A method, device and storage medium for controlling an unmanned sweeper

Abstract

The application relates to the technical field of automatic driving and discloses a method for controlling an unmanned sweeper, the unmanned sweeper comprising a cleaning mechanism; the unmanned sweeper being in communication connection with a remote server; the method comprising the following steps: receiving a sweeping instruction sent by the remote server; the sweeping instruction comprising a patrol instruction and a remote real-time control instruction, the patrol instruction being used for controlling the unmanned sweeper to perform an automatic driving operation, and the remote real-time control instruction being used for remotely and real-timely controlling the cleaning mechanism; generating CAN message data, and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data; and executing an obstacle response strategy, when an obstacle is encountered and cannot be bypassed, controlling the unmanned sweeper to stop advancing, when the stopping time exceeds a preset time interval, stopping the cleaning mechanism from operating, and after the obstacle is removed, starting the cleaning mechanism to operate. The method and device provided by the application can improve the working efficiency of road sweeping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a method and device for controlling an unmanned cleaning vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of the automatic driving industry, the demand for automatic driving products in the domestic market is increasing, and various unmanned supporting functions have emerged. However, in some special scenarios such as parks, schools and communities, and some special working conditions such as rainy and snowy roads, it is still necessary to rely on sanitation workers to clean the roads, and sanitation workers bear a large amount of cleaning tasks. SUMMARY

[0003] In order to overcome the technical problems as described above, the present application provides a method for controlling an unmanned cleaning vehicle, the unmanned cleaning vehicle comprising a cleaning mechanism; the unmanned cleaning vehicle is in communication connection with a remote server; the technical solution of the method is as follows:

[0004] S1, receiving a cleaning instruction sent by the remote server; the cleaning instruction comprises a patrol instruction and a remote real-time control instruction, the patrol instruction is used to control the unmanned cleaning vehicle to perform an automatic driving operation, and the remote real-time control instruction is used to remotely and real-timely control the cleaning mechanism; the patrol instruction comprises a timing patrol instruction, the timing patrol instruction comprises a starting time point and a driving number of laps, and the unmanned cleaning vehicle is controlled to drive according to the starting time point and the pre-generated map route information for the driving number of laps according to the timing patrol instruction;

[0005] S2, generating CAN message data according to the current driving state of the unmanned cleaning vehicle and the remote real-time control instruction, and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data;

[0006] S3, executing an obstacle response strategy, when encountering an obstacle and being unable to bypass, controlling the unmanned cleaning vehicle to stop advancing, when the stopping time exceeds a preset time interval, stopping the cleaning mechanism from running, and after the obstacle is removed, starting the cleaning mechanism to run.

[0007] Further, the patrol instruction further comprises a fixed-point patrol instruction, the fixed-point patrol instruction comprises a driving target point, when the patrol instruction is the fixed-point patrol instruction, the unmanned cleaning vehicle is controlled to drive to the driving target point.

[0008] Further, the cleaning mechanism comprises a road surface cleaning mechanism and a fog gun disinfection mechanism, the road surface cleaning mechanism comprises a main sweeping mechanism, an edge sweeping mechanism and a water spraying mechanism surrounding the vehicle body, the unmanned cleaning vehicle further comprises a cleaning execution mechanism, the cleaning execution mechanism comprises an electric door, a sweeping motor, a fog gun motor and a solenoid valve, the electric door is used to control the cleaning mechanism, the sweeping motor is used to control the main sweeping mechanism and the edge sweeping mechanism, the fog gun motor is used to control the fog gun disinfection mechanism, and the solenoid valve is used to control the fog gun disinfection mechanism and the water spraying mechanism; the CAN message data contains a cleaning instruction, the cleaning instruction comprises one or more of a cleaning and dust suppression instruction, a left side disinfection instruction, a right side disinfection instruction, a rear side disinfection instruction, a fog gun movement disinfection instruction and a disinfection full-on instruction, the cleaning instruction is associated with the electric door, the sweeping motor, the fog gun motor and the solenoid valve; the step S2 controls the cleaning mechanism to perform a cleaning operation according to the CAN message data, comprising:

[0009] S31, it is judged whether the CAN message data contains the disinfection full-on instruction, if yes, step S32 is executed, otherwise, step S33 is executed;

[0010] S32, the switch state of the fog gun motor and the solenoid valve is read, when the fog gun motor and the solenoid valve are in the closed state, the fog gun motor and the solenoid valve corresponding to the disinfection full-on instruction are turned on, and the process is ended;

[0011] S33, it is judged whether the CAN message data contains the remote real-time control instruction, if yes, step S34 is executed, otherwise, step S35 is executed;

[0012] S34, the remote real-time control instruction is analyzed to obtain disinfection mode parameters, sweeping state parameters and nozzle control bit parameters, the fog gun motor and the solenoid valve are controlled according to the disinfection mode parameters and the nozzle control bit parameters, and the sweeping motor is controlled according to the sweeping state parameters, and the process is ended;

[0013] S35, the CAN message data is analyzed to obtain disinfection mode parameters and sweeping state parameters, the fog gun motor and the solenoid valve are controlled according to the disinfection mode parameters, and the sweeping motor is controlled according to the sweeping state parameters.

[0014] Further, before the step S1 is executed, the map route information is generated in advance, comprising:

[0015] S41, the unmanned cleaning vehicle is controlled to drive in a preselected running scene for one round, and a laser point cloud map of the running scene is established by using a laser radar to scan;

[0016] S42, controlling the unmanned sweeper to run a multi-turn route at a preset speed in the running scene and saving real-time position point information of the unmanned sweeper at a preset sampling frequency, establishing a multi-turn running vector map according to the position point information, the position point information including x coordinate, y coordinate, z coordinate and direction angle information;

[0017] S43, aligning and checking the laser point cloud map and the multi-turn running vector map in a map editing software to generate an aligned and checked multi-turn running vector map;

[0018] S44, performing automatic driving verification based on the aligned and checked multi-turn running vector map, re-collecting and performing local map correction on places where the local effect is not good, and generating the map route information.

[0019] Further, the step S3 comprises:

[0020] S51, judging whether the unmanned sweeper exits automatic driving or triggers emergency parking, if yes, executing step S52, otherwise, executing step S53;

[0021] S52, stopping and lifting the cleaning mechanism, closing the fog gun disinfection mechanism, and ending the process;

[0022] S53, judging whether an obstacle is encountered, if yes, executing step S54, otherwise, the unmanned sweeper keeps running and the cleaning mechanism keeps operating;

[0023] S54, the unmanned sweeper stops running and enters a waiting state, judging whether the waiting time exceeds a preset time, if yes, executing step S55, otherwise, the cleaning mechanism keeps operating;

[0024] S55, stopping the cleaning mechanism and closing the fog gun disinfection mechanism;

[0025] S56, detecting whether the obstacle leaves, if yes, starting the unmanned sweeper, starting the cleaning mechanism, and opening the fog gun disinfection mechanism, otherwise, executing step S51.

[0026] Further, the step S2 of controlling the cleaning mechanism to perform cleaning operation according to the CAN message data further comprises:

[0027] S61, acquiring a cleaning state of the cleaning mechanism;

[0028] S62, receiving an instruction of controlling the cleaning mechanism, when the instruction is an opening instruction, executing step S63, and when the instruction is a closing instruction, executing step S64;

[0029] S63, when the cleaning state is off, executing opening the cleaning mechanism, when the cleaning state is opening, continuing executing opening the cleaning mechanism;

[0030] S64, when the cleaning state is on, executing closing the cleaning mechanism, when the cleaning state is closing, continuing executing closing the cleaning mechanism.

[0031] Further, the step S63 of opening the cleaning mechanism comprises:

[0032] S71, opening the front nozzle of the water spraying mechanism, and lowering the side sweeping mechanism;

[0033] S72, waiting for a first predetermined time;

[0034] S73, opening the main sweeping mechanism and the side sweeping mechanism in linkage, and opening the electromagnetic valve;

[0035] S74, waiting for a second predetermined time;

[0036] S75, opening the electric door;

[0037] S76, returning a flag of successfully opening the cleaning mechanism.

[0038] Further, the step S64 of closing the cleaning mechanism comprises:

[0039] S81, closing the electric door;

[0040] S82, closing the main sweeping mechanism and the side sweeping mechanism in linkage, and closing the electromagnetic valve;

[0041] S83, waiting for a third predetermined time;

[0042] S84, raising the side sweeping mechanism;

[0043] S85, waiting for a fourth predetermined time;

[0044] S86, returning a flag of successfully closing the cleaning mechanism.

[0045] The application further provides a device for controlling an unmanned cleaning vehicle, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the method for controlling the unmanned cleaning vehicle.

[0046] The application further provides a computer readable storage medium, wherein the storage medium stores at least one program, and the at least one program is executed to implement the method for controlling the unmanned cleaning vehicle.

[0047] The technical scheme provided by the present application has the beneficial effects that:

[0048] The method and device for controlling the unmanned cleaning vehicle of the embodiment of the present application receive the cleaning instruction sent by the remote server, control the unmanned cleaning vehicle to perform the automatic driving operation according to the patrol instruction contained in the cleaning instruction, and generate CAN message data according to the current driving state of the unmanned cleaning vehicle and the remote real-time control instruction contained in the cleaning instruction during the execution of the automatic driving operation, control the cleaning structure to perform the cleaning operation through the CAN message data, and make the stop-obstacle-avoidance response and the reasonable closing control measure to protect the cleaning mechanism in response to the obstacle occurring during the driving process. The method and device for controlling the unmanned cleaning vehicle of the embodiment of the present application reduce the cleaning workload of the sanitation workers and improve the working efficiency of the road cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 The flowchart of the method for controlling the unmanned cleaning vehicle of the embodiment of the present application is shown in the figure.

[0050] Figure 2 The relationship diagram of the modules in the system for controlling the unmanned cleaning vehicle of the embodiment of the present application is shown in the figure.

[0051] Figure 3 The appearance diagram of the unmanned cleaning vehicle of the embodiment of the present application is shown in the figure.

[0052] Figure 4 The vehicle control web page interface of the unmanned cleaning vehicle of the embodiment of the present application is shown in the figure.

[0053] Figure 5 The schematic diagram of the control data flow of the cleaning mechanism of the embodiment of the present application is shown in the figure.

[0054] Figure 6 The web page interface for setting the timing patrol task of the embodiment of the present application is shown in the figure.

[0055] Figure 7 The flowchart of the multi-loop driving map of the unmanned cleaning vehicle of the embodiment of the present application is shown in the figure.

[0056] Figure 8 The trajectory map of the multi-loop driving of the real scene of the embodiment of the present application is shown in the figure.

[0057] Figure 9 The flowchart of the obstacle response strategy of the cleaning vehicle of the embodiment of the present application is shown in the figure.

[0058] Figure 10 The flowchart of the cleaning mechanism control execution module of the embodiment of the present application is shown in the figure.

[0059] Figure 11 A combination chart of different states of IO port high-side drive output corresponding to a disinfection mode of an embodiment of the present application;

[0060] Figure 12 A flowchart of controlling the opening and closing state of a cleaning mechanism of an embodiment of the present application;

[0061] Figure 13 A flowchart of opening a cleaning mechanism of an embodiment of the present application;

[0062] Figure 14 A flowchart of closing a cleaning mechanism of an embodiment of the present application;

[0063] Figure 15 A device structure schematic diagram of controlling an unmanned cleaning vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0065] Embodiment one:

[0066] As Figure 1 shown is a flowchart of controlling an unmanned cleaning vehicle according to an embodiment of the present application, which shows the specific implementation steps of the method, including:

[0067] S1, receiving a cleaning instruction sent by a remote server; the cleaning instruction includes a patrol instruction and a remote real-time control instruction, the patrol instruction is used to control the unmanned cleaning vehicle to perform an automatic driving operation, and the remote real-time control instruction is used to remotely and real-timely control the cleaning mechanism; the patrol instruction includes a timing patrol instruction, the timing patrol instruction includes a starting time point and a driving number of laps, and the unmanned cleaning vehicle is controlled to drive according to the starting time point and the pre-generated map route information for the driving number of laps according to the timing patrol instruction;

[0068] S2, generating CAN message data according to the current driving state of the unmanned cleaning vehicle and the remote real-time control instruction, and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data;

[0069] S3, executing an obstacle response strategy, when an obstacle is encountered and cannot be bypassed, controlling the unmanned cleaning vehicle to stop advancing, when the stopping time exceeds a preset time interval, stopping running the cleaning mechanism, and after the obstacle is removed, starting to run the cleaning mechanism.

[0070] Specifically, the patrol instruction further comprises a fixed-point patrol instruction containing a driving target point, and when the patrol instruction is the fixed-point patrol instruction, the unmanned sweeper is controlled to drive to the driving target point.

[0071] Specifically, the cleaning mechanism comprises a road surface cleaning mechanism and a fog gun disinfection mechanism, the road surface cleaning mechanism comprises a main sweeping mechanism, an edge sweeping mechanism and a water spraying mechanism surrounding the vehicle body, the unmanned sweeper further comprises a cleaning execution mechanism, the cleaning execution mechanism comprises an electric door, a sweeping motor, a fog gun motor and a solenoid valve, the electric door is used to control the cleaning mechanism, the sweeping motor is used to control the main sweeping mechanism and the edge sweeping mechanism, the fog gun motor is used to control the fog gun disinfection mechanism, and the solenoid valve is used to control the fog gun disinfection mechanism and the water spraying mechanism; the CAN message data contains a cleaning instruction, the cleaning instruction comprises one or more of a sweeping and dust suppression instruction, a left side disinfection instruction, a right side disinfection instruction, a rear side disinfection instruction, a fog gun movement disinfection instruction and a disinfection full-on instruction, the cleaning instruction is associated with the electric door, the sweeping motor, the fog gun motor and the solenoid valve; the step S2 controls the cleaning mechanism to perform a cleaning operation according to the CAN message data, comprising:

[0072] S31, it is judged whether the CAN message data contains the disinfection full-on instruction, if yes, step S32 is executed, otherwise, step S33 is executed;

[0073] S32, the on-off state of the fog gun motor and the solenoid valve is read, when the fog gun motor and the solenoid valve are in the closed state, the fog gun motor and the solenoid valve corresponding to the disinfection full-on instruction are turned on, and the process is ended;

[0074] S33, it is judged whether the CAN message data contains the remote real-time control instruction, if yes, step S34 is executed, otherwise, step S35 is executed;

[0075] S34, the remote real-time control instruction is parsed to obtain disinfection mode parameters, sweeping state parameters and nozzle control bit parameters, the fog gun motor and the solenoid valve are controlled according to the disinfection mode parameters and the nozzle control bit parameters, and the sweeping motor is controlled according to the sweeping state parameters, and the process is ended;

[0076] S35, the CAN message data is parsed to obtain disinfection mode parameters and sweeping state parameters, the fog gun motor and the solenoid valve are controlled according to the disinfection mode parameters, and the sweeping motor is controlled according to the sweeping state parameters.

[0077] Specifically, before the step S1 is executed, the map route information is generated in advance, comprising:

[0078] S41, control the unmanned sweeper to drive a round in a pre-selected operation scene, and use a laser radar to scan and establish a laser point cloud map of the operation scene;

[0079] S42, control the unmanned sweeper to drive multiple rounds in the operation scene at a pre-selected speed, save real-time position point information of the unmanned sweeper at a pre-selected sampling frequency, and establish a multiple-round driving vector map according to the position point information, the position point information including x coordinate, y coordinate, z coordinate and direction angle information;

[0080] S43, align and check the laser point cloud map and the multiple-round driving vector map in a map editing software, and generate an aligned and checked multiple-round driving vector map;

[0081] S44, perform automatic driving verification based on the aligned and checked multiple-round driving vector map, re-collect and perform local map correction on a place where a local effect is poor, and generate the map route information.

[0082] Specifically, the step S3 comprises:

[0083] S51, determine whether the unmanned sweeper exits automatic driving or triggers emergency parking, if yes, execute step S52, otherwise, execute step S53;

[0084] S52, stop and lift the cleaning mechanism, turn off the fog gun disinfection mechanism, and end the process;

[0085] S53, determine whether an obstacle is encountered, if yes, execute step S54, otherwise, the unmanned sweeper keeps driving and the cleaning mechanism keeps operating;

[0086] S54, the unmanned sweeper stops driving and enters a waiting state, determine whether a waiting time exceeds a pre-selected time, if yes, execute step S55, otherwise, the cleaning mechanism keeps operating;

[0087] S55, stop the cleaning mechanism and turn off the fog gun disinfection mechanism;

[0088] S56, detect whether the obstacle leaves, if yes, start the unmanned sweeper, start the cleaning mechanism, and turn on the fog gun disinfection mechanism, otherwise, execute step S51.

[0089] Specifically, the step S2 of controlling the cleaning mechanism to perform cleaning operation according to the CAN message data further comprises:

[0090] S61, obtain a cleaning state of the cleaning mechanism;

[0091] S62, receive an instruction for controlling the cleaning mechanism, when the instruction is an opening instruction, execute step S63, when the instruction is a closing instruction, execute step S64;

[0092] S63, when the cleaning state is closing, execute opening the cleaning mechanism, when the cleaning state is opening, continue to execute opening the cleaning mechanism;

[0093] S64, when the cleaning state is opening, execute closing the cleaning mechanism, when the cleaning state is closing, continue to execute closing the cleaning mechanism.

[0094] Specifically, the step S63 of opening the cleaning mechanism comprises:

[0095] S71, open the front nozzle of the water spraying mechanism, and lower the edge sweeping mechanism;

[0096] S72, wait for a first predetermined time;

[0097] S73, open the main sweeping mechanism and the edge sweeping mechanism in linkage, and open the electromagnetic valve;

[0098] S74, wait for a second predetermined time;

[0099] S75, open the electric door;

[0100] S76, return a flag of successfully opening the cleaning mechanism.

[0101] Specifically, the step S64 of closing the cleaning mechanism comprises:

[0102] S81, close the electric door;

[0103] S82, close the main sweeping mechanism and the edge sweeping mechanism in linkage, and close the electromagnetic valve;

[0104] S83, wait for a third predetermined time;

[0105] S84, raise the edge sweeping mechanism;

[0106] S85, wait for a fourth predetermined time;

[0107] S86, return a flag of successfully closing the cleaning mechanism.

[0108] Embodiment two:

[0109] Based on the method for controlling the unmanned cleaning vehicle proposed in the application, the embodiment realizes a system for controlling the unmanned cleaning vehicle. Figure 2The figure shows the relationship between the modules of the system for controlling the unmanned sweeper, and shows the modules involved in the system for controlling the unmanned sweeper in this embodiment, including the working mode human-computer interaction setting module, the vehicle automatic driving control module, and the cleaning mechanism control execution module, and the specific functions of the modules include:

[0110] (1) Working mode human-computer interaction setting module

[0111] This module uses the Internet of Things wireless communication technology to support the user to set the working mode of the unmanned sweeper from the interface of the computer WEB end and the mobile phone APP end.

[0112] The working mode can be divided into patrol mode and cleaning mode. The patrol mode defines the driving time and range of the unmanned sweeper, and the cleaning mode defines the working mode of the cleaning mechanism.

[0113] The patrol mode is divided into fixed-point patrol mode and fixed-time patrol mode, and the driving path point, time point, patrol circle number and other parameters can be set on the page of the computer WEB end or the interface of the mobile phone APP end to realize the task of fixed-point patrol or fixed-time patrol.

[0114] The patrol mode is set through the working mode human-computer interaction setting module, and the patrol instructions corresponding to the patrol mode are generated, including the fixed-point patrol instructions and the fixed-time patrol instructions corresponding to the fixed-point patrol mode and the fixed-time patrol mode, and the driving path point of the fixed-point patrol mode is taken as the driving target point contained in the fixed-point patrol instructions, and the time point and the patrol circle number of the fixed-time patrol mode are taken as the starting time point and the driving circle number of the fixed-time patrol instructions.

[0115] ① Fixed-point patrol mode. The fixed-point patrol mode can specify a driving target point, and the unmanned sweeper drives from the starting position to the specified target point, and opens the cleaning mechanism of the unmanned sweeper according to the set cleaning mode for cleaning operation during the driving process. This mode is suitable for temporary cleaning operation task scheduling requirements.

[0116] ② Fixed-time patrol mode. The fixed-time patrol mode sets the driving start time point and the driving circle number and other parameters, and the unmanned sweeper can be automatically powered on at the set start time point, and starts driving according to the pre-generated map route information, and drives a certain number of circles according to the set driving circle number, and opens the cleaning mechanism for cleaning operation according to the set cleaning mode during the driving process.

[0117] For the timing patrol mode, the vehicle is given a timing patrol instruction at a fixed time point and a patrol number of laps, such as setting a timing patrol instruction containing 4:00 as the starting time point and 5 laps as the driving number of laps of the timing patrol instruction, the vehicle automatically powers on at the time, reads the working mode and the patrol number of laps, and starts automatic driving to spray and sweep. The main side-sweeping motor and the corresponding electromagnetic valve are turned on at the starting point, and the main side-sweeping motor and the electromagnetic valve are turned off at the end point. As shown in Figure 6 FIG. 1 shows a web page interface for setting a timing patrol task according to an embodiment of the present application, which shows various parameters for setting a timing patrol task.

[0118] The cleaning mode defines the control mode of the cleaning mechanism, which mainly includes a road sweeping mechanism and a fog gun disinfection mechanism.

[0119] The road sweeping mechanism is composed of a middle main sweeping mechanism, two side sweeping mechanisms, and a water spraying mechanism surrounding the vehicle body. When the sweeping operation is started, the sweeping mechanism moves down and starts rotating, and the rotation of the mechanism brings an adsorption force to adsorb the garbage on the ground into the vehicle-mounted garbage bin, realizing road cleaning. At the same time, the water spraying mechanism can be controlled to spray water to suppress smoke and dust during the sweeping process. After completing the sweeping operation, the sweeping mechanism moves up and is stored, protecting the sweeping mechanism.

[0120] The fog gun disinfection mechanism realizes the spraying of disinfectant in the sweeping environment. Currently supported disinfection spraying modes include: sweeping and dust suppression mode, left side disinfection mode, right side disinfection mode, rear side disinfection mode, fog gun movement disinfection mode, and disinfection full-on mode.

[0121] The disinfection spraying mode is set through the working mode human-computer interaction setting module, and the cleaning instructions corresponding to the disinfection spraying mode are generated, which correspond to the sweeping and dust suppression instruction, the left side disinfection instruction, the right side disinfection instruction, the rear side disinfection instruction, the fog gun movement disinfection instruction, and the disinfection full-on instruction, respectively.

[0122] After the vehicle is powered on and communication with the WEB end is established, the mode, fog gun, sweeping, and spray head buttons on the web page are clicked to generate real-time control instructions, which can activate the corresponding components of the vehicle in real time. As shown in Figure 4 FIG. 1 shows a vehicle control web page interface of an unmanned sweeping vehicle according to an embodiment of the present application, which shows the vehicle control function interface of the computer WEB end. As shown in Figure 5 FIG. 1 shows a schematic diagram of the control data flow of the sweeping mechanism according to an embodiment of the present application, which shows the flow of controlling the sweeping mechanism through the computer WEB end or the mobile phone APP end.

[0123] (2) Vehicle automatic driving control module

[0124] The vehicle automatic driving control module mainly realizes the control of the vehicle automatic driving and the implementation of various control services of the cleaning mechanism combined with the vehicle state. The vehicle automatic driving control module adopts a high-power computing unit as a processor, on which the conventional functions of the unmanned cleaning vehicle automatic driving system software can be run, including perception positioning, planning control, and the main functions realized include:

[0125] ①Fixed route tracking driving function. The automatic driving program can automatically drive along the set automatic driving route at the set speed.

[0126] When receiving the fixed-point patrol instruction, the vehicle automatic driving control module controls the unmanned cleaning vehicle to track and drive along the fixed route to the target point.

[0127] ②Multi-circle driving function and road surface coverage function. Multi-circle driving of the vehicle in the cleaning place is realized, so that the driving track covers the entire working road surface as much as possible, and the road surface edge is as close as possible, so that the road is cleaned comprehensively.

[0128] When receiving the fixed-point patrol instruction, the vehicle automatic driving control module controls the unmanned cleaning vehicle to track and drive along the fixed route to the target point.

[0129] In order to clean the entire site, an important prerequisite is to be able to drive to cover the entire road surface. Therefore, how to design the driving control method for covering the road surface is very important. Based on the fact that the system is mainly applied to small-range operation scenes such as factory and park, the high-precision positioning device of laser radar plus differential satellite positioning fusion is used as the positioning system of the vehicle, and the purpose is realized through the making of multi-circle driving map. As shown in Figure 7 The flow chart for making the multi-circle driving map of the unmanned cleaning vehicle is shown in the figure, and the specific implementation steps are as follows:

[0130] First step: Establish a laser point cloud map. Manually control the vehicle to drive a circle through the remote controller, and use the laser radar to scan and establish a laser point cloud map of the running scene.

[0131] Second step: Establish a multi-circle driving vector map. Manually control the vehicle to drive according to the actual multi-circle route through the remote controller, and the vehicle speed is not more than 5km / h, and the real-time position information of the vehicle is saved at a frequency of 10hz, including the x coordinate, y coordinate, z coordinate and direction angle information of each position point.

[0132] Third step: Import the map editing software, align and verify the laser map and vector map, and convert the format to the map format used by the automatic driving program.

[0133] Fourth step: automatic driving sports car verification, re-collecting local maps for correction in places where the local effect is not good, and generating map route information.

[0134] As Figure 8 The figure shows a multi-circle driving track map of a real scene production according to an embodiment of the application, and shows a multi-circle driving track map of a landing scene production.

[0135] ③Obstacle response function. When the vehicle encounters an obstacle, it can respond according to the situation. If it is an ordinary vehicle, it will drive around the obstacle, and if it encounters a pedestrian, it will stop and avoid.

[0136] As Figure 9 The figure shows a flowchart of an obstacle response strategy of a cleaning vehicle according to an embodiment of the application. During the process of patrolling and cleaning, the sweeping and spraying state will change according to the current running state of the vehicle. For example, when the vehicle encounters an obstacle and cannot bypass, it will stop moving forward. When the stop obstacle time exceeds 6 seconds, the sweeping and spraying control signal is closed, the sweeping stops rotating, the spraying is closed, and after the obstacle is removed, the sweeping starts rotating again and the spraying is opened. When the vehicle exits the automatic driving mode or triggers the emergency stop button during driving, the sweeping and spraying control signal is closed, the sweeping mechanism stops rotating and lifting, and the spraying system is closed.

[0137] When encountering an obstacle, the cleaning mechanism is closed to avoid idling of the cleaning mechanism, which can protect the cleaning mechanism and prolong the service life of the cleaning mechanism.

[0138] ④Sweeping business logic flow analysis processing function. The vehicle automatic driving control module has a network connection function, receives the command of the man-machine interaction setting module, that is, the cleaning instruction, and combines the vehicle driving state, such as normal driving or stopping forward when encountering an obstacle, to form the control logic of the cleaning mechanism control execution module, including the control strategy logic under different states such as driving starting point, driving key point, and encountering obstacles, and finally converting into CAN protocol message, that is, CAN message data, to send to the cleaning mechanism control execution module to realize the control of the cleaning mechanism.

[0139] (3) Cleaning mechanism control execution module

[0140] The main function of the cleaning mechanism control execution module is to analyze the cleaning command sent by the working mode man-machine interaction setting module and convert it into IO port output control timing to realize accurate control of each component of the cleaning mechanism, including the lifting and rotation of the main sweeping and side sweeping, the opening and closing of the water spraying dust suppression mechanism, and the opening and closing and rotation of the fog cannon mechanism. At the same time, it can combine the execution of various mechanisms to form some customized cleaning tasks. Figure 3It is an appearance view of an unmanned cleaning vehicle according to an embodiment of the application, showing the positions of various parts of the cleaning mechanism of the unmanned cleaning vehicle.

[0141] As shown in the figure, Figure 10 It is a flow chart of a cleaning mechanism control execution module according to an embodiment of the application. The cleaning mechanism control execution module uses a 32-bit microprocessor STM32 as a computing unit, and has abundant IO resources and communication interfaces. The controller receives control CAN message data from the automatic driving travel control module, distinguishes response priorities, cooperates with the sweeping and spraying logic, and generates pin level signals to control the entire process of the execution mechanism work by providing power output signals to drive external load circuits, including:

[0142] S101, determining whether the CAN message data contains a disinfection full-on instruction, if yes, executing step S102, otherwise, executing step S103;

[0143] S102, reading the switch states of the fog gun motor and the electromagnetic valve, and when the fog gun motor and the electromagnetic valve are in the closed state, the fog gun motor and the electromagnetic valve corresponding to the disinfection full-on instruction are turned on, and the process is ended;

[0144] S103, determining whether the CAN message data contains a remote real-time control instruction, if yes, executing step S104, otherwise, executing step S105;

[0145] S104, analyzing the remote real-time control instruction to obtain disinfection mode parameters, cleaning state parameters and spray head control bit parameters, controlling the fog gun motor and the electromagnetic valve according to the disinfection mode parameters and the spray head control bit parameters, and controlling the sweeping motor according to the cleaning state parameters, and ending the process;

[0146] S105, analyzing the CAN message data to obtain disinfection mode parameters and cleaning state parameters, and controlling the fog gun motor and the electromagnetic valve according to the disinfection mode parameters, and controlling the sweeping motor according to the cleaning state parameters.

[0147] As shown in the figure, Figure 11 It is a combination diagram of different states of IO port high-side drive output corresponding to a disinfection mode according to an embodiment of the application, wherein the analysis of the disinfection mode corresponds to the combination of different states of the IO port high-side drive output, and the functions of the front, rear, left and right electromagnetic valves are to switch the liquid spraying nozzles in front, rear, left and right of the vehicle.

[0148] As shown in the figure, Figure 12 It is a flow chart of controlling the opening and closing states of a cleaning mechanism according to an embodiment of the application, wherein the analysis of the cleaning state combines the current control command with the actual state of the current cleaning mechanism to make corresponding control. Because the cleaning mechanism control involves the retraction and rotation of the main sweeping and side sweeping, a certain control timing is required to ensure the safe operation of the mechanism, including:

[0149] S121, Obtain the cleaning status of the cleaning mechanism;

[0150] S122, Receive the instruction to control the cleaning mechanism. When the instruction is an open instruction, execute step S123. When the instruction is a close instruction, execute step S124.

[0151] S123, when the cleaning status is off, execute the start cleaning mechanism; when the cleaning status is on, continue to execute the start cleaning mechanism.

[0152] S124, when the cleaning status is on, execute the shutdown of the cleaning mechanism; when the cleaning status is in the process of shutting down, continue to execute the shutdown of the cleaning mechanism.

[0153] like Figure 13 The diagram shown is a flowchart of an embodiment of the present invention for activating a cleaning mechanism, including:

[0154] S131, open the front nozzle of the water spraying mechanism and move the side sweeping mechanism down;

[0155] S132, wait for a first predetermined time, for example, the first predetermined time is 13 seconds;

[0156] S133, activates the main sweeping mechanism and the side sweeping mechanism in conjunction, and opens the solenoid valve;

[0157] S134, wait for a second predetermined time, for example, the second predetermined time is 2 seconds;

[0158] S135, turn on the power;

[0159] S136, Return to the sign indicating successful activation of the cleaning mechanism.

[0160] like Figure 14 The diagram shown is a flowchart of a method for shutting down a cleaning mechanism according to an embodiment of the present invention, including:

[0161] S141, turn off the power;

[0162] S142, the main sweeping mechanism and the side sweeping mechanism are shut down in conjunction, and the solenoid valve is closed;

[0163] S143, wait for a third predetermined time, for example, the third predetermined time is 2 seconds;

[0164] S144, rising side scan mechanism;

[0165] S145, wait for the fourth predetermined time, for example, the fourth predetermined time is 13 seconds;

[0166] S146, returns a sign indicating successful closure of the cleaning mechanism.

[0167] This embodiment provides a control method for an unmanned sweeper vehicle. This method utilizes multiple control modes to achieve the sweeping and spraying functions of the unmanned vehicle. The practical application of this method transforms unmanned vehicles from mere conceptual products into integral parts of people's lives, providing convenient, safe, and efficient service tools.

[0168] Example 3:

[0169] The present invention also provides a device for controlling an unmanned sweeper, such as... Figure 15 As shown, the device includes a processor 1501, a memory 1502, a bus 1503, and a computer program stored in the memory 1502 and executable on the processor 1501. The processor 1501 includes one or more processing cores. The memory 1502 is connected to the processor 1501 via the bus 1503. The memory 1502 is used to store program instructions. When the processor executes the computer program, it implements the steps in the above-described method embodiments of the present invention.

[0170] Furthermore, as an executable solution, the device controlling the unmanned sweeper can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The system / electronic device may include, but is not limited to, processors and memory. Those skilled in the art will understand that the above-described system / electronic device structure is merely an example and does not constitute a limitation on the system / electronic device. It may include more or fewer components than described above, or combine certain components, or use different components. For example, the system / electronic device may also include input / output devices, network access devices, buses, etc., which are not limited in this respect in the embodiments of the present invention.

[0171] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the system / electronic device, connecting various parts of the system / electronic device through various interfaces and lines.

[0172] The memory can be used to store computer programs and / or modules, and the processor realizes various functions of the system / electronic device by running or executing the computer programs and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function; and the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0173] Embodiment four:

[0174] The application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the steps of the method in the above-mentioned embodiments of the application.

[0175] The modules / units integrated in the system / electronic device, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can realize the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying computer program code, recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM) and software distribution media, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0176] Although the application is specifically shown and described in connection with preferred embodiments, those skilled in the art should understand that various changes in form and details can be made to the application without departing from the spirit and scope of the application as defined in the appended claims.

Claims

1. A method of controlling an unmanned sweeper, characterized by, The unmanned cleaning vehicle comprises a cleaning mechanism; the unmanned cleaning vehicle is in communication connection with a remote server; the method comprises the following steps: S1, receiving a cleaning instruction sent by the remote server; the cleaning instruction comprises a patrol instruction and a remote real-time control instruction, the patrol instruction is used for controlling the unmanned cleaning vehicle to perform an automatic driving operation, and the remote real-time control instruction is used for remotely and real-timely controlling the cleaning mechanism; the patrol instruction comprises a timing patrol instruction, the timing patrol instruction comprises a starting time point and a driving circle number, and the unmanned cleaning vehicle is controlled to drive according to pre-generated map route information for the driving circle number at the starting time point; S2, generating CAN message data according to a current driving state of the unmanned cleaning vehicle and the remote real-time control instruction, and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data; S3, performing an obstacle response strategy, when an obstacle is encountered and cannot be bypassed, controlling the unmanned cleaning vehicle to stop advancing, when a stop time exceeds a preset time interval, stopping the cleaning mechanism from running, and after the obstacle is removed, starting the cleaning mechanism to run; Before the step S1 is performed, the map route information is pre-generated, comprising: S41, controlling the unmanned cleaning vehicle to drive one circle in a preselected running scene, and using a laser radar to scan to establish a laser point cloud map of the running scene; S42, controlling the unmanned cleaning vehicle to drive multiple circles of route in the running scene at a preselected speed, saving real-time position point information of the unmanned cleaning vehicle at a preselected sampling frequency, establishing a multiple-circle driving vector map according to the position point information, and the position point information comprising x coordinate, y coordinate, z coordinate and direction angle information; S43, performing alignment verification on the laser point cloud map and the multiple-circle driving vector map in a map editing software, and generating an aligned multiple-circle driving vector map; S44, performing automatic driving verification based on the aligned multiple-circle driving vector map, re-collecting and performing local map correction on a place where a local effect is poor, and generating the map route information.

2. The method of claim 1, wherein, The patrol instruction further comprises a fixed-point patrol instruction, the fixed-point patrol instruction comprises a driving target point, and when the patrol instruction is the fixed-point patrol instruction, the unmanned cleaning vehicle is controlled to drive to the driving target point.

3. The method of claim 1, wherein, The cleaning mechanism includes a road surface cleaning mechanism and a fog gun disinfection mechanism, the road surface cleaning mechanism includes a main sweeping mechanism, an edge sweeping mechanism, and a water spraying mechanism surrounding the vehicle body, the unmanned cleaning vehicle further includes a cleaning execution mechanism, the cleaning execution mechanism includes an electric door, a sweeping motor, a fog gun motor, and a solenoid valve, the electric door is used to control the cleaning mechanism, the sweeping motor is used to control the main sweeping mechanism and the edge sweeping mechanism, the fog gun motor is used to control the fog gun disinfection mechanism, and the solenoid valve is used to control the fog gun disinfection mechanism and the water spraying mechanism; the CAN message data contains a cleaning instruction, the cleaning instruction includes one or more of a cleaning and dust suppression instruction, a left side disinfection instruction, a right side disinfection instruction, a rear side disinfection instruction, a fog gun movement disinfection instruction, and a disinfection full-on instruction, the cleaning instruction is associated with the electric door, the sweeping motor, the fog gun motor, and the solenoid valve; The step S2 controls the cleaning mechanism to perform a cleaning operation according to the CAN message data, including: S31, judging whether the CAN message data contains the disinfection full-on instruction, if yes, executing step S32, otherwise, executing step S33; S32, reading the on-off state of the fog gun motor and the solenoid valve, when the fog gun motor and the solenoid valve are in the closed state, then the fog gun motor and the solenoid valve corresponding to the disinfection full-on instruction are turned on, and the process is ended; S33, judging whether the CAN message data contains the remote real-time control instruction, if yes, executing step S34, otherwise, executing step S35; S34, analyzing the remote real-time control instruction to obtain disinfection mode parameters, sweeping state parameters, and nozzle control bit parameters, controlling the fog gun motor and the solenoid valve according to the disinfection mode parameters and the nozzle control bit parameters, and controlling the sweeping motor according to the sweeping state parameters, and ending the process; S35, analyzing the CAN message data to obtain disinfection mode parameters and sweeping state parameters, and controlling the fog gun motor and the solenoid valve according to the disinfection mode parameters, and controlling the sweeping motor according to the sweeping state parameters.

4. The method of claim 3, wherein, The step S3 includes: S51, judging whether the unmanned cleaning vehicle exits the automatic driving or triggers the emergency stop, if yes, executing step S52, otherwise, executing step S53; S52, stopping and lifting the cleaning mechanism, and closing the fog gun disinfection mechanism, and ending the process; S53, judging whether an obstacle is encountered, if yes, executing step S54, otherwise, the unmanned cleaning vehicle keeps driving, and the cleaning mechanism keeps operating; S54, the unmanned cleaning vehicle stops driving and enters a waiting state, judging whether the waiting time exceeds a preset time, if yes, executing step S55, otherwise, the cleaning mechanism keeps operating; S55, stopping the cleaning mechanism and closing the fog gun disinfection mechanism; S56, detecting whether the obstacle leaves, if yes, starting the unmanned cleaning vehicle, starting the cleaning mechanism, and opening the fog gun disinfection mechanism, otherwise, executing step S51.

5. The method of claim 3, wherein, The step S2 of controlling the cleaning mechanism to perform the cleaning operation according to the CAN message data further comprises: S61, obtaining a cleaning state of the cleaning mechanism; S62, receiving an instruction for controlling the cleaning mechanism, when the instruction is an opening instruction, performing step S63, and when the instruction is a closing instruction, performing step S64; S63, when the cleaning state is closed, performing opening the cleaning mechanism, and when the cleaning state is being opened, continuing to perform opening the cleaning mechanism; S64, when the cleaning state is opened, performing closing the cleaning mechanism, and when the cleaning state is being closed, continuing to perform closing the cleaning mechanism.

6. The method of claim 5, wherein, The step S63 of opening the cleaning mechanism comprises: S71, opening a front nozzle of the water spraying mechanism, and lowering the side sweeping mechanism; S72, waiting for a first predetermined time; S73, opening the main sweeping mechanism and the side sweeping mechanism in linkage, and opening the electromagnetic valve; S74, waiting for a second predetermined time; S75, opening the electric door; S76, returning a flag of successfully opening the cleaning mechanism.

7. The method of claim 5, wherein, The step S64 of closing the cleaning mechanism comprises: S81, closing the electric door; S82, closing the main sweeping mechanism and the side sweeping mechanism in linkage, and closing the electromagnetic valve; S83, waiting for a third predetermined time; S84, raising the side sweeping mechanism; S85, waiting for a fourth predetermined time; S86, returning a flag of successfully closing the cleaning mechanism.

8. A device for controlling an unmanned sweeper, characterized in that, The control method comprises the steps of: obtaining a CAN message data of a cleaning mechanism of an unmanned sweeper; and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data.

9. A computer-readable storage medium, characterized in that, The control method comprises the steps of: obtaining a CAN message data of a cleaning mechanism of an unmanned sweeper; and controlling the cleaning mechanism to perform a cleaning operation according to the CAN message data.

Images