阅读说明：本技术 一种清扫车智能风量控制系统 (Intelligent air volume control system of sweeper ) 是由 廖文龙 何弢 陈炳辉 于 2021-09-17 设计创作，主要内容包括：本发明的目的提供一种清扫车智能风量控制系统,由图像处理与计算模块通过深度学习前期建立起来的风量控制模型,针对垃圾种类与数量以及清冲车的作业速度给出所需风量或推力的最优解；并将目标信号下发至整车控制器；整车控制器接到图像处理与计算模块决策信号后对三个风机控制器下发调节命令；风机控制器通过控制PMW信号来实现风量的调节。(The invention aims to provide an intelligent air volume control system of a sweeper, which is characterized in that an optimal solution of required air volume or thrust is given by an image processing and calculating module through an air volume control model established in the early stage of deep learning according to the type and the quantity of garbage and the operation speed of the sweeper; sending the target signal to the vehicle control unit; the vehicle control unit receives the decision signal of the image processing and calculating module and then sends adjusting commands to the three fan controllers; the fan controller realizes the adjustment of air quantity by controlling the PMW signal.)

1. The utility model provides a motor sweeper intelligence air volume control system which characterized in that: the vision sensor comprises a rear wide-angle camera (1), a front wide-angle camera (2) and a side binocular camera (3), the rear wide-angle camera (1) is arranged on the rear side of the vehicle, the front wide-angle camera (2) is arranged on the front side of the vehicle, the side binocular camera (3) is arranged on the side of the vehicle, the vision processing module is an image processing and calculating module (4), the rear wide-angle camera (1), the front wide-angle camera (2) and the side binocular camera (3) are respectively connected with the image processing and calculating module (4) through a GPU signal line (5), the whole vehicle electrical control module comprises a whole vehicle controller (6), the whole vehicle controller (6) is connected with the image processing and calculating module (4) through a signal transmission line (7), the fan control module comprises a left ducted fan module (8), a right ducted fan module (9), a right front ducted fan module (10), a left fan wire-control electric regulation (11), a right fan wire-control electric regulation (12) and a right front fan wire-control electric regulation (13), the left fan wire-control electric regulation (11), the right fan wire-control electric regulation (12) and the right front fan wire-control electric regulation (13) are respectively connected with a whole vehicle controller (6) through an electric regulation signal line (14), the whole vehicle controller (6) issues PWM signals corresponding to three fans under respective target air volume through the electric regulation signal line (14) to the left fan wire-control electric regulation (11), the right fan wire-control electric regulation (12) and the right front fan wire-control electric regulation (13), and finally intelligent control of the air volume of the fans is realized.

2. The intelligent air volume control system of the sweeper truck as recited in claim 1, characterized in that: the vehicle is also provided with a whole vehicle power supply (15), the whole vehicle power supply (15) is connected with the vision sensor, the vision processing module, the whole vehicle electrical appliance control module and the fan control module through power lines (16), and power is supplied through the whole vehicle power supply (15).

3. The intelligent air volume control system of the sweeper truck as recited in claim 1, characterized in that: the left ducted fan module (8), the right ducted fan module (9) and the right front ducted fan module (10) are respectively arranged on the left ducted fan, the right ducted fan and the right front ducted fan, and the left ducted fan, the right ducted fan and the right front ducted fan are respectively controlled by the left ducted fan module (8), the right ducted fan module (9) and the right front ducted fan module (10).

4. The intelligent air volume control system of the sweeper truck as recited in claim 1, characterized in that: the image processing and calculating module (4) identifies the type, the quantity and the distance of surrounding garbage through image processing and an intelligent AI algorithm and obtains the advancing speed of the vehicle from the vehicle control unit (6).

5. The intelligent air volume control system of the sweeper truck as recited in claim 1, characterized in that: the rear wide-angle camera (1) monitors the cleaning effect, the visual image after cleaning is continuously transmitted to the image processing and calculating module (4), and the image processing and calculating module (4) continuously corrects the intelligent air volume control system model through the processed result.

Technical Field

The invention relates to the technical field of intelligent sweeper, in particular to an intelligent air volume control system of a sweeper.

Background

All air volume regulators in the current market need to manually set a fixed target value to be executed by a fixed program built in a system or directly realize the air volume regulation function of a fan by a method of manually adjusting a knob switch.

The adjusting method cannot intelligently and adaptively adjust the air volume according to the change of the environment and the situation. The control content is increased, and the working efficiency is reduced; and the air quantity far higher than the actual demand wastes energy and brings negative effects such as fan overload and over-temperature, which further affect the service life of equipment. And the operation of the cleaning and flushing vehicle aims to blow the garbage such as fallen leaves on the sidewalk to the auxiliary road, and the sanitation sweeper on the auxiliary road cooperates to clean the garbage blown by the cleaning and flushing vehicle. Because the road condition of the sidewalk is complex, a driver needs to spend a great deal of energy to control the advancing route of the light-flushing vehicle, and the adjustment and control of the air quantity of the whole fan cannot be considered.

Disclosure of Invention

In order to solve the problems, the invention aims to provide an intelligent air volume control system of a sweeper, an image processing and calculating module provides an optimal solution of required air volume or thrust for the type and the quantity of garbage and the operation speed of the sweeper through an air volume control model established in the early stage of deep learning; sending the target signal to the vehicle control unit; the vehicle control unit receives the decision signal of the image processing and calculating module and then sends adjusting commands to the three fan controllers; the fan controller realizes the adjustment of air quantity by controlling the PMW signal.

The invention provides an intelligent air volume control system of a sweeper, which comprises a vision sensor, a vision processing module, a whole vehicle electrical appliance control module and a blower control module, wherein the vision sensor comprises a rear wide-angle camera, a front wide-angle camera and a side binocular camera, the rear wide-angle camera is arranged at the rear side of the sweeper, the front wide-angle camera is arranged at the front side of the sweeper, the side binocular camera is arranged at the side of the sweeper, the vision processing module is an image processing and calculating module, which is abbreviated as GPU (graphic processing unit), the rear wide-angle camera, the front wide-angle camera and the side binocular camera are respectively connected with the image processing and calculating module through GPU signal lines, the whole vehicle electrical appliance control module comprises a whole vehicle controller which is abbreviated as VCU (video command unit), the whole vehicle controller is connected with the image processing and calculating module through signal transmission lines, and the blower control module comprises a left ducted blower module, a left blower control module, a left air volume control module and a left air volume control module, The fan module of right duct, right front duct fan module, left fan drive-by-wire electricity is transferred, right fan drive-by-wire electricity is transferred and right front fan drive-by-wire electricity is transferred and is connected with vehicle control unit through electricity transfer signal line respectively, vehicle control unit sends down the PWM signal that corresponds under three fan target amount of wind separately through electricity transfer signal line and gives left fan drive-by-wire electricity and transfer, right fan drive-by-wire electricity is transferred and right front fan drive-by-wire electricity is transferred to finally realize the intelligent control of the fan amount of wind.

The further improvement lies in that: the vehicle is also provided with a whole vehicle power supply, and the whole vehicle power supply is connected with the vision sensor, the vision processing module, the whole vehicle electrical appliance control module and the fan control module through power lines and supplies power through the whole vehicle power supply.

The further improvement lies in that: the left ducted fan module, the right ducted fan module and the right front ducted fan module are respectively arranged on the left ducted fan, the right ducted fan and the right front ducted fan, and the left ducted fan, the right ducted fan and the right front ducted fan are respectively controlled by the left ducted fan module, the right ducted fan module and the right front ducted fan module.

The further improvement lies in that: the image processing and calculating module identifies the type, the quantity and the distance of surrounding garbage through image processing and an intelligent AI algorithm and obtains the advancing speed of the vehicle from the vehicle control unit.

The further improvement lies in that: the rear wide-angle camera monitors the cleaning effect, the cleaned visual image is continuously transmitted to the image processing and calculating module, and the image processing and calculating module continuously corrects the intelligent air volume control system model according to the processed result.

The two high-resolution cameras in front of the intelligent air volume control system and in front of the side of the intelligent air volume control system can visually sense the surrounding environment of the vehicle body; the high-resolution camera uploads the ground image to an image processing and calculating module, and the image processing and calculating module can identify the type and the quantity of garbage based on a model library after processing the image through an AI (intelligent algorithm); and distance from the fan. And the wheel speed sensor can synchronously send the speed signal of the whole vehicle to the image processing and calculating module.

The image processing and calculating module provides an optimal solution of the required air volume or thrust for the garbage type and quantity and the operation speed of cleaning and flushing vehicles through an air volume control model established in the early stage of deep learning; sending the target signal to the vehicle control unit; the vehicle control unit receives the decision signal of the image processing and calculating module and then sends adjusting commands to the three fan controllers; the fan controller realizes the adjustment of air quantity by controlling the PMW signal.

The tail part of the cleaning vehicle is provided with a wide-angle camera which monitors the cleaning effect; continuously transmitting the cleaned visual images to an image processing and calculating module; and the image processing and calculating module continuously corrects the intelligent air volume control system model according to the processed result.

The invention has the beneficial effects that: the intelligent air volume control system can be realized by wire control without manual regulation; unmanned intelligent equipment can be carried, and the application scene is wide; has strong prospect. The system carries out cleaning and flushing sanitation vehicle operation: the air volume can be adaptively adjusted according to the type of garbage on the ground, the quantity of the garbage and the speed of the operation equipment; manual distraction adjustment is not needed, so that the working intensity is reduced, and the operation risk is reduced; and can play the role of saving energy and prolonging the service life of equipment. The vehicle carrying the cleaning and flushing vehicle is applied to environmental sanitation cleaning scenes and has the advantages of improving the working efficiency, improving the cleaning and flushing effect, reducing consumption and energy, improving the operation safety of the whole vehicle and the like. The intelligent wind direction control system can be suitable for multiple scenes, improves use experience, and meets multiple use requirements.

Drawings

FIG. 1 is a system composition diagram of the present invention.

FIG. 2 is a schematic view of the present invention.

Fig. 3 is a flow chart of a system implementation of the present invention.

Wherein: 1-rear wide-angle camera, 2-front wide-angle camera, 3-side binocular camera, 4-image processing and calculating module, 5-GPU signal line, 6-vehicle controller, 7-signal transmission line, 8-left ducted fan module, 9-right ducted fan module, 10-right ducted fan module, 11-left fan electric control, 12-right fan electric control, 13-right front fan electric control, 14-electric control signal line, 15-vehicle power supply and 16-power line.

Detailed Description

For the purpose of enhancing understanding of the present invention, the present invention will be further described in detail with reference to the following examples, which are provided for illustration only and are not to be construed as limiting the scope of the present invention.

As shown in fig. 1-3, the present embodiment provides an intelligent air volume control system for a sweeper, which includes a vision sensor, a vision processing module, a whole vehicle electrical appliance control module and a blower control module, wherein the vision sensor includes a rear wide-angle camera 1, a front wide-angle camera 2 and a side binocular camera 3, the rear wide-angle camera 1 is disposed at the rear side of the vehicle, the front wide-angle camera 2 is disposed at the front side of the vehicle, the side binocular camera 3 is disposed at the side of the vehicle, the vision processing module is an image processing and calculating module 4, the rear wide-angle camera 1, the front wide-angle camera 2 and the side binocular camera 3 are respectively connected with the image processing and calculating module 4 through a GPU signal line 5, the whole vehicle electrical appliance control module includes a whole vehicle controller 6, the whole vehicle controller 6 is connected with the image processing and calculating module 4 through a signal transmission line 7, fan control module includes left ducted fan module 8, right ducted fan module 9, right front ducted fan module 10, left fan drive-by-wire electricity is transferred 11, right fan drive-by-wire electricity is transferred 12 and right front fan drive-by-wire electricity and is transferred 13, left fan drive-by-wire electricity is transferred 11, right fan drive-by-wire electricity is transferred 12 and right front fan drive-by-wire electricity is transferred 13 and is connected with vehicle control unit 6 through electricity accent signal line 14 respectively, vehicle control unit 6 issues for left fan drive-by-wire electricity to be transferred 11 through the PWM signal that corresponds under the signal of transferring signal line 14 with three fan target amount of wind separately, right fan drive-by-wire electricity is transferred 12 and right front fan drive-by-wire electricity and is transferred 13, thereby finally realize the intelligent control of fan amount of wind. The vehicle is also provided with a whole vehicle power supply 15, the whole vehicle power supply 15 is connected with the vision sensor, the vision processing module, the whole vehicle electrical appliance control module and the fan control module through power lines 16, and power is supplied through the whole vehicle power supply 15. Left duct fan module 8, right duct fan module 9 and right front duct fan module 10 set up respectively on left duct fan, right duct fan and right front duct fan, control left duct fan, right duct fan and right front duct fan respectively through left duct fan module 8, right duct fan module 9 and right front duct fan module 10. The image processing and calculating module 4 identifies the type, quantity and distance of the surrounding garbage through image processing and an intelligent AI algorithm, and obtains the advancing speed of the vehicle from the vehicle control unit 6. The rear wide-angle camera 1 monitors the cleaning effect, the cleaned visual images are continuously transmitted to the image processing and calculating module 4, and the intelligent air volume control system model is continuously corrected through the processed results by the image processing and calculating module 4.

The front wide-angle camera 2 and the side binocular camera 3 upload visual images to an image processing and calculating module 4 through a GPU signal line 5; the image processing and calculating module 4 identifies the type, the quantity and the distance of surrounding garbage through image processing and an intelligent AI algorithm and obtains the advancing speed of the vehicle from the vehicle control unit 6; the image processing and calculating module 4 substitutes the obtained parameter variables into the air volume control model to carry out calculation processing so as to obtain air volume thrust values under the transient states of the three fans; the image processing and calculating module 4 transfers the air volume thrust value required by the fan to the vehicle control unit 6 through the signal transmission line 7; the vehicle control unit 6 issues corresponding PWM signals under respective target air quantities of the three fans to the left fan electric control tuner 11, the right fan electric control tuner 12 and the right front fan electric control tuner 13 through the electric control signal line 14, thereby finally realizing intelligent control of the air quantities of the fans. In addition, the rear wide-angle camera 1 and the side binocular camera 3 continuously feed back the cleaned visual images to the image processing and calculating module 4; the image processing and calculating module 4 processes the image and then gives a cleaning effect effective value; and continuously correcting the intelligent air volume control system model through the effective value of the cleaning effect.