Design And Implementation Of Road Garbage Detection System Terminal Software For Intelligent Sweeper Based On ARM

In recent years,new energy sweeper with its low emissions,low noise and other advantages,is getting more and more popular in the city road cleaning work.In order to further improve the performance of the new energy sweeper,an embedded platform can be introduced to sense the cleanness of the road surface.In view of this demand,this article designed an intelligent sweeper road garbage detection system software,which provides equipment control,data management and remote debugging functions for the deployment of machine vision algorithm.This article analyzes the functional requirements of the road garbage detection system applied to the intelligent sweeper,and divides the system into two parts,the control terminal and the monitoring terminal,from the perspective of reducing the system resource occupation.The control terminal,which can work independently,is deployed in the embedded platform and is responsible for the realization of all necessary functions.The monitoring terminal can be deployed on a variety of platforms and is responsible for the view and debugging of software parameters.In this article,an event-driven software architecture based on the Reactor model and HSHA thread management model is designed for the control software.The behavior of the system equipment is abstracted into events for asynchronous processing.The software architecture of remote debugging management based on M/V model is designed,and the network communication module is added on the basis of M/V model,so that the software parameters and results of the control terminal can be remotely displayed and modified synchronously.According to the requirements of system design,this article divides the software modules of the control terminal and the monitoring terminal,and implements them with the C++ language.There are many time-consuming parts in the software of the control terminal,such as image acquisition,image conversion,etc.,which are optimized in various targeted ways in this article.As for the monitoring software,this article plans and designs the user interface,and pays attention to the friendliness of system interaction while maintaining the extensibility of the software.In this article,Jetson AGX Xavier platform,which includes ARM architecture CPU,is used on the hardware experiment platform of the road garbage detection system of intelligent sweeper.The completion of various functions required by the system and the software performance of each key link of the entire workflow are thoroughly tested.