A method, device and storage medium for optimizing the performance of a sanitation vehicle

Abstract

The application discloses a sanitation vehicle edge sticking performance optimization method, device, equipment and storage medium, the method comprises the following steps: when the automatic driving sanitation vehicle enters the edge sticking driving mode, the distance measuring device of the sanitation vehicle dynamically measures the edge sticking distance from the sanitation vehicle to the boundary; whether the position of the sanitation vehicle meets the edge sticking requirement is judged according to the difference between the edge sticking distance from the sanitation vehicle to the boundary and the preset edge sticking distance threshold value; if the position of the sanitation vehicle does not meet the edge sticking requirement, the difference is compensated to the position of the sanitation vehicle, and an optimized position is obtained; when the sanitation vehicle will pass through the position that does not meet the edge sticking requirement next time, the edge sticking driving track of the sanitation vehicle is adjusted according to the corresponding optimized position of the position that does not meet the edge sticking requirement, and the technical problem that the prior art cannot determine whether the sanitation vehicle in the edge sticking driving mode meets the edge sticking requirement at each position, it is difficult to guarantee the stability of the edge sticking effect of the sanitation vehicle, and the cleaning quality is affected, and the cleaning device is damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, and in particular to a sanitation vehicle edge adhesion performance optimization method, device, equipment and storage medium. BACKGROUND

[0002] With the development of automatic driving technology, automatic driving sanitation vehicles are gradually put into use on a large scale. For road edge areas, there are often a lot of fallen leaves, plastic and other garbage accumulated, and the road edge area is difficult to clean. The existing technology pre-plans a driving track for the edge adhesion area according to map information, and when the sanitation vehicle enters the edge adhesion area, the pre-planned edge adhesion driving track is used for edge adhesion cleaning. However, the sanitation vehicle cannot be determined whether it meets the edge adhesion requirement at each position when using the pre-planned track for edge adhesion driving. If the distance between the sanitation vehicle and the edge is too close, the sanitation vehicle cleaning device will collide with the edge, and long-term collision will damage the cleaning device. If the distance between the sanitation vehicle and the edge is too far, the sanitation vehicle cannot complete the edge adhesion cleaning work, which affects the cleaning quality. SUMMARY

[0003] The present application provides a sanitation vehicle edge adhesion performance optimization method, device, equipment and storage medium, which is used to solve the technical problem that the existing technology uses a pre-planned path for edge adhesion driving, cannot determine whether the sanitation vehicle meets the edge adhesion requirement at each position when driving, and cannot guarantee the stability of the edge adhesion effect of the sanitation vehicle, which affects the cleaning quality and damages the cleaning device.

[0004] Therefore, the first aspect of the present application provides a sanitation vehicle edge adhesion performance optimization method, comprising:

[0005] When the automatic driving sanitation vehicle enters the edge adhesion driving mode, the distance measuring device of the sanitation vehicle dynamically measures the edge adhesion distance of the sanitation vehicle to the boundary.

[0006] According to the difference between the edge adhesion distance of the sanitation vehicle to the boundary and the preset edge adhesion distance threshold, it is determined whether the position of the sanitation vehicle meets the edge adhesion requirement.

[0007] If the position of the sanitation vehicle does not meet the edge adhesion requirement, the difference is compensated to the position of the sanitation vehicle to obtain an optimized position. When the sanitation vehicle passes through the position that does not meet the edge adhesion requirement next time, the edge adhesion driving track of the sanitation vehicle is adjusted according to the optimized position corresponding to the position that does not meet the edge adhesion requirement.

[0008] Optionally, the distance measuring device comprises an angle sensor, a distance measuring rod and a rubber wheel. One end of the distance measuring rod is movably connected to the shell of the sanitation vehicle, the other end is connected to the rubber wheel, and the angle sensor is arranged at the connection between the distance measuring rod and the sanitation vehicle.

[0009] The distance measurement device of the automatic driving sanitation vehicle is started when the sanitation vehicle enters the curb-riding mode, so that the distance measurement rod is moved from the initial position to the first position.

[0010] The distance measurement device of the automatic driving sanitation vehicle is started when the sanitation vehicle enters the curb-riding mode, so that the distance measurement rod is moved from the initial position to the first position.

[0011] When the rubber wheel contacts the boundary, the angle between the sanitation vehicle in the curb-riding mode and the distance measurement rod is dynamically measured by the angle sensor.

[0012] The curb-riding distance of the sanitation vehicle to the boundary is dynamically obtained according to the dynamically measured angle between the sanitation vehicle and the distance measurement rod and the length of the distance measurement rod.

[0013] Optionally, the process of obtaining the curb-riding distance of the sanitation vehicle to the boundary is as follows:

[0014] When the angle between the sanitation vehicle and the distance measurement rod is equal to 90°, the length of the distance measurement rod is taken as the curb-riding distance of the sanitation vehicle to the boundary.

[0015] When the angle between the sanitation vehicle and the distance measurement rod is less than 90°, the product of the sine value of the angle between the sanitation vehicle and the distance measurement rod and the length of the distance measurement rod is calculated to obtain the curb-riding distance of the sanitation vehicle to the boundary.

[0016] Optionally, the process of determining whether the position of the sanitation vehicle meets the curb-riding requirement according to the difference between the curb-riding distance of the sanitation vehicle to the boundary and the preset curb-riding distance threshold value includes:

[0017] It is determined whether the difference between the curb-riding distance of the sanitation vehicle to the boundary and the preset curb-riding distance threshold value is within a preset range. If yes, it is determined that the position of the sanitation vehicle meets the curb-riding requirement. If no, it is determined that the position of the sanitation vehicle does not meet the curb-riding requirement.

[0018] Optionally, the method further includes:

[0019] If the position of the sanitation vehicle does not meet the curb-riding requirement, the future curb-riding trajectory of the sanitation vehicle is dynamically adjusted according to the curb-riding distance of the sanitation vehicle to the boundary, the position information of the position of the sanitation vehicle, and the map information.

[0020] The second aspect of the present application provides a sanitation vehicle curb-riding performance optimization device, which includes:

[0021] The measurement unit is used to dynamically measure the distance between the sanitation vehicle and the boundary through the distance measurement device of the sanitation vehicle when the autonomous sanitation vehicle enters the edge driving mode.

[0022] The judgment unit is used to determine whether the location of the sanitation vehicle meets the edge requirement based on the difference between the edge-attaching distance of the sanitation vehicle to the boundary and the preset edge-attaching distance threshold.

[0023] The first adjustment unit is used to compensate the difference to the location of the sanitation vehicle if the location of the sanitation vehicle does not meet the edge-fitting requirement, so as to obtain an optimized location. When the sanitation vehicle will pass through a location that does not meet the edge-fitting requirement next time, the unit adjusts the edge-fitting driving trajectory of the sanitation vehicle according to the optimized location corresponding to the location that does not meet the edge-fitting requirement.

[0024] Optionally, the distance measuring device includes an angle sensor, a distance measuring rod, and a rubber wheel. One end of the distance measuring rod is movably connected to the outer shell of the sanitation vehicle, and the other end is connected to the rubber wheel. The angle sensor is located at the connection between the distance measuring rod and the sanitation vehicle.

[0025] The measuring unit is specifically used for:

[0026] When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance measuring device of the sanitation vehicle is activated, causing the distance measuring rod to move from the initial position to the first position;

[0027] When the rubber wheel contacts the boundary, the angle sensor dynamically measures the angle between the sanitation vehicle traveling along the edge and the distance measuring rod.

[0028] The distance between the sanitation vehicle and the boundary is dynamically obtained based on the angle between the sanitation vehicle and the distance measuring rod and the length of the distance measuring rod, as measured dynamically.

[0029] Optionally, it also includes: a second adjustment unit, used for:

[0030] If the location of the sanitation vehicle does not meet the edge-keeping requirement, the future edge-keeping trajectory of the sanitation vehicle will be dynamically adjusted based on the edge-keeping distance of the sanitation vehicle to the boundary, the location information of the sanitation vehicle, and map information.

[0031] A third aspect of this application provides a device for optimizing the edge-fitting performance of sanitation vehicles, the device including a processor and a memory;

[0032] The memory is used to store program code and transmit the program code to the processor;

[0033] The processor is configured to execute the method according to any one of the first aspect based on the instructions in the program code.

[0034] The fourth aspect of the present application provides a computer readable storage medium for storing program code, which is executed by a processor to implement the method according to any one of the first aspect.

[0035] From the above technical solutions, the present application has the following advantages:

[0036] The present application provides a method for optimizing the performance of a sanitation vehicle in edge following, which comprises: when the sanitation vehicle in automatic driving enters an edge following mode, dynamically measuring the edge following distance of the sanitation vehicle to the boundary by a distance measuring device of the sanitation vehicle; determining whether the position of the sanitation vehicle meets the edge following requirement according to the difference between the edge following distance of the sanitation vehicle to the boundary and a preset edge following distance threshold; if the position of the sanitation vehicle does not meet the edge following requirement, compensating the difference to the position of the sanitation vehicle to obtain an optimized position, and when the sanitation vehicle passes the position that does not meet the edge following requirement next time, adjusting the edge following track of the sanitation vehicle according to the optimized position corresponding to the position that does not meet the edge following requirement.

[0037] In the present application, when the sanitation vehicle is in edge following, the edge following distance of the sanitation vehicle to the boundary is dynamically measured, and whether the position of the sanitation vehicle in edge following meets the edge following requirement is determined according to the difference between the edge following distance and the preset edge following distance threshold, so as to dynamically verify the edge following effect of the sanitation vehicle; if the position of the sanitation vehicle does not meet the edge following requirement, the difference between the edge following distance of the position that does not meet the edge following requirement and the preset edge following distance threshold is compensated to the position to obtain an optimized position that meets the edge following requirement, and when the sanitation vehicle passes the position that does not meet the edge following requirement next time, the edge following track of the sanitation vehicle is adjusted according to the optimized position corresponding to the position that does not meet the edge following requirement, so that the sanitation vehicle can achieve a stable edge following effect, thereby improving the cleaning quality and reducing the wear of the cleaning device, and thus the technical problem that the prior art cannot determine whether the sanitation vehicle in edge following meets the edge following requirement at each position and cannot guarantee the stability of the edge following effect of the sanitation vehicle, thereby affecting the cleaning quality and damaging the cleaning device is solved. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0039] Figure 1 A flowchart of a sanitation vehicle edge adhesion performance optimization method provided by an embodiment of the present application is shown in FIG. 1.

[0040] Figure 2 An initial position schematic diagram of a distance measuring device on a sanitation vehicle provided by an embodiment of the present application is shown in FIG. 2.

[0041] Figure 3 A first position schematic diagram of a distance measuring device on a sanitation vehicle provided by an embodiment of the present application is shown in FIG. 3.

[0042] Figure 4 A second position schematic diagram of a distance measuring device on a sanitation vehicle provided by an embodiment of the present application is shown in FIG. 4.

[0043] Figure 5 A structure schematic diagram of a sanitation vehicle edge adhesion performance optimization device provided by an embodiment of the present application is shown in FIG. 5. DETAILED DESCRIPTION

[0044] In order to enable personnel in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0045] For the convenience of understanding, please refer to Figure 1 The present application provides a sanitation vehicle edge adhesion performance optimization method, which comprises the following steps:

[0046] Step 101, when the automatic driving sanitation vehicle enters the edge adhesion driving mode, the edge adhesion distance of the sanitation vehicle to the boundary is dynamically measured by the distance measuring device of the sanitation vehicle.

[0047] In the process of cleaning, the automatic driving sanitation vehicle will plan a driving trajectory according to the relevant information of the current driving environment. In order to improve the cleaning quality, for the edge adhesion area (such as the road boundary area, the area close to the wall, etc.), the sanitation vehicle will adopt the edge adhesion driving mode, and slowly adhesively clean the boundary according to the edge adhesion driving trajectory planned by the automatic driving system.

[0048] In the embodiment of the present application, when the automatic driving sanitation vehicle enters the edge-riding mode, the distance measuring device of the sanitation vehicle dynamically measures the edge-riding distance of the sanitation vehicle to the boundary. The distance measuring device can use a sensor such as a laser radar, but considering that the distance between the sanitation vehicle and the boundary is close during the edge-riding process of the sanitation vehicle, if a sensor such as a laser radar is used to measure the distance between the sanitation vehicle and the boundary, the measurement error is large. In order to improve the short distance measurement accuracy, an angle sensor, a distance measuring rod and a rubber wheel are installed on the sanitation vehicle as the distance measuring device of the sanitation vehicle in the embodiment of the present application. Please refer to Figure 2 The distance measuring device installed on the sanitation vehicle provided in the embodiment of the present application is shown in a schematic diagram. One end of the distance measuring rod 3 is movably connected to the shell of the sanitation vehicle 1, and the other end is connected to the rubber wheel 4. The rubber wheel 4 can avoid the direct collision between the distance measuring rod 3 and the boundary, and plays a role of buffering and protecting the distance measuring rod 3. In addition, the rubber wheel 4 can also avoid the deflection of the distance measuring rod 3 to the driving direction of the sanitation vehicle when contacting the boundary, so as to avoid affecting the edge-riding distance measurement accuracy. The angle sensor 2 is arranged at the connection between the distance measuring rod 3 and the sanitation vehicle 1. The angle sensor 2 is used to measure the included angle between the distance measuring rod 3 and the sanitation vehicle 1. The length of the distance measuring rod 3 is fixed, and the length of the distance measuring rod 3 is generally set to be greater than the preset edge-riding distance threshold. It should be noted that the length of the distance measuring rod 3 in the embodiment of the present application is considered in combination with the rubber wheel 4.

[0049] When the automatic driving sanitation vehicle enters the edge-riding mode, the distance measuring device of the sanitation vehicle is started, so that the distance measuring rod moves from the initial position to the first position. The distance measuring rod in the distance measuring device in the non-working state is in the initial position. The initial position of the distance measuring rod 3 is shown in FIG. 2. The distance measuring rod 3 in the initial position is in a retracted state, which is in close contact with the sanitation vehicle at this time. The sanitation vehicle sends a start signal to the distance measuring device to start the distance measuring device. The distance measuring device changes from the non-working state to the working state. The distance measuring rod 3 moves from the initial position to the first position, as shown in FIG. 3. The distance measuring rod 3 in the first position is perpendicular to the sanitation vehicle and parallel to the horizontal ground. At this time, it is the maximum angle at which the distance measuring rod 3 can move. Figure 2 Figure 3 When the sanitation vehicle ends the edge-riding, the sanitation vehicle can send an end signal to the distance measuring device, so that the distance measuring rod 3 returns to the initial position. It can be understood that a driving motor can be arranged in the distance measuring device, which is used to receive the control signal sent by the sanitation vehicle to control the expansion or closing of the distance measuring rod.

[0050] During the edge-riding process, the sanitation vehicle slowly approaches the boundary (such as the road edge, wall, etc.). When the rubber wheel contacts the boundary, the angle sensor dynamically measures the included angle between the sanitation vehicle in the edge-riding process and the distance measuring rod. As shown in FIG. 4, the angle sensor 2 measures the included angle between the distance measuring rod 3 and the sanitation vehicle 1. The angle between the distance measuring rod 3 and the sanitation vehicle 1 is the included angle between the distance measuring rod 3 and the sanitation vehicle 1, and the included angle between the distance measuring rod 3 and the horizontal ground is the included angle between the distance measuring rod 3 and the horizontal ground. Figure 3 ​As shown, the sanitation vehicle 1 travels along the direction 6. When the rubber wheel 4 just touches the boundary 5, the angle sensor 2 can measure the angle between the distance measuring rod 3 and the sanitation vehicle 1. Due to the dynamic movement of the sanitation vehicle 1, it may move closer to or further away from the boundary. Therefore, the distance measuring rod 3, which is movably connected to the sanitation vehicle 1, is not always in the first position. The distance measuring rod 3 will move from the first position to the second position. At this time, the angle sensor 2 can measure the angle between the distance measuring rod 3 in the second position and the sanitation vehicle 1. The distance measuring rod 3 in the second position can be used as a reference. Figure 4 , Figure 4 The direction of movement 7, which indicates the movement from the first position to the second position, is opposite to the direction of travel 6 of the sanitation vehicle. It is understandable that the distance between the sanitation vehicle and the boundary changes during the journey, and the second position may also change; therefore, the included angle dynamically measured by the angle sensor may also change.

[0051] After measuring the included angle, the distance from the sanitation vehicle to the boundary is dynamically obtained based on the included angle between the sanitation vehicle and the distance measuring rod, and the length of the distance measuring rod. The specific process is as follows:

[0052] When the angle between the sanitation vehicle and the distance measuring pole is 90°, the length of the distance measuring pole is taken as the edge distance from the sanitation vehicle to the boundary.

[0053] When the angle between the sanitation vehicle and the distance measuring pole is less than 90°, calculate the product of the sine of the angle between the sanitation vehicle and the distance measuring pole and the length of the distance measuring pole to obtain the edge distance from the sanitation vehicle to the boundary.

[0054] Step 102: Determine whether the location of the sanitation vehicle meets the edge requirements based on the difference between the edge-attaching distance of the sanitation vehicle to the boundary and the preset edge-attaching distance threshold.

[0055] After obtaining the distance between the sanitation vehicle and the boundary using its distance measuring device, the difference between this distance and a preset boundary distance threshold is used to determine whether the vehicle's location meets the boundary-hugging requirements. The vehicle's location can be obtained through its GPS. Specifically, it can be determined whether the difference between the distance between the vehicle and the boundary and the preset boundary distance threshold is within a preset range. If so, the vehicle's location meets the boundary-hugging requirements; otherwise, it does not. By using the difference between the measured boundary distance and the preset boundary distance threshold, it is possible to determine whether the vehicle's location meets the boundary-hugging requirements, thus identifying the locations where the vehicle meets and does not meet these requirements when driving close to the boundary.

[0056] Step 103: If the location of the sanitation vehicle does not meet the edge-fitting requirements, the difference will be compensated to the location of the sanitation vehicle to obtain the optimized position. When the sanitation vehicle passes through a location that does not meet the edge-fitting requirements next time, the edge-fitting driving trajectory of the sanitation vehicle will be adjusted according to the optimized position corresponding to the location that does not meet the edge-fitting requirements.

[0057] The aforementioned steps can determine which locations of the sanitation vehicle do not meet the edge-keeping requirements and which locations do meet the edge-keeping requirements when driving close to the edge. For locations where the sanitation vehicle does not meet the edge-keeping requirements, the difference between the edge-keeping distance of the sanitation vehicle's location and the preset edge-keeping distance threshold is compensated to that location to obtain the optimized location. For example, if a sanitation vehicle is at position p1(x1,y1), and the distance between the sanitation vehicle and the boundary is measured by a distance measuring device as d1, and the difference Δd = d1 - d0 between the distance d1 at position p1(x1,y1) and the preset distance threshold d0 is not within the preset range, then the difference Δd is compensated to the position p1(x1,y1) to obtain the optimized position p'1(x'1,y1) or p'1(x1,y'1), where x'1 = x1 + Δd, or x'1 = x1 - Δd; y'1 = y1 + Δd, or y'1 = y1 - Δd; If the difference is positive, it means the sanitation vehicle's current distance from the edge is large. The optimized position obtained after compensating for the difference will be closer to the boundary than the position before compensation. If the difference is negative, it means the sanitation vehicle's current distance from the edge is small. The optimized position obtained after compensating for the difference will be farther from the boundary than the position before compensation. How to compensate for the difference to the position needs to be determined based on the actual map information. Based on the boundary position information in the map and the location of the sanitation vehicle, it is determined whether to compensate for the difference to the horizontal coordinate value or the vertical coordinate value of the sanitation vehicle's location to obtain an optimized position that is closer to or farther from the boundary.

[0058] After obtaining the locations where the sanitation vehicle does not meet the edge-keeping requirements and the optimized locations of these locations, the system feeds back these locations and the optimized locations to the sanitation vehicle's autonomous driving system. When the sanitation vehicle is about to pass through a location that does not meet the edge-keeping requirements, the autonomous driving system can dynamically adjust the sanitation vehicle's edge-keeping trajectory based on the optimized location corresponding to that location, so that the sanitation vehicle's edge-keeping effect meets the requirements.

[0059] Furthermore, if the location of the sanitation vehicle does not meet the edge-hugging requirements, the future edge-hugging trajectory of the sanitation vehicle can be dynamically adjusted based on the edge-hugging distance from the sanitation vehicle to the boundary, the location information of the sanitation vehicle, and map information. Specifically, during the edge-hugging process, if it is determined that the location of the sanitation vehicle does not meet the edge-hugging requirements, the future edge-hugging trajectory of the sanitation vehicle can be dynamically adjusted based on the edge-hugging distance corresponding to the sanitation vehicle's location, the location information of the sanitation vehicle's location (including location coordinates, vehicle pose, etc.), map information, etc. If the edge-hugging distance corresponding to the sanitation vehicle's location is greater than a preset edge-hugging distance threshold (i.e., the difference Δd between the edge-hugging distance and the preset edge-hugging distance threshold is a positive value), the sanitation vehicle needs to adjust its subsequent edge-hugging trajectory and move closer to the boundary; if the edge-hugging distance corresponding to the sanitation vehicle's location is less than the preset edge-hugging distance threshold (i.e., the difference Δd between the edge-hugging distance and the preset edge-hugging distance threshold is a negative value), the sanitation vehicle needs to adjust its subsequent edge-hugging trajectory and move away from the boundary.

[0060] If the location of the sanitation vehicle meets the edge-keeping requirement, the location information (including location coordinates, vehicle posture, etc.) of the location meeting the edge-keeping requirement is recorded. This location information can be fed back to the sanitation vehicle's autonomous driving system, so that when the sanitation vehicle passes through the location meeting the edge-keeping requirement again, it can drive along the edge based on the location information of the location meeting the edge-keeping requirement.

[0061] In this embodiment, when the sanitation vehicle is driving along the edge, the distance between the sanitation vehicle and the boundary is dynamically measured. The difference between the distance and a preset distance threshold is used to determine whether the position of the sanitation vehicle meets the edge-keeping requirements, thereby dynamically verifying the edge-keeping effect of the sanitation vehicle. If the position of the sanitation vehicle does not meet the edge-keeping requirements, the difference between the distance and the preset distance threshold at the position that does not meet the requirements is compensated to that position to obtain an optimized position that meets the edge-keeping requirements. When the sanitation vehicle passes through a position that does not meet the edge-keeping requirements again, the edge-keeping trajectory of the sanitation vehicle is adjusted according to the optimized position corresponding to the position that does not meet the edge-keeping requirements, so that the sanitation vehicle can achieve a stable edge-keeping effect, thereby improving the cleaning quality and reducing the wear of the cleaning device. This improves the technical problem of the prior art, which uses a pre-planned path for edge-keeping, making it impossible to determine whether the sanitation vehicle meets the edge-keeping requirements at each position, making it difficult to guarantee the stability of the edge-keeping effect of the sanitation vehicle, affecting the cleaning quality and damaging the cleaning device.

[0062] The above is an embodiment of a method for optimizing the edge-fitting performance of sanitation vehicles provided in this application. The following is an embodiment of a device for optimizing the edge-fitting performance of sanitation vehicles provided in this application.

[0063] Please refer to Figure 5This application provides a device for optimizing the edge-fitting performance of sanitation vehicles, comprising:

[0064] The measurement unit is used to dynamically measure the distance between the sanitation vehicle and the boundary when the autonomous sanitation vehicle enters the edge-keeping driving mode, through the distance measurement device of the sanitation vehicle.

[0065] The judgment unit is used to determine whether the location of the sanitation vehicle meets the edge-fitting requirements based on the difference between the edge-fitting distance of the sanitation vehicle to the boundary and the preset edge-fitting distance threshold.

[0066] The first adjustment unit is used to compensate the difference to the location of the sanitation vehicle if the location of the sanitation vehicle does not meet the edge-fitting requirements, so as to obtain the optimized location. When the sanitation vehicle will pass through the location that does not meet the edge-fitting requirements next time, the edge-fitting driving trajectory of the sanitation vehicle is adjusted according to the optimized location corresponding to the location that does not meet the edge-fitting requirements.

[0067] As a further improvement, the distance measuring device includes an angle sensor, a distance measuring rod, and a rubber wheel. One end of the distance measuring rod is movably connected to the outer shell of the sanitation vehicle, and the other end is connected to the rubber wheel. The angle sensor is located at the connection between the distance measuring rod and the sanitation vehicle.

[0068] The measuring unit is specifically used for:

[0069] When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance measuring device of the sanitation vehicle is activated, causing the distance measuring rod to move from the initial position to the first position;

[0070] Once the rubber wheel contacts the boundary, the angle sensor dynamically measures the angle between the sanitation vehicle traveling along the edge and the distance measuring rod.

[0071] The distance between the sanitation vehicle and the boundary is dynamically obtained based on the angle between the sanitation vehicle and the distance measuring rod and the length of the distance measuring rod.

[0072] As a further improvement, the process for obtaining the edge-hugging distance of the sanitation vehicle to the boundary is as follows:

[0073] When the angle between the sanitation vehicle and the distance measuring pole is 90°, the length of the distance measuring pole is taken as the edge distance from the sanitation vehicle to the boundary.

[0074] When the angle between the sanitation vehicle and the distance measuring pole is less than 90°, calculate the product of the sine of the angle between the sanitation vehicle and the distance measuring pole and the length of the distance measuring pole to obtain the edge distance from the sanitation vehicle to the boundary.

[0075] As a further improvement, the judgment unit is specifically used for:

[0076] Determine whether the difference between the distance between the sanitation vehicle and the boundary and the preset boundary distance threshold is within the preset range. If yes, the location of the sanitation vehicle meets the boundary requirement; otherwise, the location of the sanitation vehicle does not meet the boundary requirement.

[0077] As a further improvement, it also includes: a second adjustment unit, used for:

[0078] If the location of the sanitation vehicle does not meet the edge-keeping requirements, the future edge-keeping trajectory of the sanitation vehicle will be dynamically adjusted based on the edge-keeping distance of the sanitation vehicle to the boundary, the location information of the sanitation vehicle, and map information.

[0079] In this embodiment, when the sanitation vehicle is driving along the edge, the distance between the sanitation vehicle and the boundary is dynamically measured. The difference between the distance and a preset distance threshold is used to determine whether the position of the sanitation vehicle meets the edge-keeping requirements, thereby dynamically verifying the edge-keeping effect of the sanitation vehicle. If the position of the sanitation vehicle does not meet the edge-keeping requirements, the difference between the distance and the preset distance threshold at the position that does not meet the requirements is compensated to that position to obtain an optimized position that meets the edge-keeping requirements. When the sanitation vehicle passes through a position that does not meet the edge-keeping requirements again, the edge-keeping trajectory of the sanitation vehicle is adjusted according to the optimized position corresponding to the position that does not meet the edge-keeping requirements, so that the sanitation vehicle can achieve a stable edge-keeping effect, thereby improving the cleaning quality and reducing the wear of the cleaning device. This improves the technical problem of the prior art, which uses a pre-planned path for edge-keeping, making it impossible to determine whether the sanitation vehicle meets the edge-keeping requirements at each position, making it difficult to guarantee the stability of the edge-keeping effect of the sanitation vehicle, affecting the cleaning quality and damaging the cleaning device.

[0080] This application embodiment also provides a device for optimizing the edge-fitting performance of sanitation vehicles, the device including a processor and a memory;

[0081] The memory is used to store program code and transfer the program code to the processor;

[0082] The processor is used to execute the sanitation vehicle edge-fitting performance optimization method in the foregoing method embodiments according to the instructions in the program code.

[0083] This application also provides a computer-readable storage medium for storing program code, which, when executed by a processor, implements the sanitation vehicle edge-fitting performance optimization method in the aforementioned method embodiments.

[0084] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0085] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0086] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0088] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0090] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for executing all or part of the steps of the methods described in the various embodiments of this application through a computer device (which may be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0091] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for optimizing the edge-fitting performance of sanitation vehicles, characterized in that, include: When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance between the sanitation vehicle and the edge is dynamically measured by the distance measuring device of the sanitation vehicle. The distance measuring device includes an angle sensor, a distance measuring rod and a rubber wheel. One end of the distance measuring rod is movably connected to the outer shell of the sanitation vehicle and the other end is connected to the rubber wheel. The angle sensor is set at the connection between the distance measuring rod and the sanitation vehicle. When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance measurement device of the sanitation vehicle dynamically measures the edge-keeping distance from the boundary, including: When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance measuring device of the sanitation vehicle is activated, causing the distance measuring rod to move from the initial position to the first position; the distance measuring rod in the initial position is in contact with the sanitation vehicle. When the rubber wheel contacts the boundary, the angle sensor dynamically measures the angle between the sanitation vehicle traveling along the edge and the distance measuring rod. The distance from the sanitation vehicle to the boundary is dynamically obtained based on the angle between the sanitation vehicle and the distance measuring rod and the length of the distance measuring rod obtained by dynamic measurement. The difference between the distance between the sanitation vehicle and the boundary and the preset boundary distance threshold is used to determine whether the location of the sanitation vehicle meets the boundary requirements. If the location of the sanitation vehicle does not meet the edge-hugging requirement, the difference is compensated to the location of the sanitation vehicle to obtain an optimized position. When the sanitation vehicle will pass through a location that does not meet the edge-hugging requirement next time, the edge-hugging driving trajectory of the sanitation vehicle is adjusted according to the optimized position corresponding to the location that does not meet the edge-hugging requirement.

2. The method for optimizing the edge-fitting performance of sanitation vehicles according to claim 1, characterized in that, The process of obtaining the edge-to-edge distance of the sanitation vehicle is as follows: When the angle between the sanitation vehicle and the distance measuring rod is equal to 90°, the length of the distance measuring rod is taken as the edge distance from the sanitation vehicle to the boundary. When the angle between the sanitation vehicle and the distance measuring rod is less than 90°, the product of the sine of the angle between the sanitation vehicle and the distance measuring rod and the length of the distance measuring rod is calculated to obtain the edge distance from the sanitation vehicle to the boundary.

3. The method for optimizing the edge-fitting performance of sanitation vehicles according to claim 1, characterized in that, The step of determining whether the location of the sanitation vehicle meets the edge-fitting requirements based on the difference between the edge-fitting distance of the sanitation vehicle to the boundary and a preset edge-fitting distance threshold includes: Determine whether the difference between the distance between the sanitation vehicle and the boundary and the preset boundary distance threshold is within the preset range. If yes, the location of the sanitation vehicle is determined to meet the boundary requirement; otherwise, the location of the sanitation vehicle is determined not to meet the boundary requirement.

4. The method for optimizing the edge-fitting performance of sanitation vehicles according to claim 1 or 3, characterized in that, The method further includes: If the location of the sanitation vehicle does not meet the edge-keeping requirement, the future edge-keeping trajectory of the sanitation vehicle will be dynamically adjusted based on the edge-keeping distance of the sanitation vehicle to the boundary, the location information of the sanitation vehicle, and map information.

5. A device for optimizing the edge-fitting performance of sanitation vehicles, characterized in that, include: A measurement unit is used to dynamically measure the distance between the sanitation vehicle and the boundary when the autonomous sanitation vehicle enters the edge-keeping driving mode, through the distance measurement device of the sanitation vehicle; the distance measurement device includes an angle sensor, a distance measuring rod and a rubber wheel, one end of the distance measuring rod is movably connected to the outer shell of the sanitation vehicle, and the other end is connected to the rubber wheel, and the angle sensor is set at the connection between the distance measuring rod and the sanitation vehicle; The measuring unit is specifically used for: When the autonomous sanitation vehicle enters the edge-keeping driving mode, the distance measuring device of the sanitation vehicle is activated, causing the distance measuring rod to move from the initial position to the first position; the distance measuring rod in the initial position is in contact with the sanitation vehicle. When the rubber wheel contacts the boundary, the angle sensor dynamically measures the angle between the sanitation vehicle traveling along the edge and the distance measuring rod. The distance from the sanitation vehicle to the boundary is dynamically obtained based on the angle between the sanitation vehicle and the distance measuring rod and the length of the distance measuring rod obtained by dynamic measurement. The judgment unit is used to determine whether the location of the sanitation vehicle meets the edge requirement based on the difference between the edge-attaching distance of the sanitation vehicle to the boundary and the preset edge-attaching distance threshold. The first adjustment unit is used to compensate the difference to the location of the sanitation vehicle if the location of the sanitation vehicle does not meet the edge-fitting requirement, so as to obtain an optimized location. When the sanitation vehicle will pass through a location that does not meet the edge-fitting requirement next time, the unit adjusts the edge-fitting driving trajectory of the sanitation vehicle according to the optimized location corresponding to the location that does not meet the edge-fitting requirement.

6. The sanitation vehicle edge-fitting performance optimization device according to claim 5, characterized in that, Also includes: The second adjustment unit is used for: If the location of the sanitation vehicle does not meet the edge-keeping requirement, the future edge-keeping trajectory of the sanitation vehicle will be dynamically adjusted based on the edge-keeping distance of the sanitation vehicle to the boundary, the location information of the sanitation vehicle, and map information.

7. A device for optimizing the edge-fitting performance of sanitation vehicles, characterized in that, The device includes a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the sanitation vehicle edge-fitting performance optimization method according to any one of claims 1-4, based on the instructions in the program code.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code, which, when executed by a processor, implements the sanitation vehicle edge-fitting performance optimization method according to any one of claims 1-4.

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