A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Intelligent sweeping disc sweeper truck and operation method thereof
The invention provides an intelligent sweeping disc sweeper truck and an operation method thereof. The operation method of the intelligent sweeping disc sweeper truck comprises the following steps: a,the road edge height H and the distance L0 between a road edge or a roadblock and a first plane are obtained in real time through radar scanning; b, an operation mode is selected as a broadening modeor a stepped pressure sweeping mode; c, based on the selected operation mode, the maximum value L1max of the distance L1 between the rotation center of the intelligent sweeping disc and the first plane is determined in combination with vehicle intrinsic parameters; d, on the basis of the selected operation mode, radar scanning information parameters and threshold parameters are combined, and thetarget distance L between the rotation center of the intelligent sweeping disc and the first plane, the terrain clearance of the intelligent sweeping disc and the swing angle of the mechanical arm areset; e, the mechanical arm is controlled to act according to the position target value, so that the intelligent sweeping disc is located at the target position, and the fixed sweeping disc and the intelligent sweeping disc work simultaneously; and f, the fixed sweeping disc and the intelligent sweeping disc stop working, the mechanical arm is controlled to act, and the intelligent sweeping disc is reset.
本发明提供了一种智能扫盘扫路车及其作业方法。智能扫盘扫路车作业方法包括以下步骤：a、通过雷达扫描实时获取路沿高度H，以及路沿或路障与第一平面之间的距离L0；b、选定作业模式为增宽模式或阶梯压扫模式；c、基于选定的作业模式，结合车辆固有参数，确定智能扫盘回转中心与第一平面之间的距离L1的最大值L1；d、基于选定的作业模式，结合雷达扫描信息参数和阈值参数，设定智能扫盘回转中心与第一平面之间的目标距离L、智能扫盘的离地高度以及机械臂的摆角；e、以位置目标值控制机械臂动作，使智能扫盘处于目标位置，固定扫盘和智能扫盘同时进行作业；f、固定扫盘和智能扫盘停止作业，控制机械臂动作，使智能扫盘复位。
Intelligent sweeping disc sweeper truck and operation method thereof
The invention provides an intelligent sweeping disc sweeper truck and an operation method thereof. The operation method of the intelligent sweeping disc sweeper truck comprises the following steps: a,the road edge height H and the distance L0 between a road edge or a roadblock and a first plane are obtained in real time through radar scanning; b, an operation mode is selected as a broadening modeor a stepped pressure sweeping mode; c, based on the selected operation mode, the maximum value L1max of the distance L1 between the rotation center of the intelligent sweeping disc and the first plane is determined in combination with vehicle intrinsic parameters; d, on the basis of the selected operation mode, radar scanning information parameters and threshold parameters are combined, and thetarget distance L between the rotation center of the intelligent sweeping disc and the first plane, the terrain clearance of the intelligent sweeping disc and the swing angle of the mechanical arm areset; e, the mechanical arm is controlled to act according to the position target value, so that the intelligent sweeping disc is located at the target position, and the fixed sweeping disc and the intelligent sweeping disc work simultaneously; and f, the fixed sweeping disc and the intelligent sweeping disc stop working, the mechanical arm is controlled to act, and the intelligent sweeping disc is reset.
本发明提供了一种智能扫盘扫路车及其作业方法。智能扫盘扫路车作业方法包括以下步骤：a、通过雷达扫描实时获取路沿高度H，以及路沿或路障与第一平面之间的距离L0；b、选定作业模式为增宽模式或阶梯压扫模式；c、基于选定的作业模式，结合车辆固有参数，确定智能扫盘回转中心与第一平面之间的距离L1的最大值L1；d、基于选定的作业模式，结合雷达扫描信息参数和阈值参数，设定智能扫盘回转中心与第一平面之间的目标距离L、智能扫盘的离地高度以及机械臂的摆角；e、以位置目标值控制机械臂动作，使智能扫盘处于目标位置，固定扫盘和智能扫盘同时进行作业；f、固定扫盘和智能扫盘停止作业，控制机械臂动作，使智能扫盘复位。
Intelligent sweeping disc sweeper truck and operation method thereof
智能扫盘扫路车及其作业方法
2020-04-24
Patent
Electronic Resource
Chinese
IPC:
E01H
STREET CLEANING
,
Reinigen von Straßen
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