A full-coverage path planning method for unmanned sanitation vehicles
A technology for path planning and sanitation vehicles, applied in the field of unmanned sanitation vehicles, can solve the problems of limited capacity of garbage bins and water tanks, limited operating mileage, and inability to meet the closed-loop cleaning path, achieving high planning efficiency, high coverage, Traversal takes less time
Active Publication Date: 2022-02-15
长淮智驾(淮安)汽车科技有限公司
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Problems solved by technology
[0005] At present, the path planning algorithm based on interval segmentation is relatively mature, and the divided sub-intervals can achieve better path planning, but the connection between sub-areas, especially for urban road conditions, the operating mileage of unmanned sanitation vehicles is limited. Due to the limited capacity of dustbins and water tanks, the current full-coverage algorithm cannot meet the actual needs of the closed-loop cleaning path and the limited mileage of a single cleaning.
Method used
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Embodiment
[0071] This embodiment takes a part of the campus map of a certain campus as an example to illustrate a full-coverage path planning method for unmanned sanitation vehicles.
[0072] refer to figure 1 and figure 2 , step 1, establish a map of the cleaning area by collecting data from sensors such as laser radar; the cleaning area is as follows: figure 2 Shown in bold black line.
[0073] refer to image 3 , step 2, divide the cleaning area into several sub-areas E based on road attributes i , where the subscript i represents the road number; divide the intersection into a separate area N i , where the subscript i represents the intersection number;
[0074] The road attributes include that the divided road sub-areas should meet the requirements of approximately a road, and if the width variation along the road width direction is much smaller than the length in the length direction, then it can be divided into a road sub-area. Note that a small number of obstacles can be...
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The invention belongs to the technical field of unmanned sanitation vehicles, in particular to a full-coverage path planning method for unmanned sanitation vehicles. The present invention takes into account the complexity of the urban environment compared with the simple indoor environment. Under the condition that the total traversal of unmanned sanitation vehicles takes less time and the coverage rate is high, at the same time, the starting point and end point of each traversal overlap and there is no cleaning blind area. , It can dynamically plan the route according to the actual requirements of the real-time garbage bin, the remaining capacity of the water tank, and the remaining mileage, and the algorithm used is high in planning efficiency and is very easy to implement. It is proposed to select the location of the sweeper terminal by remoteness, and the planned route can also be very fast. It can well meet the daily maintenance needs of cleaning vehicles, and can well meet the tasks of unmanned sanitation vehicles cleaning in urban environments and achieving full coverage traversal path planning.
Description
technical field [0001] The invention belongs to the technical field of unmanned sanitation vehicles, in particular to a full-coverage path planning method for unmanned sanitation vehicles. Background technique [0002] At present, unmanned driving technology is widely used and has been gradually applied to the field of sanitation. Unmanned sanitation vehicles using sensors such as lasers and vision can gradually replace sanitation workers to complete tasks such as sweeping, washing, garbage collection, and transfer in simple urban environments. , can liberate the sanitation workers from the harsh environment of severe cold and heat, wind and sun, and dusty environment, and can also avoid personal injury accidents caused by various reasons. Unmanned sanitation vehicles operate in an urban environment and need to implement functions such as cleaning, obstacle avoidance, and path planning. This especially involves a path planning algorithm—Coverage Path Planning (CPP) algorithm...
Claims
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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 吴坚汪寅
Owner 长淮智驾(淮安)汽车科技有限公司