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Unmanned garbage sweeper active defense system based on multi-sensor fusion and application
The invention discloses an unmanned garbage sweeper active defense system based on multi-sensor fusion and application, and the system is characterized in that a road end monitoring module collects camera perception data in a service area in real time, and sends object movement information in the service area to a fusion module; the vehicle-mounted non-contact sensing module collects laser sensing data, camera sensing data and auxiliary sensing data of the motor sweeper in real time and sends the data to the fusion module; the vehicle-mounted contact sensing module collects contact sensing data of the sweeping vehicle and target garbage in real time and sends the contact sensing data to the fusion module; the fusion module fuses the camera sensing data, the laser sensing data, the auxiliary sensing data and the contact sensing data, outputs obstacle target information and sends the obstacle target information to the decision execution module; and after receiving the obstacle target information, the decision execution module carries out decision judgment and executes corresponding defense actions, so that the garbage sweeper is prevented from colliding with the obstacle.
本发明公开了基于多传感器融合的无人垃圾清扫车主动防御系统及应用，本方案通过路端监测模块实时采集服务区内的摄像头感知数据，并将服务区内物体移动信息发送至所述融合模块；车载非接触感知模块实时采集所述清扫车激光感知数据、摄像头感知数据、辅助感知数据，并将数据发送给所述融合模块；车载接触感知模块实时采集所述清扫车与目标垃圾接触感知数据，并将接触感知数据发送给所述融合模块；融合模块将所述摄像头感知数据、激光感知数据、辅助感知数据和接触感知数据进行融合，输出障碍物目标信息，发送给所述决策执行模块；决策执行模块在接收到障碍物目标信息后，进行决策判断，执行相应的防御动作，避免所述垃圾清扫车与障碍物进行碰撞。
Unmanned garbage sweeper active defense system based on multi-sensor fusion and application
The invention discloses an unmanned garbage sweeper active defense system based on multi-sensor fusion and application, and the system is characterized in that a road end monitoring module collects camera perception data in a service area in real time, and sends object movement information in the service area to a fusion module; the vehicle-mounted non-contact sensing module collects laser sensing data, camera sensing data and auxiliary sensing data of the motor sweeper in real time and sends the data to the fusion module; the vehicle-mounted contact sensing module collects contact sensing data of the sweeping vehicle and target garbage in real time and sends the contact sensing data to the fusion module; the fusion module fuses the camera sensing data, the laser sensing data, the auxiliary sensing data and the contact sensing data, outputs obstacle target information and sends the obstacle target information to the decision execution module; and after receiving the obstacle target information, the decision execution module carries out decision judgment and executes corresponding defense actions, so that the garbage sweeper is prevented from colliding with the obstacle.
本发明公开了基于多传感器融合的无人垃圾清扫车主动防御系统及应用，本方案通过路端监测模块实时采集服务区内的摄像头感知数据，并将服务区内物体移动信息发送至所述融合模块；车载非接触感知模块实时采集所述清扫车激光感知数据、摄像头感知数据、辅助感知数据，并将数据发送给所述融合模块；车载接触感知模块实时采集所述清扫车与目标垃圾接触感知数据，并将接触感知数据发送给所述融合模块；融合模块将所述摄像头感知数据、激光感知数据、辅助感知数据和接触感知数据进行融合，输出障碍物目标信息，发送给所述决策执行模块；决策执行模块在接收到障碍物目标信息后，进行决策判断，执行相应的防御动作，避免所述垃圾清扫车与障碍物进行碰撞。
Unmanned garbage sweeper active defense system based on multi-sensor fusion and application
基于多传感器融合的无人垃圾清扫车主动防御系统及应用
HUANG KAIQING (author) / ZENG JUNCHENG (author) / WANG YONG (author) / HUANG WENHAN (author) / SHEN BINGMENG (author) / WANG XINYUAN (author) / CHEN DEWANG (author)
2024-12-10
Patent
Electronic Resource
Chinese
IPC:
G06F
ELECTRIC DIGITAL DATA PROCESSING
,
Elektrische digitale Datenverarbeitung
/
B60W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION
,
Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion
/
E01H
STREET CLEANING
,
Reinigen von Straßen
/
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
/
G06V
Garbage cleaning method and device for unmanned motor sweeper and unmanned motor sweeper
| European Patent Office | 2023