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Road full-traversal sweeping path planning method of unmanned sweeper

A path planning and cleaning vehicle technology, applied in the field of robots, to achieve the effect of increasing the scope of application, improving cleaning efficiency, and reducing the area of ​​​​repeated cleaning

Active Publication Date: 2021-01-19
GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a method based on various road environment characteristics that is suitable for unmanned sweeping vehicles to realize road full-traversal cleaning path planning methods under the premise of observing traffic rules, so as to solve the problem. Full traversal sweeping problems of unmanned sweeping vehicles extending from structured closed parks to unstructured and highly dynamic urban roads

Method used

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  • Road full-traversal sweeping path planning method of unmanned sweeper
  • Road full-traversal sweeping path planning method of unmanned sweeper
  • Road full-traversal sweeping path planning method of unmanned sweeper

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Embodiment Construction

[0055] A road full traversal cleaning path planning method for unmanned sweeping vehicles, such as figure 1 , including the following steps:

[0056] 1. Road Type Classification

[0057] Divide road types into single-lane roads, two-lane roads and multi-lane roads; unmanned sweepers judge whether the road to be cleaned is a single-lane road or a two-lane road based on high-precision maps and on-site visual recognition (such as its own visual sensor, etc.) Or multi-lane roads, according to the type of road to take the corresponding path planning method. High-resolution maps are pre-scanned.

[0058] The invention mainly plans and cleans urban roads, and classifies urban roads into single-lane, double-lane and multi-lane. Among them, the multi-lane is similar to the double-lane situation, except that the median strip is replaced by the middle lane line, which can be regarded as an extension of the double-lane, so the multi-lane processing method is similar to the dual-lane p...

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Abstract

The invention discloses a road full-traversal sweeping path planning method of an unmanned sweeper. The method comprises the following steps that the unmanned sweeper judges the type of a to-be-sweptroad; if the lane is a single lane, autonomously identifying the road edge, the road edge is marked as a welt cleaning area, the welt cleaning area is preferentially cleaned according to related traffic rules, and a spiral inward cleaning path is planned; if the vehicle is in a double-lane or multi-lane mode, the road edge and the middle lane line or the middle isolation belt are autonomously recognized, and a sweeping path is planned according to the principle that the welt sweeping area is swept preferentially, the middle lane line area or the middle isolation belt area is swept secondly andthe area in the lane is swept finally. Planning of various paths complies with traffic rules, no retrograde driving risk exists, the vehicle cannot press or cross a middle lane line or a middle isolation belt to drive, and driving safety is guaranteed; the spiral inward path and the sweeping sequence can guarantee driving safety, sweeping missing and repeated sweeping are avoided, and the sweeping efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for planning a road full traversal cleaning path for an unmanned cleaning vehicle. Background technique [0002] In recent years, with the rapid development of artificial intelligence and robot technology, autonomous driving technology has been more and more applied to various industries. As one of the most popular unmanned products, driverless sweepers are gradually expanding from closed structured scenarios to unstructured dynamic environments such as urban roads. For unmanned sweeping vehicles, from structured closed scenes to extended applications of urban road scenes, how to ensure full traversal and high-efficiency cleaning effects on the basis of abiding by road traffic rules is an urgent priority to be solved. The existing mainstream technology of unmanned cleaning mainly has the following problems: (1) Full traversal is not realized: most unmanned sweeping vehic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02E01H1/00
CPCG05D1/0219G05D1/0214E01H1/005
Inventor 李良源周江涛李浩
Owner GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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