The application discloses an environment
perception and adaptive cleaning
algorithm field, and discloses an unmanned environmental
sanitation vehicle adaptive cleaning method and device based on multi-
sensor fusion, aiming at solving the technical problem of insufficient ground material,
stain and obstacle recognition in a complex environment. The method comprises the following steps: acquiring multi-source sensor environment data and fusing the multi-source sensor environment data to obtain optimal
pose state
estimation; constructing an environment state matrix based on the optimal
pose state
estimation, and fusing visual features to obtain environment
pollution structured information; using a deep Q network to learn and decide an adaptive cleaning strategy, and outputting a continuous control quantity; converting the control quantity into a driving
signal to adjust a cleaning action; determining a cleaning coverage rate according to an actual
pose and environment information, and planning a rescan path; constructing a reward function based on the coverage
rate change and actual
energy consumption, updating deep Q network weights, and generating an optimal cleaning strategy. The application can realize precise
perception of the environment and intelligent and efficient cleaning function of the unmanned environmental
sanitation vehicle.