Multi-sensor based facing sweeping method and sweeping vehicle

Abstract

The embodiment of the invention relates to a multi-sensor based facing sweeping method and a sweeping vehicle. The multi-sensor based facing sweeping method comprises the following steps: receiving first acquisition information uploaded by a drive sensor; fusing the first acquisition information to obtain first fused information, and judging whether a current sweeping area is a facing area or notaccording to the first fused information; when the current sweeping area is not the facing area, generating a first sweeping path according to the first fused information, and enabling the sweeping vehicle to sweep according to the first sweeping path; when the current sweeping area is the facing area, receiving second acquisition information uploaded by a driven sensor; fusing the first acquisition information uploaded by the drive sensor with second acquisition information uploaded by the driven sensor to obtain second fused information; and generating a second sweeping path according to thesecond fused information, and sweeping by the sweeping vehicle according to the second sweeping path. The multi-sensor based facing weeping method adopts an active perception and passive perception fusing scheme, so that the sweeping vehicle can sweep the area more comprehensively.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a multi-sensor-based welt cleaning method and a cleaning vehicle. Background technique [0002] Unmanned driving technology is a hot topic in recent years. In particular, low-speed automatic driving has many application scenarios and a wide range of products, such as low-speed automatic driving sweepers, which are gradually being put into commercial use on a large scale. However, at present, low-speed automatic driving sweepers can only clean in relatively open areas. Due to problems such as insufficient positioning accuracy of the automatic driving sweeper, it is impossible for the automatic driving sweeper to clean the edge of the road and other border areas. Even after the automatic sweeper is cleaned, it still needs manual cleaning to completely clean the area. [0003] Therefore, the vehicle positioning accuracy of the prior art solution is not high, and cleaning cannot be...

AI Technical Summary

Problems solved by technology

Due to problems such as insufficient positioning accuracy of the self-driving sweeper, it is impossible for the self-driving sweeper to clean the road edges and other border areas. Even after the automatic sweeper has finished cleaning, manual cleaning is still required to completely clean the area.

[0003] Therefore, the vehicle positioning accuracy of the existing technical solution is not high, and it is impossible to clean the road edge and other welt areas

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