基于ROS系统的智能城市清扫车设计  

Design of an Intelligent Urban Sweeping Vehicle Based on the ROS System

作　　者：陈智豪 翟伟良 江秋仪 陈泓源 陈建旭 Chen Zhi-hao;Zhai Wei-liang;Jiang Qiu-yi;Chen Hong-yuan;Chen Jian-xu(Guangzhou City University of Technology,Guangdong Guangzhou 510800)

机构地区：[1]广州城市理工学院汽车与交通工程学院,广东广州510800

出　　处：《内燃机与配件》2024年第20期21-23,共3页Internal Combustion Engine & Parts

基　　金：2023年广东省科技创新战略专项资金(pdjh2023b0777)。

摘　　要：针对当前城市清洁工作中存在的问题,如依赖人工清扫、缺乏智能分类功能等,本文提出了一种新型智能清扫车设计方案。该清扫车采用多模块化集成,包括封口更换模块、垃圾清扫模块、垃圾分类模块、高压雾化式喷雾模块、Linux for Tegra电子控制系统等,并通过Linux for Tegra电子控制系统进行集中控制。清扫车的工作原理基于自动驾驶系统,利用激光雷达和深度摄像头进行环境感知和路径规划,实现精准导航和智能避障。智能垃圾分类系统采用深度学习模型,结合高分辨率摄像头和近红外光谱分析仪,实现垃圾的快速识别与分类。In view of the problems existing in the current urban cleaning work,such as relying on manual cleaning,lack of intelligent classification function and so on,this paper puts forward a new design scheme of intelligent cleaning vehicle.The cleaning vehicle adopts multi-module integration,including seal replacement module,garbage cleaning module,garbage sorting module,high-pressure Atomization Spray Module,Linux for Tegra electronic control system,etc.,and through the Linux for Tegra electronic control system for centralized control.Based on an autonomous driving system,the sweeper uses lidar and depth cameras for environment awareness and path planning to achieve accurate navigation and intelligent obstacle avoidance.The intelligent garbage classification system adopts the deep learning model,combined with high-resolution camera and near-infrared spectrum analyzer,to realize the fast recognition and classification of garbage.

关 键 词：智能清扫车 自动驾驶 智能识别 垃圾分类 高压喷雾清洁系统 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]