A road full traversal cleaning path planning method for unmanned sweeping vehicles

Abstract

A method for planning a road full traversal cleaning path for an unmanned sweeper, comprising the following steps: the unmanned sweeper judges the type of road to be cleaned; if it is a single lane, autonomously recognizes the edge of the road, marks the edge of the road as an adjacent cleaning area, According to the relevant traffic rules, give priority to cleaning the side-by-side cleaning area, and plan a spiral inward cleaning path; if there are two or more lanes, independently identify the edge of the road and the middle lane line or the middle isolation belt, so as to give priority to cleaning the side-by-side cleaning area , Secondly, clean the middle lane line area or the middle isolation belt area, and finally clean the area inside the lane as the principle to plan the cleaning path. The planning of various paths in the present invention complies with traffic rules, has no retrograde risk, and will not drive against or across the middle lane line or the middle isolation belt, ensuring driving safety; the "spiral inward" path and cleaning sequence can ensure Safe driving, avoid missed and repeated cleaning, and improve cleaning efficiency.

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...

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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

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