimum of the first theoretical driving range and the second theoretical driving range;
the first judgment module is used for judging whether the target driving range is not less than the range corresponding to the pre-planned spraying route;
and the first control module is used for controlling the automatic spraying vehicle to perform spraying operation according to the pre-planned spraying route and controlling the automatic spraying vehicle to perform return travel charging and water adding according to the return travel route if the target driving range is not less than the range corresponding to the pre-planned spraying route.
9. The return charge water addition control system for an automatic spray vehicle according to claim 8, further comprising:
the second judgment module is used for judging whether the first theoretical driving range is smaller than the second theoretical driving range or not if the target driving range is smaller than the range corresponding to the pre-planned spraying route;
a fourth determining module, configured to determine a first return journey position according to the first theoretical driving range and the pre-planned spraying route if the first theoretical driving range is less than the second theoretical driving range;
and the second control module is used for controlling the automatic spraying vehicle to return to the first return position and charge and add water.
10. The return charge water-adding control method for the automatic spray vehicle as claimed in claim 9, wherein the system further comprises:
a fifth determining module, configured to determine a second returning position according to the second theoretical driving range and the pre-planned spraying route if the first theoretical driving range is greater than the second theoretical driving range;
and the third control module is used for controlling the automatic spraying vehicle to carry out return travel charging and water adding when the automatic spraying vehicle reaches the second return travel position.
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