Research On Vehicle System And Path Planning Algorithm Of New Energy Sanitation Vehicle

With the process of urbanization in my country,the government departments have increased their investment in public sanitation,the degree of mechanization of sanitation has gradually increased,and the public’s demand for public health has become more urgent.These factors have promoted the rapid development of my country’s sanitation vehicle market.In the current sanitation vehicle market in my country,diesel and gasoline sanitation vehicles play a dominant role in practical applications due to their high cruising range,power output and multi-function.However,such sanitation vehicles have the disadvantage of high energy consumption in the process of deployment and application,and the generated exhaust gas also causes certain pollution to the environment.The development of new energy technology has provided more possibilities for the design and production of sanitation vehicles,prompting more and more companies to set foot in the new energy sanitation vehicle market.At present,most of the new energy sanitation vehicles on the market are manned.With the advancement of unmanned technology,the emergence of autonomous navigation new energy sanitation vehicles has become possible.Exploring the technical application of unmanned new energy sanitation vehicles is in line with the country’s long-term goal of "carbon peaking and carbon neutrality",and at the same time,it is of great significance and value to the development of new energy vehicles.This paper takes the new energy sanitation vehicle as the research object,and explores from three aspects: the overall design of the sanitation vehicle,the PLC-based control system,and the path planning algorithm for the sanitation vehicle in fixed scenarios such as residential areas.First of all,the working mode of the sanitation vehicle is finalized,and it is determined to be a suction-sweeping sanitation vehicle.The overall layout plan of the sanitation vehicle is proposed,and the existing driving methods are compared and analyzed.The sanitation vehicle finally adopts a dual-motor drive and a mechanical drive layout.According to the proposed layout plan,the key parameters of the sanitation vehicle are designed and studied,including mass,size,current,power and air volume of the power system(motor,battery,fan).The best matching method is obtained through theoretical calculation,and the designed new energy sanitation vehicle is finally presented.Secondly,according to the needs of the enterprise,a new energy sanitation vehicle automatic control system based on PLC is designed,and the signal isolation and power amplification are carried out through the self-made peripheral circuit driver board,and the Modbus communication protocol is used to exchange information with the main controller,so as to realize the new energy sanitation vehicle.Automatic control of daily driving and sanitation operations of vehicles.The control system is equipped with HMI touch screen,which is convenient for human-computer interaction.In order to improve the maneuverability and safety of the new energy sanitation vehicle,a lidar sensor is added,which can collect roadblock information and alert the driver through sound and light alarm equipment.Finally,in order to further improve the intelligence of the new energy sanitation vehicle,the path planning problem of the new energy sanitation vehicle in the fixed community scene is studied,and the algorithm is improved based on the RRT path planning algorithm,and the idea based on node elimination and path smoothing is proposed.The LL-RRT path planning algorithm.Through MATLAB simulation results and multiple experiments on the Turtlebot3 car platform,the algorithm improvement effect is ideal,which lays the foundation for the next step to realize the unmanned driving of new energy sanitation vehicles in fixed residential scenarios.