融合路面清洁感知与模糊优化的电动清扫车节能作业策略
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国家自然科学基金(52375105);山东省优秀青年人才基金(ZR2022YQ51);山东省重大科技创新工程项目(2019JZZY010911)


Energy-saving operation strategy for electric sweepers integrating
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    摘要:

    针对电动清扫车传统恒定功率作业模式的局限性,以及模糊控制中存在的主观性过强、缺乏理论支撑等问题,提出了一种融合路面清洁感知与模糊优化的节能作业策略。首先,采用 YOLOv8-seg 模型分割并量化路面垃圾,结合垃圾种类和覆盖面积计算出路面清洁指数;其次,构建以路面清洁指数和车速为输入,以作业电机转速和转矩为输出的模糊控制器,并选取 18 个隶属度函数参数,以减少作业能耗为目标,采用灰狼优化算法(grey wolf optimizer,GWO)进行优化;最后,通过 MATLAB/Simulink 在制定的仿真工况下验证提出策略的有效性。结果表明:所提策略有效减少了电动清扫车的功率消耗,作业能耗相较于优化前降低了 9.85%。同时,优化后的电池 SOC 变化趋势更加平缓。研究结果为电动清扫车的智能化、节能化发展提供了新的技术路径。

    Abstract:

    To address the limitations of traditional constant-power operation mode in electric sweepers and overcome the excessive subjectivity and lack of theoretical support in fuzzy control, an energy-saving operation strategy integrating road cleaning perception and fuzzy optimization was proposed. First, the YOLOv8-seg model was used to segment and quantify road surface garbage, calculating the road cleanliness index based on garbage type and coverage area. Then, a fuzzy controller was designed with the road cleanliness index and vehicle speed as inputs and the operating motor speed and torque as outputs.Eighteen membership function parameters were selected, and the grey wolf optimizer(GWO) was employed to reduce operational energy consumption. Finally, the effectiveness of the proposed strategy was verified through MATLAB/Simulink under the established simulation conditions. Experimental results demonstrate that the proposed strategy effectively reduces power consumption, with energy usage decreasing by 9.85% compared to the unoptimized method. The optimized battery state of charge exhibits a smoother variation trend.The findings provide a new technical pathway for the intelligent and energy-efficient development of electric sweepers.

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陈培震,周英超,李 波,肖 振.融合路面清洁感知与模糊优化的电动清扫车节能作业策略[J].河北科技大学学报,2025,46(5):587-598

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  • 收稿日期:2025-01-22
  • 最后修改日期:2025-03-18
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  • 在线发布日期: 2025-11-05
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