Unmanned sweeper and long-distance welt sweeping method thereof

Abstract

The invention discloses an unmanned sweeper and a long-distance welt sweeping method thereof. The long-distance welt sweeping method comprises the steps of: creating a high-precision map, and dividingoperation area types; triggering a sweeper to start a welt sweeping mode by a virtual wall technology in the high-precision map, and planning a welt sweeping path; in the welt cleaning process, continuously performing position correction and walking deviation correction through a sensor, and continuously performing welt cleaning effect evaluation and local path correction; and in the cleaning process, performing the operation for ensuring the safety of the welt fitting operation. According to the invention, the high-precision map is created through the combination of multiple sensors and multiple modes, the characteristic object is identified, and accurate real-time positioning is realized during welt cleaning operation, so that the walking deviation is continuously corrected, and high-precision welt cleaning is realized; the road boundary is divided into a plurality of short-distance road sections, each road section is subjected to local path planning, the local welt path is updatedin real time, accumulated errors do not exist, and the accuracy of long-distance welt cleaning is guaranteed.

Description

technical field [0001] The invention relates to the technical field of intelligent cleaning, in particular to an unmanned cleaning vehicle and a long-distance welt cleaning method thereof. Background technique [0002] In recent years, unmanned sweeping vehicles have gradually entered the public view, but due to the complex operation scene, dynamic / static obstacles such as vehicles, pedestrians, and obstacles seriously affect the normal operation of unmanned sweeping vehicles, and due to some areas in parks or urban roads Influenced by factors such as weak GPS signals, the positioning and navigation capabilities of unmanned sweeping vehicles are greatly reduced. while sweeping. But the actual situation is that nearly half of the garbage on the road is concentrated in the edge area of ​​the road. If the unmanned sweeper cannot achieve effective edge cleaning, it will inevitably greatly affect its cleaning quality. Therefore, it can be said that the application effect of the ...

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Problems solved by technology

[0002] In recent years, unmanned sweeping vehicles have gradually entered the public view, but due to the complex operation scene, dynamic / static obstacles such as vehicles, pedestrians, and obstacles seriously affect the normal operation of unmanned sweeping vehicles, and due to some areas in parks or urban roads Influenced by factors such as weak GPS signals, the positioning and navigation capabilities of unmanned sweepers are greatly reduced. Therefore, the current application scenarios of unmanned sweepers are greatly restricted, especially for long-distance high-precision stickers in road edge areas. while cleaning

But the actual situation is that nearly half of the garbage on the road is concentrated in the edge area of ​​the road. If the unmanned sweeper cannot achieve effective edge cleaning, it will inevitably greatly affect its cleaning quality. Therefore, it can be said that the application effect of the unmanned sweeper at this stage There is a huge gap with expectations, and the inability to achieve high-precision edge cleaning is one of the important influencing factors

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