A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Flanging sweeping method for unmanned sweeping vehicle
The invention discloses a welt sweeping method for an unmanned sweeper. The welt sweeping method comprises the steps that a vehicle coordinate system and a camera coordinate system are constructed; obtaining a first image, wherein the first image comprises a scanning disk and a road edge; according to the first image, analyzing and judging whether the sweeping disk is put down or not, and if so, executing the following steps; analyzing and identifying the real-time coordinate information of the scanning disk in the vehicle coordinate system according to the first image; according to the first image, road edge real-time coordinate information of the road edge in the vehicle coordinate system is analyzed and recognized; according to the real-time coordinate information of the sweeping disc and the real-time coordinate information of the road edge, the real-time sweeping distance between the sweeping disc and the road edge is analyzed and recognized; according to the real-time sweeping distance, the welt sweeping state of the sweeping vehicle is controlled, the welt sweeping method of the unmanned sweeping vehicle can solve the problem under the coordinate system of the vehicle, positioning errors are not introduced, dependence on other modules is reduced, and the welt sweeping effect of the vehicle is optimized.
本申请公开的无人驾驶清扫车贴边清扫方法，包括步骤：构建车辆坐标系及相机坐标系；获取第一图像，所述第一图像中包含扫盘及路沿；根据所述第一图像，分析判断所述扫盘是否已经下放，若下放则执行以下步骤；根据所述第一图像，分析识别所述扫盘在所述车辆坐标系中的扫盘实时坐标信息；根据所述第一图像，分析识别所述路沿在所述车辆坐标系中的路沿实时坐标信息；根据所述扫盘实时坐标信息和所述路沿实时坐标信息，分析识别所述扫盘与所述路沿之间的实时清扫距离；根据所述实时清扫距离，控制清扫车的贴边清扫状态，本发明涉及的无人驾驶清扫车贴边清扫方法，能够在自车坐标系下解决问题，不会引入定位误差，降低对其他模块的依赖，优化车辆贴边效果。
Flanging sweeping method for unmanned sweeping vehicle
The invention discloses a welt sweeping method for an unmanned sweeper. The welt sweeping method comprises the steps that a vehicle coordinate system and a camera coordinate system are constructed; obtaining a first image, wherein the first image comprises a scanning disk and a road edge; according to the first image, analyzing and judging whether the sweeping disk is put down or not, and if so, executing the following steps; analyzing and identifying the real-time coordinate information of the scanning disk in the vehicle coordinate system according to the first image; according to the first image, road edge real-time coordinate information of the road edge in the vehicle coordinate system is analyzed and recognized; according to the real-time coordinate information of the sweeping disc and the real-time coordinate information of the road edge, the real-time sweeping distance between the sweeping disc and the road edge is analyzed and recognized; according to the real-time sweeping distance, the welt sweeping state of the sweeping vehicle is controlled, the welt sweeping method of the unmanned sweeping vehicle can solve the problem under the coordinate system of the vehicle, positioning errors are not introduced, dependence on other modules is reduced, and the welt sweeping effect of the vehicle is optimized.
本申请公开的无人驾驶清扫车贴边清扫方法，包括步骤：构建车辆坐标系及相机坐标系；获取第一图像，所述第一图像中包含扫盘及路沿；根据所述第一图像，分析判断所述扫盘是否已经下放，若下放则执行以下步骤；根据所述第一图像，分析识别所述扫盘在所述车辆坐标系中的扫盘实时坐标信息；根据所述第一图像，分析识别所述路沿在所述车辆坐标系中的路沿实时坐标信息；根据所述扫盘实时坐标信息和所述路沿实时坐标信息，分析识别所述扫盘与所述路沿之间的实时清扫距离；根据所述实时清扫距离，控制清扫车的贴边清扫状态，本发明涉及的无人驾驶清扫车贴边清扫方法，能够在自车坐标系下解决问题，不会引入定位误差，降低对其他模块的依赖，优化车辆贴边效果。
Flanging sweeping method for unmanned sweeping vehicle
一种无人驾驶清扫车贴边清扫方法
LIU JIAJIA (author) / LIU YU (author)
2023-12-26
Patent
Electronic Resource
Chinese
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