Autonomous street sweeper vehicle
One or more autonomous street sweeper vehicles can perform a variety of sweeping functions, such as sweeping, vacuuming, blowing, and scraping. Each autonomous street sweeper vehicle can be designed to follow routes and can comprise an autonomous vehicle that includes a drive by wire kit, a database storing the routes, a detection mechanism, and a control system that controls the vehicle to follow the routes while maintaining serviceable distances to the curb. In a convoy of multiple autonomous street sweeper vehicles, the vehicles in the convoy can communicate with each other, and each of the autonomous street sweeper vehicles can perform a different function. In some examples, a speed of the vehicle and/or settings of the cleaning equipment can be adjusted, for example, based on road hazards or amount of debris.
1. An autonomous street sweeper system comprising:
a convoy of at least two autonomous cleaning vehicles, each cleaning vehicle providing a street cleaning function and comprising:
a drive by wire kit;
a database storing routes for the cleaning vehicle to follow;
one or more sensors mounted on the cleaning vehicle and configured to detect a curb of a road, obstacles in the road, features proximal to the road, or any combination thereof; and
a control system operatively coupled to the drive by wire kit, the database, and the one or more sensors,
wherein the control system is configured to control, via the drive by wire kit, the cleaning vehicle to maintain a predetermined distance between the cleaning vehicle and a detected curb as the cleaning vehicle follows one of the routes,
wherein the street cleaning function provided by a first of the at least two autonomous cleaning vehicles is different from the street cleaning function provided by a second of the at least two autonomous cleaning vehicles.
2. The autonomous street sweeper system of claim 1 , wherein the street cleaning function of each cleaning vehicle comprises sweeping, vacuuming, blowing, or scraping.
3. The autonomous street sweeper system of claim 1 , wherein:
the convoy further comprises a manually-operated leader vehicle; and
the control system of each cleaning vehicle is further configured to control, via the respective drive by wire kit, the cleaning vehicle to follow the manually-operated leader vehicle.
4. The autonomous street sweeper system of claim 1 , wherein the control system of at least one of the cleaning vehicles is further configured to:
detect, via the one or more sensors, an obstacle in the road, cars parked by the side of the road, or other road hazards; and
control, via the drive by wire kit, the cleaning vehicle to increase the distance between the cleaning vehicle and the curb in response to the detecting the obstacle, cars, or other road hazards.
5. The autonomous street sweeper system of claim 1 , wherein the control system of at least one of the cleaning vehicles is further configured to:
detect, via the one or more sensors, one or more obstacles in the road;
determine that the one or more obstacles block the route being followed by the cleaning vehicle; and
automatically stop, via the drive by wire kit, the cleaning vehicle in response to the determination that the route is blocked.
6. The autonomous street sweeper system of claim 1 , wherein, for each cleaning vehicle:
the database further stores rules of the road; and
the control system is further configured to control the cleaning vehicle, via the respective drive by wire kit, to follow the route while obeying the rules of the road.
7. The autonomous street sweeper system of claim 1 , wherein the one or more sensors comprises one or more global positioning systems (GPS), one or more ranging radios, one or more laser detection and ranging systems (LADAR), one or more stereo vision systems, one or more electro-optic (EO) cameras, one or more infrared (IR) cameras, or any combination thereof.
8. The autonomous street sweeper system of claim 1 , wherein the control system of one of the cleaning vehicles is further configured to:
determine that the cleaning vehicle has or will disengage from a curb along the followed route; and
control the cleaning vehicle to pause the respective street cleaning function while the cleaning vehicle is disengaged from the curb.
9. The autonomous street sweeper system of claim 1 , wherein a number of sensors mounted on a lead vehicle in the convoy is greater than a number of sensors mounted on following vehicles in the convoy.
10. The autonomous street sweeper system of claim 1 , wherein the control system of a lead vehicle in the convoy is configured to:
determine an upcoming intersection or turn along the route; and
control the lead vehicle to move through the intersection or make the turn based at least in part on a size of the whole convoy so as to minimize the separation of the convoy.
11. The autonomous street sweeper system of claim 1 , wherein:
each cleaning vehicle further comprises a communication system;
the control system of each cleaning vehicle is operatively coupled to the respective communication system and configured to communicate with the control systems of other vehicles in the convoy via the communication system;
the control systems are further configured to relay respective positions of the cleaning vehicles to the other vehicles in the convoy; and
at least one of the control systems is configured to use the relayed positions to maintain an overall speed of the convoy.
12. The autonomous street sweeper system of claim 1 , wherein, for each cleaning vehicle:
the one or more sensors comprise at least one distance-measuring sensor configured to directly measure a distance from an adjacent vehicle in the convoy, the at least one distance-measuring sensor comprising one or more ultra-wideband (UWB) ranging radios, one or more laser detection and ranging systems (LADAR), one or more laser measurement systems, one or more ultrasonic sensors, one or more stereo vision systems, one or more structured light systems, or any combination thereof; and
at least one of the control system is configured to control the vehicles in the convoy so as to maintain separation distances between adjacent vehicles based on the direct measurement.
13. The autonomous street sweeper system of claim 1 , wherein:
each cleaning vehicle further comprises a communication system;
the control system of each cleaning vehicle is operatively coupled to the respective communication system and configured to communicate with the control systems of other vehicles in the convoy via the communication system;
the control system of a leading vehicle in the convoy is configured to:
detect, via the one or more sensors, an amount of debris in the road; and
transmit, via the communication system, information regarding the detected amount of debris to other vehicles in the convoy.
14. The autonomous street sweeper system of claim 1 , wherein, for at least one of the cleaning vehicles:
the database further stores information regarding (i) areas that should not be cleaned because they may cause damage to the cleaning vehicle, (ii) manhole covers or other roadway features susceptible to suction, (iii) road imperfections or roadway features forming a gap, or (iv) any combination of (i) through (iii); and
the control system is further configured to:
(a) control the cleaning vehicle, via the respective drive by wire kit, to avoid an area that should not be cleaned, a manhole cover or other roadway feature susceptible to suction, or a road imperfection or roadway feature forming a gap;
(b) control the cleaning vehicle to pause the respective street cleaning function while the cleaning vehicle is proximal to or disposed over the area that should not be cleaned, the manhole cover or other roadway feature susceptible to suction, or the road imperfection or roadway feature forming a gap;
(c) control a position of an end effector that performs the respective street cleaning function of the cleaning vehicle to avoid damage to the end effector while the cleaning vehicle is proximal to or disposed over the area that should not be cleaned, the manhole cover or other roadway feature susceptible to suction, or the road imperfection or roadway feature forming a gap; or
(d) any combination of (a) through (c).
15. The autonomous street sweeper system of claim 1 , wherein:
each cleaning vehicle further comprises a communication system;
the control system of each cleaning vehicle is operatively coupled to the respective communication system and configured to communicate with the control systems of other vehicles in the convoy via the communication system;
at least one of the control systems is configured to:
detect, via the one or more sensors, a pothole along the route; and
transmit, via the communication system, information regarding the detected pothole to the other vehicles in the convoy.
16. The autonomous street sweeper system of claim 1 , wherein, for at least one of the cleaning vehicles:
the control system is configured to detect, via the respective one or more sensors, (i) areas that should not be cleaned because they may cause damage to the cleaning vehicle, (ii) manhole covers or other roadway features susceptible to suction, (iii) road imperfections or roadway features forming a gap, or (iv) any combination of (i) through (iii); and
the control system is further configured to:
(a) control the cleaning vehicle, via the respective drive by wire kit, to avoid an area a detected area that should not be cleaned, a detected manhole cover or other roadway feature susceptible to suction, or a detected road imperfection or roadway feature forming a gap;
(b) control the cleaning vehicle to pause the respective street cleaning function while the cleaning vehicle is proximal to or disposed over the detected area that should not be cleaned, the detected manhole cover or other roadway feature susceptible to suction, or the detected road imperfection or roadway feature forming a gap;
(c) control a position of an end effector that performs the respective street cleaning function of the cleaning vehicle to avoid damage to the end effector while the cleaning vehicle is proximal to or disposed over the detected area that should not be cleaned, the detected manhole cover or other roadway feature susceptible to suction, or the detected road imperfection or roadway feature forming a gap; or
(d) any combination of (a) through (c).
17. The autonomous street sweeper system of claim 1 , wherein, for at least one of the cleaning vehicles, the control system is configured to:
detect, via the respective one or more sensors, a street elevation profile along the route; and
raise or lower an end effector that performs the respective street cleaning function of the cleaning vehicle so as to conform to the detected street elevation profile.
18. The autonomous street sweeper system of claim 1 , wherein:
the convoy further comprises a signaling vehicle that does not provide a street cleaning function, the signaling vehicle being configured to provide an indication to surrounding traffic regarding cleaning operations of the convoy; and
the signaling vehicle is either a first or last vehicle in the convoy.
19. The autonomous street sweeper system of claim 1 , wherein:
the convoy further comprises an autonomous leader vehicle, the leader vehicle comprising:
a second drive by wire kit;
a second database storing routes for the leader vehicle to follow;
one or more second sensors mounted on the leader vehicle and configured to detect features of a road, obstacles within the road, structures proximal to the road, or any combination thereof; and
a second control system operatively coupled to the second drive by wire kit, the second database, and the one or more second sensors,
wherein the second control system is configured to control, via the drive by wire kit, the leader vehicle to follow a selected one of the stored routes; and
the control system of each cleaning vehicle is further configured to control, via the respective drive by wire kit, the cleaning vehicle to follow the autonomous leader vehicle along the selected one of the stored routes.
20. An autonomous street sweeper comprising:
a cleaning vehicle providing a street cleaning function;
a drive by wire kit installed in the cleaning vehicle;
a database storing routes for the cleaning vehicle to follow;
one or more sensors mounted on the cleaning vehicle and configured to detect a curb of a road, obstacles in the road, features proximal to the road, or any combination thereof; and
a control system operatively coupled to the drive by wire kit, the database, and the one or more sensors,
wherein the control system is configured to:
control, via the drive by wire kit, the cleaning vehicle to maintain a first distance between the cleaning vehicle and a detected curb of the road as the cleaning vehicle follows one of the routes;
detect, via the one or more sensors, a feature off of the road that may be affected by the street cleaning function; and
further control, via the drive by wire kit, the cleaning vehicle to maintain a second distance greater than the first distance in response to detecting the feature.
21. An autonomous street sweeper comprising:
a cleaning vehicle providing a street cleaning function;
a drive by wire kit installed in the cleaning vehicle;
a database storing routes for the cleaning vehicle to follow;
one or more sensors mounted on the cleaning vehicle and configured to detect a curb of a road, obstacles in the road, features proximal to the road, or any combination thereof; and
a control system operatively coupled to the drive by wire kit, the database, and the one or more sensors,
wherein the control system is configured to:
control, via the drive by wire kit, the cleaning vehicle to follow one of the routes at a first speed;
detect, via the one or more sensors, an amount of debris within an upcoming section of a road along the route; and
control, via the drive by wire kit, the cleaning vehicle to have a second speed different from the first speed based on the detected amount of debris.