基于Jetson和超声传感器的清洁车避障方法研究  

Obstacle Avoidance Method for Cleaning Vehicles Based on Jetson and Ultrasonic Sensors

作　　者：熊文军 赵山虎 李世博 杨建华[1] 范孝波 孙洪良 XIONG Wen-jun;ZHAO Shan-hu;LI Shi-bo;YANG Jian-hua;FAN Xiao-bo;SUN Hong-liang(School of Automation,Northwestern Polytechnical University,Xi'an 710129,China;Special Vehicle Research Institute,Jiangsu Yueda Special Car Co.,Ltd.,Yancheng 224007,China)

机构地区：[1]西北工业大学自动化学院,陕西西安710129 [2]江苏悦达专用车有限公司特种车辆研究院,江苏盐城224007

出　　处：《测控技术》2022年第4期60-65,共6页Measurement & Control Technology

摘　　要：为解决清洁车普遍存在的清扫盘和喷水杆容易因触碰路肩造成损失的问题,提出了一种基于Jetson和超声传感器的清洁车路肩距离检测及避障方法。该方法采用超声传感器检测清洁车清扫盘到路肩的距离,以Jetson AGX Xavier作为控制核心。Jetson控制器对超声传感器检测到的距离信息进行处理,生成控制指令,通过CAN总线将控制指令传送到车载CAN设备控制器,控制清扫盘和喷水杆收放来减少损失。行车实验表明,所提出的检测方法和系统可以有效避免清洁车离路肩过近,减少清扫盘和喷水杆与路肩的碰撞。In order to solve the problem that the sweeper and water spray rod of cleaning vehicle are easy to cause losses due to touching the road shoulders, a method of roadside distance detection and obstacle avoidance for cleaning vehicles based on Jetson and ultrasonic sensors is proposed.The ultrasonic sensors are used to detect the distance between the sweeper and the kerb, and Jetson AGX Xavier is taken as the control core.The Jetson controller processes the distance information detected by the ultrasonic sensor, generates control instructions, and transmits the control instructions to the on-board CAN device controller through the CAN bus to control the retracting and releasing of the sweeper and water spray rod to reduce the losses.The driving experiments show that the proposed detection method and system can effectively prevent the cleaning vehicle from being too close to the road shoulder, and reduce the collision between the sweeper and the water spray rod with the road shoulder.

关 键 词：距离检测 避障 超声传感器 CAN总线 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]