Boundary detection and path planning method and system for unmanned cabin cleaning machine

Abstract

The invention discloses a boundary detection and path planning method and system for an unmanned cabin cleaning machine, and particularly relates to the technical field of unmanned driving. Comprising a cabin cleaning machine operation area division module, a multi-mode sensor data acquisition module, a cabin cleaning machine boundary detection updating module, a cabin cleaning machine path planning module, a cabin cleaning machine operation area safety control module and a cabin cleaning machine operation safety evaluation module. According to the invention, the multi-modal sensor is used for collecting the operation safety data of the cabin cleaning machine in each monitoring sub-region of the target cabin region, calculating the boundary detection adjustment index of the cabin cleaning machine, planning the operation path, completing the cabin cleaning operation, calculating the power safety control index of the cabin cleaning machine, and automatically identifying the vehicle cleaning condition of the cabin cleaning machine operation region of each monitoring sub-region. The boundary change of each monitoring sub-area in the cabin is responded, it is ensured that the cabin cleaning machine is always kept within the safe boundary in the operation process, collision and misoperation are avoided, and the safety and stability of operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and more specifically, to a boundary detection and path planning method and system for an unmanned cabin cleaning machine. Background Art

[0002] In current cabin operations, cabin cleaning operations usually rely on manual operation or partially automated equipment. These devices rely on traditional manual settings to determine the boundaries of the cabin cleaning area, such as through fixed physical markers or manually input coordinate information. This method requires a lot of manual preliminary configuration of the equipment before the operation, and during the operation, if the regional environment changes, the equipment needs to be reset or adjusted, which increases the complexity of operation and manual intervention. In addition, cabin operations are dangerous and are high-risk operations.

[0003] Unmanned tank cleaning machines play an important role in the tank cleaning operations of bulk carriers. Based on advanced artificial intelligence technology and positioning technology, they can independently complete the tank cleaning operations, greatly improving operational efficiency and safety.

[0004] However, there are still some shortcomings in actual use. For example, the existing unmanned tank cleaning machines lack adaptability. Since they cannot perceive regional changes in real time, the tank cleaning equipment is difficult to cope with changes in the dynamic environment, thus affecting the accuracy and efficiency of the operation. At present, the boundary detection of unmanned tank cleaning machines relies on manual setting of the boundaries of the tank cleaning area, which is not only inefficient and time-consuming, but also when the manually set boundaries do not match the actual situation, it may cause the tank cleaning equipment to mistakenly enter the dangerous area, thereby causing safety accidents and posing potential safety risks. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a boundary detection and path planning method and system for an unmanned tank cleaning machine, which are used to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a boundary detection and path planning system for an unmanned tank cleaning machine, comprising: Tank cleaning machine operation area division module: obtain the total area of ​​the target cabin area through the camera, divide the total area of ​​the target cabin area into various monitoring sub-areas according to the equal area division method, and number each monitoring sub-area of ​​the target cabin area.

[0007] Multimodal sensor data acquisition module: used to collect the tank cleaning machine operation safety data of each monitoring sub-area in the target cabin area through a multimodal sensor, the multimodal sensor data acquisition module includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit, and the tank cleaning machine operation safety data includes tank cleaning machine boundary detection data and tank cleaning machine environmental safety data.

[0008] Tank cleaning machine boundary detection update module: used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area in the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time.

[0009] Tank cleaning machine path planning module: used to receive the tank cleaning machine boundary detection adjustment index transmitted by the tank cleaning machine boundary detection update module, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine.

[0010] Tank cleaning machine operation area safety control module: used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area according to the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit.

[0011] Tank cleaning machine operation safety assessment module: used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it.

[0012] Preferably, the working process of the tank cleaning machine operation area division module is specifically as follows: The total area of ​​the target cabin area is obtained through the camera, and the total area of ​​the target cabin area is divided into various monitoring sub-areas according to an equal area division method, and the monitoring sub-areas of the target cabin area are numbered 1, 2, ...i, ...n in sequence.

[0013] Preferably, the multimodal sensor data acquisition module specifically includes: Tank cleaning machine boundary detection data acquisition unit: The multimodal sensor collects the red histogram, green histogram, blue histogram, and coordinates of the outer boundary farthest from the tank cleaning machine of each frame image of each monitoring sub-area in the target cabin area, and marks them as , , , , where i=1,2,...n, i represents the number of the i-th monitoring sub-area, k=1,2,...m, k represents the number of the k-th frame image; Tank cleaning machine environmental safety data acquisition unit: The multimodal sensor collects the longitudinal speed of the tank cleaning machine, the steering speed of the tank cleaning machine, the cabin wind speed, and the tank cleaning machine projection area of ​​each monitoring sub-area in the target cabin area, which are marked as , , , .

[0014] Preferably, the working process of the tank cleaning machine boundary detection and updating module is specifically as follows: S41: Calculate the color histogram difference between the k-th frame image and the k+1-th frame image:

[0015] in, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the red histogram of the k-th frame image of the i-th monitoring sub-region, Represented as the green histogram of the kth frame image of the i-th monitoring sub-region, It is represented by the blue histogram of the kth frame image of the ith monitoring sub-region. It is represented as the red histogram of the k+1th frame image of the ith monitoring sub-region. It is represented as the green histogram of the k+1th frame image of the ith monitoring sub-region. It is represented by the blue histogram of the k+1th frame image of the ith monitoring sub-region. , , Respectively represent the weights of the color histograms corresponding to the red histogram, green histogram, and blue histogram, and + + =1; S42: The coordinates of the cabin cleaning machine in the target cabin area are obtained through the laser radar and marked as ; S43: Calculate the clearance machine boundary distance between the k-th frame image and the k+1-th frame image:

[0016] in, It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the kth frame image of the ith monitoring sub-area, It is expressed as the cabin coordinates of the cleaning machine. It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the k+1th frame image of the ith monitoring sub-area; S44: The calculation formula of the tank cleaning machine boundary detection adjustment index is:

[0017] in, It is represented as the boundary detection adjustment index of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the color histogram difference of the k+1th frame image of the ith monitoring sub-region. It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented as the boundary distance of the cleaning machine in the k+1th frame image of the ith monitoring sub-area, It is represented as the average color histogram difference of the i-th monitoring sub-region, m is represented as the number of frame images, It is expressed as the allowable difference of the clearance machine boundary distance, ; S45: setting a preset tank cleaning machine boundary detection adjustment index. When the difference between the maximum value and the minimum value of the color histogram difference of each frame image is larger, it indicates that the spatial position change of the items in the target cabin area is more significant. When the tank cleaning machine boundary distance difference of each frame image is larger, it indicates that the boundary movement amplitude of the target cabin area is larger. If the tank cleaning machine boundary detection adjustment index of a monitoring sub-area of ​​the target cabin area is greater than the preset tank cleaning machine boundary detection adjustment index, it indicates that there is an abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the boundary of the tank cleaning area of ​​the monitoring sub-area needs to be adjusted in time, and the result is fed back to the tank cleaning machine information control center to automatically update the boundary information. Otherwise, it indicates that there is no abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the result is fed back to the tank cleaning machine information control center to execute the waiting task.

[0018] Preferably, the working process of the cleaning machine path planning module is specifically as follows: S51: the tank cleaning machine receives the automatic driving operation task from the cloud control platform, and updates the operation boundary of the tank cleaning machine according to the feedback result of the tank cleaning machine boundary detection and update module, including the outer boundary and inner boundary information of each monitoring sub-area in the target cabin area, and plans an operation trajectory parallel to the boundary according to the boundary information. The distance between the outermost trajectory and the bulkhead is: w / 2+d0, w is the width that the tank cleaning machine can clean, d0 is the safe distance from the tank cleaning machine to the bulkhead, the interval between the trajectories is w-d1, d1 is the width of the adjacent trajectories that need to overlap, and when the innermost operation trajectory overlaps with the inner boundary, the trajectory planning ends; S52: Obtain the cabin coordinates of the cleaning machine in the target cabin area, obtain the outer boundary point closest to itself, take the clockwise edge of the point as the outermost operation trajectory, and mark it as entering the main path sub-state; S53: After entering the main path sub-state, the cleaning machine travels along the track of the outermost operating track without performing cleaning operations, and at the same time loads the outermost unused track of the next edge, and plans a connecting track from the current track to the next track, and forms the next actual operating track, and calculates the switching point of the two tracks, that is, the starting point of the second track; S54: When the tank cleaning machine enters the main path sub-state and moves to a distance from the switching point that is less than the preset switching point distance, it switches to the next track and enters the track cleaning sub-state, and the tank cleaning machine starts cleaning along the track; S55: When the tank cleaning machine travels to a distance from the front bulkhead that is less than the preset safety distance from the wall, it switches to the tracking reverse state. When the distance from the next track is greater than the preset safety distance from the wall, the tank cleaning machine starts cleaning along the track; S56: The state cycle of tracking cleaning and tracking reversing is performed in this way to complete the tank cleaning operation of the tank cleaning machine.

[0019] Preferably, the working process of the cleaning machine operation area safety control module is specifically as follows: S61: Calculate the braking longitudinal slip rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine:

[0020] in, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, It is represented as the longitudinal speed of the cleaning machine in the i-th monitoring sub-area, It is represented as the turning speed of the tank cleaning machine in the i-th monitoring sub-area; S62: Calculate the acceleration longitudinal sliding rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine:

[0021] in, It is expressed as the accelerated longitudinal slip rate of the ith monitoring sub-area; S63: Calculate the travel resistance of the tank cleaning machine in each monitoring sub-area according to the longitudinal travel speed of the tank cleaning machine, the cabin wind speed, and the projected area of ​​the tank cleaning machine:

[0022] in, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the cabin wind speed of the ith monitoring sub-area, It is represented as the projected area of ​​the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the tank cleaning machine resistance compensation factor; S64: The calculation formula of the tank cleaning machine power safety control index is:

[0023] in, It is expressed as the safety control index of the cleaning machine power in the i-th monitoring sub-area, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, is represented by the accelerated longitudinal slip rate of the ith monitoring sub-area, e is represented by a natural constant, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the mean value of the running resistance of the tank cleaning machine.

[0024] Preferably, the working process of the tank cleaning machine operation safety assessment module is specifically as follows: A preset tank cleaning machine power safety control index is set. When the braking longitudinal slip rate is larger, the stability of the tank cleaning machine braking process is poor, and the braking effect is poor. When the acceleration longitudinal slip rate is larger, the tank cleaning machine slips significantly during driving, and the acceleration effect is poor. The larger the driving resistance of the tank cleaning machine, the lower the operating efficiency of the tank cleaning machine. If the tank cleaning machine power safety control index of a monitoring sub-area in the target cabin area is greater than the preset tank cleaning machine power safety control index, it indicates that the tank cleaning machine operating power performance and driving stability in the monitoring sub-area are poor, and the management personnel are notified to check the cabin environment conditions in the monitoring sub-area. Otherwise, it indicates that there is no abnormality in the operating power performance and driving stability of the tank cleaning machine in the monitoring sub-area.

[0025] Preferably, a boundary detection and path planning method for an unmanned tank cleaning machine comprises the following steps: Step S01: division of the tank cleaning machine operation area: obtaining the total area of ​​the target cabin area through a camera, dividing the total area of ​​the target cabin area into various monitoring sub-areas according to an equal area division method, and numbering each monitoring sub-area of ​​the target cabin area; Step S02: multimodal sensor data acquisition: used to collect the tank cleaning machine operation safety data of each monitoring sub-area of ​​the target cabin area through a multimodal sensor, the multimodal sensor data acquisition includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit, and the tank cleaning machine operation safety data includes a tank cleaning machine boundary detection data and a tank cleaning machine environmental safety data; Step S03: Tank cleaning machine boundary detection update: used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time; Step S04: tank cleaning machine path planning: used to receive the tank cleaning machine boundary detection adjustment index transmitted in the tank cleaning machine boundary detection update step, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine; Step S05: Safety control of the tank cleaning machine operation area: used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area according to the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit; Step S06: Tank cleaning machine operation safety assessment: used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it.

[0026] Technical effects and advantages of the present invention: 1. The present invention provides a method and system for boundary detection and path planning of an unmanned tank cleaning machine. The tank cleaning machine boundary detection data of each monitoring sub-area of ​​the target cabin area is collected by a multimodal sensor. The tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area is calculated according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit. When the difference between the maximum value and the minimum value of the color histogram difference of each frame image is larger, it indicates that the spatial position change of the objects in the target cabin area is more significant. When the tank cleaning machine boundary distance difference of each frame image is larger, it indicates that the boundary movement amplitude of the target cabin area is larger. If the tank cleaning machine boundary detection adjustment index of a monitoring sub-area of ​​the target cabin area is greater than the preset tank cleaning machine boundary detection adjustment index, it indicates that there is an abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the boundary of the tank cleaning area of ​​the monitoring sub-area needs to be adjusted in time, and the result is fed back to the tank cleaning machine information control center to automatically update the boundary. Boundary information, otherwise, it indicates that there is no abnormality in the boundary of the cleaning machine in the monitoring sub-area, and the result is fed back to the cleaning machine information control center to execute the waiting task. By real-time identification and updating of the boundary of the cleaning area, when the boundary of the cleaning area of ​​the monitoring sub-area changes, the operation path is planned to complete the cleaning operation of the cleaning machine. It can automatically collect relevant data of the cleaning machine operation to ensure that the data is comprehensive and reliable, and provide strong support for subsequent decision-making and optimization, which is conducive to continuously improving the operation process and performance of the cleaning machine. By quickly responding to the boundary changes of each monitoring sub-area in the cabin, it is ensured that the cleaning machine always stays within the safe boundary during the operation process, effectively avoiding collisions and misoperations, and further improving the safety and stability of the operation. No manual intervention is required, and the amount of manual operation is greatly reduced. By automatically adjusting the operation path, the cleaning efficiency is improved, and the cleaning machine is ensured to operate accurately in the complex environment of the cabin. It has a high degree of automation and intelligence, which can reduce the need for manual intervention and monitoring. 2. The present invention provides a boundary detection and path planning method and system for an unmanned tank cleaning machine. The tank cleaning machine environmental safety data of each monitoring sub-area of ​​the target cabin area is collected by a multimodal sensor. The tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit is used to calculate the tank cleaning machine power safety control index of each monitoring sub-area of ​​the target cabin area. When the braking longitudinal slip rate is larger, the stability of the tank cleaning machine braking process is poor, the effect is poor during braking, the larger the acceleration longitudinal slip rate is, the tank cleaning machine slips significantly during driving, the effect is poor during acceleration, the larger the driving resistance of the tank cleaning machine is, the lower the operating efficiency of the tank cleaning machine is, if the tank cleaning machine power safety control index of a certain monitoring sub-area of ​​the target cabin area is greater than the braking longitudinal slip rate, the tank cleaning machine braking process is poor, the effect is poor during braking, the larger the acceleration longitudinal slip rate is, the tank cleaning machine driving slip phenomenon is obvious, the effect is poor during acceleration, the larger the driving resistance of the tank cleaning machine is, the lower the operating efficiency of the tank cleaning machine is, if the tank cleaning machine power safety control index of a certain monitoring sub-area of ​​the target cabin area is greater than the braking longitudinal slip rate, the tank cleaning machine braking process is poor, the effect is poor during braking, the larger the acceleration longitudinal slip rate is, the smaller ... If the control index is greater than the preset tank cleaning machine power safety control index, it indicates that the tank cleaning machine's operating power performance and driving stability in the monitored sub-area are poor, and the management personnel are notified to check the cabin environmental conditions in the monitored sub-area. Otherwise, it indicates that there is no abnormality in the operating power performance and driving stability of the tank cleaning machine in the monitored sub-area. Through intelligent data processing and analysis capabilities, the vehicle cleaning conditions in the tank cleaning machine operating area of ​​each monitoring sub-area can be automatically identified, providing operators with more accurate and reliable decision support, which is conducive to timely discovering whether there are potential safety hazards in the operating power performance and driving stability of the tank cleaning machine, and issuing early warnings to operators to improve the safety of cabin cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a schematic structural diagram of a boundary detection and path planning system for an unmanned tank cleaning machine.

[0028] Figure 2 It is a structural schematic diagram of the multimodal sensor data acquisition module of the present invention.

[0029] Figure 3 The present invention is a flowchart of a method for boundary detection and path planning of an unmanned tank cleaning machine. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 As shown, the present invention provides a boundary detection and path planning system for an unmanned tank cleaning machine, including a tank cleaning machine operating area division module, a multimodal sensor data acquisition module, a tank cleaning machine boundary detection update module, a tank cleaning machine path planning module, a tank cleaning machine operating area safety control module and a tank cleaning machine operation safety assessment module.

[0032] The tank cleaning machine operation area division module is connected to the multimodal sensor data acquisition module, the multimodal sensor data acquisition module is connected to the tank cleaning machine boundary detection and update module and the tank cleaning machine operation area safety control module, the tank cleaning machine boundary detection and update module is connected to the tank cleaning machine path planning module, and the tank cleaning machine operation area safety control module is connected to the tank cleaning machine operation safety assessment module.

[0033] The tank cleaning machine operation area division module obtains the total area of ​​the target cabin area through a camera, divides the total area of ​​the target cabin area into various monitoring sub-areas according to an equal area division method, and numbers each monitoring sub-area of ​​the target cabin area; the area division enables each sub-area to be quickly and accurately identified and located, thereby improving the operation efficiency and management level.

[0034] In a possible design, the working process of the tank cleaning machine operation area division module is specifically as follows: The total area of ​​the target cabin area is obtained through the camera, and the total area of ​​the target cabin area is divided into various monitoring sub-areas according to an equal area division method, and the monitoring sub-areas of the target cabin area are numbered 1, 2, ...i, ...n in sequence.

[0035] The multimodal sensor data acquisition module is used to collect the tank cleaning machine operation safety data of each monitoring sub-area in the target cabin area through a multimodal sensor. The multimodal sensor data acquisition module includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit. The tank cleaning machine operation safety data includes tank cleaning machine boundary detection data and tank cleaning machine environmental safety data. It can automatically collect tank cleaning machine operation-related data to ensure that the data is comprehensive and reliable, provide strong support for subsequent decision-making and optimization, and help to continuously improve the operation process and performance of the tank cleaning machine.

[0036] See also Figure 2 As shown, in a possible design, the multimodal sensor data acquisition module specifically includes: Tank cleaning machine boundary detection data acquisition unit: The multimodal sensor collects the red histogram, green histogram, blue histogram, and coordinates of the outer boundary farthest from the tank cleaning machine of each frame image of each monitoring sub-area in the target cabin area, and marks them as , , , , where i=1,2,...n, i represents the number of the i-th monitoring sub-area, k=1,2,...m, k represents the number of the k-th frame image; Tank cleaning machine environmental safety data acquisition unit: The multimodal sensor collects the longitudinal speed of the tank cleaning machine, the steering speed of the tank cleaning machine, the cabin wind speed, and the tank cleaning machine projection area of ​​each monitoring sub-area in the target cabin area, which are marked as , , , .

[0037] In this embodiment, it should be specifically explained that the multimodal sensor includes but is not limited to a laser radar, a visual camera, and a millimeter wave radar.

[0038] The tank cleaning machine boundary detection and updating module is used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area in the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time; by quickly responding to the boundary changes of each monitoring sub-area in the cabin, it is ensured that the tank cleaning machine always stays within the safe boundary during the operation, effectively avoiding collision and misoperation, further improving the safety and stability of the operation, without manual intervention, and greatly reducing the amount of manual operation.

[0039] In a possible design, the working process of the tank cleaning machine boundary detection update module is specifically as follows: S01: Calculate the color histogram difference between the kth frame image and the k+1th frame image:

[0040] in, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the red histogram of the k-th frame image of the i-th monitoring sub-region, Represented as the green histogram of the kth frame image of the i-th monitoring sub-region, It is represented by the blue histogram of the kth frame image of the ith monitoring sub-region. It is represented as the red histogram of the k+1th frame image of the ith monitoring sub-region. It is represented as the green histogram of the k+1th frame image of the ith monitoring sub-region. It is represented by the blue histogram of the k+1th frame image of the ith monitoring sub-region. , , Respectively represent the weights of the color histograms corresponding to the red histogram, green histogram, and blue histogram, and + + =1; S02: Obtain the cabin coordinates of the cleaning machine in the target cabin area through the laser radar and mark them as ; S03: Calculate the clearance machine boundary distance between the kth frame image and the k+1th frame image:

[0041] in, It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the kth frame image of the ith monitoring sub-area, It is expressed as the cabin coordinates of the cleaning machine. It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the k+1th frame image of the ith monitoring sub-area; S04: The calculation formula of the tank cleaning machine boundary detection adjustment index is:

[0042] in, It is represented as the boundary detection adjustment index of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the color histogram difference of the k+1th frame image of the ith monitoring sub-region. It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented as the boundary distance of the cleaning machine in the k+1th frame image of the ith monitoring sub-area, It is represented as the average color histogram difference of the i-th monitoring sub-region, m is represented as the number of frame images, It is expressed as the allowable difference of the clearance machine boundary distance, ; S05: setting a preset tank cleaning machine boundary detection adjustment index. When the difference between the maximum and minimum values ​​of the color histogram difference of each frame image is larger, it indicates that the spatial position change of the items in the target cabin area is more significant. When the tank cleaning machine boundary distance difference of each frame image is larger, it indicates that the boundary movement amplitude of the target cabin area is larger. If the tank cleaning machine boundary detection adjustment index of a monitoring sub-area of ​​the target cabin area is greater than the preset tank cleaning machine boundary detection adjustment index, it indicates that there is an abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the boundary of the tank cleaning area of ​​the monitoring sub-area needs to be adjusted in time, and the result is fed back to the tank cleaning machine information control center to automatically update the boundary information. Otherwise, it indicates that there is no abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the result is fed back to the tank cleaning machine information control center to execute the pending operation task.

[0043] The tank cleaning machine path planning module is used to receive the tank cleaning machine boundary detection adjustment index transmitted by the tank cleaning machine boundary detection update module, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine; by automatically adjusting the operation path, the tank cleaning efficiency is improved, and the tank cleaning machine is ensured to operate accurately in the complex environment of the cabin. The degree of automation and intelligence is high, and the need for manual intervention and monitoring can be reduced.

[0044] In a possible design, the working process of the tank cleaning machine path planning module is specifically as follows: S51: the tank cleaning machine receives the automatic driving operation task from the cloud control platform, and updates the operation boundary of the tank cleaning machine according to the feedback result of the tank cleaning machine boundary detection and update module, including the outer boundary and inner boundary information of each monitoring sub-area in the target cabin area, and plans an operation trajectory parallel to the boundary according to the boundary information. The distance between the outermost trajectory and the bulkhead is: w / 2+d0, w is the width that the tank cleaning machine can clean, d0 is the safe distance from the tank cleaning machine to the bulkhead, the interval between the trajectories is w-d1, d1 is the width of the adjacent trajectories that need to overlap, and when the innermost operation trajectory overlaps with the inner boundary, the trajectory planning ends; S52: Obtain the cabin coordinates of the cleaning machine in the target cabin area, obtain the outer boundary point closest to itself, take the clockwise edge of the point as the outermost operation trajectory, and mark it as entering the main path sub-state; S53: After entering the main path sub-state, the cleaning machine travels along the track of the outermost operating track without performing cleaning operations, and at the same time loads the outermost unused track of the next edge, and plans a connecting track from the current track to the next track, and forms the next actual operating track, and calculates the switching point of the two tracks, that is, the starting point of the second track; S54: When the tank cleaning machine enters the main path sub-state and moves to a distance from the switching point that is less than the preset switching point distance, it switches to the next track and enters the track cleaning sub-state, and the tank cleaning machine starts cleaning along the track; S55: When the tank cleaning machine travels to a distance from the front bulkhead that is less than the preset safety distance from the wall, it switches to the tracking reverse state. When the distance from the next track is greater than the preset safety distance from the wall, the tank cleaning machine starts cleaning along the track; S56: The state cycle of tracking cleaning and tracking reversing is performed in this way to complete the tank cleaning operation of the tank cleaning machine.

[0045] In this embodiment, it should be specifically explained that the outer boundary and inner boundary information of each monitoring sub-area in the target cabin area are specifically as follows: Step S001: The cloud control platform receives the point cloud map uploaded by the cleaning machine and pre-processes the point cloud data, including removing noise points, downsampling, and coordinate normalization; Step S002: Setting a plane equation model: ax+by+cz+d=0, where a, b, c represent the normal vectors of the plane, and d is the offset of the plane; Step S003: randomly selecting three points from the point cloud data, calculating the normal vector and equation parameters of the plane, including solving a system of linear equations or determining the direction of the normal vector by a vector cross product, and the resulting plane equation is used to evaluate whether other points are on the plane; Step S004: Substitute all points in the point cloud data into the plane equation obtained by fitting, and calculate the distance between each point and the plane. When the distance of a point is less than a preset value, the point is considered to be an inner point of the plane; Step S005: Repeat the iterative random sampling point and interior point calculation steps, and in all iterations, select the plane with the most interior points as the optimal plane model; Step S006: extract all the inner points belonging to the plane through the optimal plane model as ground points, and the remaining points are considered as non-ground points; Step S007: After extracting the ground points, smoothing the ground points is performed to eliminate fluctuations caused by measurement noise; Step S008: extracting ground points from the point cloud data by plane fitting RANSAC algorithm, and after removing the ground information, the remaining data represents the inner boundary and the outer boundary; Step S009: Determine the edge points of the inner boundary and the outer boundary by clustering and segmenting the remaining point cloud data.

[0046] The tank cleaning machine operation area safety control module is used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area based on the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit; through intelligent data processing and analysis capabilities, it can automatically identify the vehicle cleaning conditions in the tank cleaning machine operation area of ​​each monitoring sub-area, providing more accurate and reliable decision support for operators.

[0047] In a possible design, the cleaning machine operation area safety control module is specifically: S61: Calculate the braking longitudinal slip rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine:

[0048] in, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, It is represented as the longitudinal speed of the cleaning machine in the i-th monitoring sub-area, It is represented as the turning speed of the tank cleaning machine in the i-th monitoring sub-area; S62: Calculate the acceleration longitudinal sliding rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine:

[0049] in, It is expressed as the accelerated longitudinal slip rate of the ith monitoring sub-area; S63: Calculate the travel resistance of the tank cleaning machine in each monitoring sub-area according to the longitudinal travel speed of the tank cleaning machine, the cabin wind speed, and the projected area of ​​the tank cleaning machine:

[0050] in, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the cabin wind speed of the ith monitoring sub-area, It is represented as the projected area of ​​the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the tank cleaning machine resistance compensation factor; S64: The calculation formula of the tank cleaning machine power safety control index is:

[0051] in, It is expressed as the safety control index of the cleaning machine power in the i-th monitoring sub-area, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, is represented by the accelerated longitudinal slip rate of the ith monitoring sub-area, e is represented by a natural constant, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the mean value of the running resistance of the tank cleaning machine.

[0052] The tank cleaning machine operation safety assessment module is used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it; it is conducive to timely discovering whether there are potential safety hazards in the power performance and driving stability of the tank cleaning machine operation, and issuing early warnings to operators, thereby improving the safety of cabin cleaning operations.

[0053] In a possible design, the tank cleaning machine operation safety assessment module is specifically: A preset tank cleaning machine power safety control index is set. When the braking longitudinal slip rate is larger, the stability of the tank cleaning machine braking process is poor, and the braking effect is poor. When the acceleration longitudinal slip rate is larger, the tank cleaning machine slips significantly during driving, and the acceleration effect is poor. The larger the driving resistance of the tank cleaning machine, the lower the operating efficiency of the tank cleaning machine. If the tank cleaning machine power safety control index of a monitoring sub-area in the target cabin area is greater than the preset tank cleaning machine power safety control index, it indicates that the tank cleaning machine operating power performance and driving stability in the monitoring sub-area are poor, and the management personnel are notified to check the cabin environment conditions in the monitoring sub-area. Otherwise, it indicates that there is no abnormality in the operating power performance and driving stability of the tank cleaning machine in the monitoring sub-area.

[0054] See also Figure 3 As shown, in this embodiment, it should be specifically explained that the present invention provides a boundary detection and path planning method for an unmanned tank cleaning machine, comprising the following steps: Step S01: division of the tank cleaning machine operation area: obtaining the total area of ​​the target cabin area through a camera, dividing the total area of ​​the target cabin area into various monitoring sub-areas according to an equal area division method, and numbering each monitoring sub-area of ​​the target cabin area; Step S02: multimodal sensor data acquisition: used to collect the tank cleaning machine operation safety data of each monitoring sub-area of ​​the target cabin area through a multimodal sensor, the multimodal sensor data acquisition includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit, and the tank cleaning machine operation safety data includes a tank cleaning machine boundary detection data and a tank cleaning machine environmental safety data; Step S03: Tank cleaning machine boundary detection update: used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time; Step S04: tank cleaning machine path planning: used to receive the tank cleaning machine boundary detection adjustment index transmitted in the tank cleaning machine boundary detection update step, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine; Step S05: Safety control of the tank cleaning machine operation area: used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area according to the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit; Step S06: Tank cleaning machine operation safety assessment: used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it.

[0055] In the present embodiment, it should be specifically explained that the present invention collects tank cleaning machine boundary detection data of each monitoring sub-area of ​​the target cabin area through a multimodal sensor, and calculates the tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data acquisition unit. When the difference between the maximum value and the minimum value of the color histogram difference of each frame image is larger, it indicates that the spatial position change of the objects in the target cabin area is more significant. When the tank cleaning machine boundary distance difference of each frame image is larger, it indicates that the boundary movement amplitude of the target cabin area is larger. If the tank cleaning machine boundary detection adjustment index of a monitoring sub-area of ​​the target cabin area is greater than the preset tank cleaning machine boundary detection adjustment index, it indicates that there is an abnormality in the tank cleaning machine boundary of the monitoring sub-area, and it is necessary to timely adjust the boundary of the tank cleaning area of ​​the monitoring sub-area, and feed back the result to the tank cleaning machine information control center to automatically update the boundary information. Otherwise, It indicates that there is no abnormality in the boundary of the cleaning machine in the monitoring sub-area. The result is fed back to the cleaning machine information control center to execute the waiting task. By real-time identification and updating of the boundary of the cleaning area, when the boundary of the cleaning area of ​​the monitoring sub-area changes, the operation path is planned to complete the cleaning operation of the cleaning machine. It can automatically collect relevant data of the cleaning machine operation to ensure that the data is comprehensive and reliable, and provide strong support for subsequent decision-making and optimization, which is conducive to continuously improving the operation process and performance of the cleaning machine. By quickly responding to the boundary changes of each monitoring sub-area in the cabin, it is ensured that the cleaning machine always stays within the safe boundary during the operation process, effectively avoiding collisions and misoperations, and further improving the safety and stability of the operation. No manual intervention is required, and the amount of manual operation is greatly reduced. By automatically adjusting the operation path, the cleaning efficiency is improved, and the cleaning machine is ensured to operate accurately in the complex environment of the cabin. It has a high degree of automation and intelligence, which can reduce the need for manual intervention and monitoring. The present invention collects the environmental safety data of the tank cleaning machine in each monitoring sub-area of ​​the target cabin area through a multimodal sensor, and calculates the power safety control index of the tank cleaning machine in each monitoring sub-area of ​​the target cabin area according to the environmental safety data of the tank cleaning machine collected by the tank cleaning machine environmental safety data collection unit. When the braking longitudinal slip rate is larger, the stability of the tank cleaning machine braking process is poor, the effect is poor during braking, the larger the acceleration longitudinal slip rate is, the more obvious the tank cleaning machine skids during driving, the effect is poor during acceleration, the larger the driving resistance of the tank cleaning machine is, the lower the operating efficiency of the tank cleaning machine is, if the power safety control index of the tank cleaning machine in a certain monitoring sub-area of ​​the target cabin area is greater than the preset power safety control index of the tank cleaning machine If the control index is low, it indicates that the power performance and driving stability of the tank cleaning machine in the monitored sub-area are poor, and the management personnel are notified to check the cabin environment conditions in the monitored sub-area. Otherwise, it indicates that there is no abnormality in the power performance and driving stability of the tank cleaning machine in the monitored sub-area. Through intelligent data processing and analysis capabilities, the vehicle cleaning conditions in the tank cleaning machine operating area of ​​each monitoring sub-area can be automatically identified, providing operators with more accurate and reliable decision support, which is conducive to timely discovering whether there are potential safety hazards in the power performance and driving stability of the tank cleaning machine, and issuing early warnings to operators to improve the safety of cabin cleaning operations.

[0056] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A boundary detection and path planning system for an unmanned tank cleaning machine, characterized in that: include: Tank cleaning machine operation area division module: obtain the total area of ​​the target cabin area through the camera, divide the total area of ​​the target cabin area into various monitoring sub-areas according to the equal area division method, and number each monitoring sub-area of ​​the target cabin area; Multimodal sensor data acquisition module: used to collect the tank cleaning machine operation safety data of each monitoring sub-area of ​​the target cabin area through a multimodal sensor, the multimodal sensor data acquisition module includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit, and the tank cleaning machine operation safety data includes the tank cleaning machine boundary detection data and the tank cleaning machine environmental safety data; Tank cleaning machine boundary detection update module: used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time; Tank cleaning machine path planning module: used to receive the tank cleaning machine boundary detection adjustment index transmitted by the tank cleaning machine boundary detection update module, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine; Tank cleaning machine operation area safety control module: used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area according to the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit; Tank cleaning machine operation safety assessment module: used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it.

2. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The working process of the tank cleaning machine operation area division module is specifically as follows: The total area of ​​the target cabin area is obtained through the camera, and the total area of ​​the target cabin area is divided into various monitoring sub-areas according to an equal area division method, and the monitoring sub-areas of the target cabin area are numbered 1, 2, ...i, ...n in sequence.

3. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The multimodal sensor data acquisition module specifically includes: Tank cleaning machine boundary detection data acquisition unit: The multimodal sensor collects the red histogram, green histogram, blue histogram, and coordinates of the outer boundary farthest from the tank cleaning machine of each frame image of each monitoring sub-area in the target cabin area, and marks them as , , , , where i=1,2,...n, i represents the number of the i-th monitoring sub-area, k=1,2,...m, k represents the number of the k-th frame image; Tank cleaning machine environmental safety data acquisition unit: The multimodal sensor collects the longitudinal speed of the tank cleaning machine, the steering speed of the tank cleaning machine, the cabin wind speed, and the tank cleaning machine projection area of ​​each monitoring sub-area in the target cabin area, which are marked as , , , .

4. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The working process of the tank cleaning machine boundary detection and updating module is specifically as follows: S41: Calculate the color histogram difference between the k-th frame image and the k+1-th frame image: in, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the red histogram of the k-th frame image of the i-th monitoring sub-region, Represented as the green histogram of the kth frame image of the i-th monitoring sub-region, It is represented by the blue histogram of the kth frame image of the ith monitoring sub-region. It is represented as the red histogram of the k+1th frame image of the ith monitoring sub-region. It is represented as the green histogram of the k+1th frame image of the ith monitoring sub-region. It is represented by the blue histogram of the k+1th frame image of the ith monitoring sub-region. , , Respectively represent the weights of the color histograms corresponding to the red histogram, green histogram, and blue histogram, and + + =1; S42: The coordinates of the cabin cleaning machine in the target cabin area are obtained through the laser radar and marked as ; S43: Calculate the clearance machine boundary distance between the k-th frame image and the k+1-th frame image: in, It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the kth frame image of the ith monitoring sub-area, It is expressed as the cabin coordinates of the cleaning machine. It is represented by the coordinates of the outer boundary farthest from the cleaning machine in the k+1th frame image of the ith monitoring sub-area; S44: The calculation formula of the tank cleaning machine boundary detection adjustment index is: in, It is represented as the boundary detection adjustment index of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the color histogram difference of the k-th frame image in the i-th monitoring sub-region. It is represented as the color histogram difference of the k+1th frame image of the ith monitoring sub-region. It is represented as the boundary distance of the cleaning machine in the kth frame image of the ith monitoring sub-area, It is represented as the boundary distance of the cleaning machine in the k+1th frame image of the ith monitoring sub-area, It is represented as the average color histogram difference of the i-th monitoring sub-region, m is represented as the number of frame images, It is expressed as the allowable difference of the clearance machine boundary distance, ; S45: setting a preset tank cleaning machine boundary detection adjustment index. When the difference between the maximum value and the minimum value of the color histogram difference of each frame image is larger, it indicates that the spatial position change of the items in the target cabin area is more significant. When the tank cleaning machine boundary distance difference of each frame image is larger, it indicates that the boundary movement amplitude of the target cabin area is larger. If the tank cleaning machine boundary detection adjustment index of a monitoring sub-area of ​​the target cabin area is greater than the preset tank cleaning machine boundary detection adjustment index, it indicates that there is an abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the boundary of the tank cleaning area of ​​the monitoring sub-area needs to be adjusted in time, and the result is fed back to the tank cleaning machine information control center to automatically update the boundary information. Otherwise, it indicates that there is no abnormality in the tank cleaning machine boundary of the monitoring sub-area, and the result is fed back to the tank cleaning machine information control center to execute the waiting task.

5. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The working process of the cleaning machine path planning module is specifically as follows: S51: the tank cleaning machine receives the automatic driving operation task from the cloud control platform, and updates the operation boundary of the tank cleaning machine according to the feedback result of the tank cleaning machine boundary detection and update module, including the outer boundary and inner boundary information of each monitoring sub-area in the target cabin area, and plans an operation trajectory parallel to the boundary according to the boundary information. The distance between the outermost trajectory and the bulkhead is: w / 2+d0, w is the width that the tank cleaning machine can clean, d0 is the safe distance from the tank cleaning machine to the bulkhead, the interval between the trajectories is w-d1, d1 is the width of the adjacent trajectories that need to overlap, and when the innermost operation trajectory overlaps with the inner boundary, the trajectory planning ends; S52: Obtain the cabin coordinates of the cleaning machine in the target cabin area, obtain the outer boundary point closest to itself, take the clockwise edge of the point as the outermost operation trajectory, and mark it as entering the main path sub-state; S53: After entering the main path sub-state, the cleaning machine travels along the track of the outermost operating track without performing cleaning operations, and at the same time loads the outermost unused track of the next edge, and plans a connecting track from the current track to the next track, and forms the next actual operating track, and calculates the switching point of the two tracks, that is, the starting point of the second track; S54: When the tank cleaning machine enters the main path sub-state and moves to a distance from the switching point that is less than the preset switching point distance, it switches to the next track and enters the track cleaning sub-state, and the tank cleaning machine starts cleaning along the track; S55: When the tank cleaning machine travels to a distance from the front bulkhead that is less than the preset safety distance from the wall, it switches to the tracking reverse state. When the distance from the next track is greater than the preset safety distance from the wall, the tank cleaning machine starts cleaning along the track; S56: The state cycle of tracking cleaning and tracking reversing is performed in this way to complete the tank cleaning operation of the tank cleaning machine.

6. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The working process of the cleaning machine operation area safety control module is specifically as follows: S61: Calculate the braking longitudinal slip rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine: in, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, It is represented as the longitudinal speed of the cleaning machine in the i-th monitoring sub-area, It is represented as the turning speed of the tank cleaning machine in the i-th monitoring sub-area; S62: Calculate the acceleration longitudinal sliding rate of each monitoring sub-area according to the longitudinal speed of the cleaning machine and the turning speed of the cleaning machine: in, It is expressed as the accelerated longitudinal slip rate of the ith monitoring sub-area; S63: Calculate the travel resistance of the tank cleaning machine in each monitoring sub-area according to the longitudinal travel speed of the tank cleaning machine, the cabin wind speed, and the projected area of ​​the tank cleaning machine: in, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is represented as the cabin wind speed of the ith monitoring sub-area, It is represented as the projected area of ​​the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the tank cleaning machine resistance compensation factor; S64: The calculation formula of the tank cleaning machine power safety control index is: in, It is expressed as the safety control index of the cleaning machine power in the i-th monitoring sub-area, Expressed as the braking longitudinal slip rate of the i-th monitoring sub-area, is represented by the accelerated longitudinal slip rate of the ith monitoring sub-area, e is represented by a natural constant, It is represented as the driving resistance of the tank cleaning machine in the i-th monitoring sub-area, It is expressed as the mean value of the running resistance of the tank cleaning machine.

7. The boundary detection and path planning system for an unmanned tank cleaning machine according to claim 1, characterized in that: The working process of the tank cleaning machine operation safety assessment module is specifically as follows: A preset tank cleaning machine power safety control index is set. When the braking longitudinal slip rate is larger, the stability of the tank cleaning machine braking process is poor, and the braking effect is poor. When the acceleration longitudinal slip rate is larger, the tank cleaning machine slips significantly during driving, and the acceleration effect is poor. The larger the driving resistance of the tank cleaning machine, the lower the operating efficiency of the tank cleaning machine. If the tank cleaning machine power safety control index of a monitoring sub-area in the target cabin area is greater than the preset tank cleaning machine power safety control index, it indicates that the tank cleaning machine operating power performance and driving stability in the monitoring sub-area are poor, and the management personnel are notified to check the cabin environment conditions in the monitoring sub-area. Otherwise, it indicates that there is no abnormality in the operating power performance and driving stability of the tank cleaning machine in the monitoring sub-area.

8. A method for boundary detection and path planning of an unmanned tank cleaning machine, using the boundary detection and path planning system of an unmanned tank cleaning machine as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Step S01: division of the tank cleaning machine operation area: obtaining the total area of ​​the target cabin area through a camera, dividing the total area of ​​the target cabin area into various monitoring sub-areas according to an equal area division method, and numbering each monitoring sub-area of ​​the target cabin area; Step S02: multimodal sensor data acquisition: used to collect the tank cleaning machine operation safety data of each monitoring sub-area of ​​the target cabin area through a multimodal sensor, the multimodal sensor data acquisition includes a tank cleaning machine boundary detection data acquisition unit and a tank cleaning machine environmental safety data acquisition unit, and the tank cleaning machine operation safety data includes a tank cleaning machine boundary detection data and a tank cleaning machine environmental safety data; Step S03: Tank cleaning machine boundary detection update: used to calculate the tank cleaning machine boundary detection adjustment index of each monitoring sub-area of ​​the target cabin area according to the tank cleaning machine boundary detection data collected by the tank cleaning machine boundary detection data collection unit, and identify and update the boundary of the tank cleaning area in real time; Step S04: tank cleaning machine path planning: used to receive the tank cleaning machine boundary detection adjustment index transmitted in the tank cleaning machine boundary detection update step, and when the boundary of the tank cleaning area of ​​the monitoring sub-area changes, plan the operation path to complete the tank cleaning operation of the tank cleaning machine; Step S05: Safety control of the tank cleaning machine operation area: used to calculate the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area according to the tank cleaning machine environmental safety data collected by the tank cleaning machine environmental safety data collection unit; Step S06: Tank cleaning machine operation safety assessment: used to obtain the tank cleaning machine power safety control index of each monitoring sub-area in the target cabin area, compare it with the preset tank cleaning machine power safety control index, and process it.

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