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

中文关键词:  距离检测；避障  超声传感器；CAN总线

英文关键词:distance detection  obstacle avoidance  ultrasonic sensor  CAN bus

中文摘要:

      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。

英文摘要:

      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.