Region-based full-coverage path planning method, device and storage medium

Abstract

The application discloses a region-based full-coverage path planning method and device and a storage medium, wherein the method comprises the following steps: acquiring contour information of a convex polygon region and a cleaning width of a cleaning vehicle, generating an edge-following path surrounding the inner contour of the convex polygon region according to the contour information and the cleaning width; reducing the contour of the convex polygon region inward based on the cleaning width to obtain a non-edge-following cleaning region; generating a first non-edge-following path in the non-edge-following cleaning region based on a bow-shaped full-coverage path planning method, and adjusting the first non-edge-following path by using a Dubins curve to generate a second non-edge-following path; and connecting the edge-following path and the second non-edge-following path to form a full-coverage path. The method provided by the application is in line with the kinematic characteristics of the vehicle, can be adapted to various cleaning vehicles, improves the universality of the full-coverage path algorithm, and can reduce the control difficulty of the cleaning vehicle and the probability of the vehicle being trapped, and improves the cleaning efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent cleaning, in particular to a region-based full-coverage path planning method, device and storage medium. BACKGROUND

[0002] The current urbanization level in China is continuously improving, and many municipal roads, parks, squares, communities and the like have been newly built in various places. The demand for environmental sanitation in the whole society is increasing day by day, and the traditional environmental sanitation has problems such as difficulty in recruiting personnel, low operation efficiency, high accident rate and the like. These factors have prompted more and more enterprises to invest in the intelligent environmental sanitation industry.

[0003] In order to adapt to the cleaning demand in outdoor scenarios, outdoor cleaning vehicles often use Ackerman chassis. When operating on structured roads, the vehicle travels close to the road shoulder and pays attention to obstacle avoidance. When operating in open spaces such as parks and squares, a full-coverage path needs to be designed first, which is similar to indoor sweeping robots. Indoor sweeping robots mostly use arch-shaped or back-shaped designs to plan full-coverage paths, and such methods are relatively mature. Indoor sweeping robots can turn in place, but outdoor cleaning vehicles using Ackerman chassis cannot turn in place, so the existing full-coverage path algorithm cannot adapt to outdoor cleaning vehicles using Ackerman chassis. SUMMARY

[0004] The present application aims to provide a region-based full-coverage path planning method, device and storage medium to solve the problem that the existing region-based full-coverage path algorithm cannot adapt to outdoor cleaning vehicles using Ackerman chassis.

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] According to an aspect of the present application, a region-based full-coverage path planning method is provided, which comprises:

[0007] Obtaining the contour information of a convex polygon region to be cleaned and the cleaning width of a cleaning vehicle;

[0008] Generating an edge-following path around the inner contour of the convex polygon region according to the contour information and the cleaning width;

[0009] Reducing the contour of the convex polygon region inward based on the cleaning width to obtain a reduced non-edge-following cleaning region;

[0010] Generating a first non-edge-following path in the non-edge-following cleaning region based on an arch-shaped full-coverage path planning method;

[0011] Adjusting each arch-shaped turning part of the first non-edge-following path using a Dubins curve to generate a second non-edge-following path;

[0012] connecting the edge-following path and the second non-edge-following path forms a full-coverage path of the convex polygon region.

[0013] Optionally, the acquiring the contour information of the convex polygon region to be cleaned comprises:

[0014] acquiring a vehicle position of the cleaning vehicle according to a positioning module on the cleaning vehicle;

[0015] determining identification information of the convex polygon region to be cleaned in which the cleaning vehicle is located according to the vehicle position;

[0016] acquiring the contour information of the convex polygon region to be cleaned according to the identification information of the convex polygon region to be cleaned.

[0017] Optionally, the method further comprises:

[0018] determining a starting cleaning direction of the cleaning vehicle according to the contour information;

[0019] determining a starting boundary line segment and an ending boundary line segment from the boundary line segments of the convex polygon region according to the starting cleaning direction;

[0020] determining an edge-following starting point of the edge-following path according to the starting boundary line segment and the ending boundary line segment;

[0021] determining an edge-following ending point of the edge-following path according to the non-edge-following cleaning region and the edge-following starting point;

[0022] generating an edge-following path around the inner contour of the convex polygon region according to the contour information, the edge-following starting point and the edge-following ending point.

[0023] Optionally, the method comprises:

[0024] calculating lengths of the boundary line segments of the convex polygon region according to the contour information;

[0025] selecting a direction represented by a boundary line segment with the longest length as the starting cleaning direction.

[0026] Optionally, the method comprises:

[0027] selecting a boundary line segment closest to the cleaning vehicle and having a direction consistent with the starting cleaning direction as the starting boundary line segment;

[0028] selecting another boundary line segment adjacent to the starting boundary line segment and closer to the cleaning vehicle as the ending boundary line segment;

[0029] translating the start boundary line segment and the end boundary line segment inward by half of the cleaning width to obtain a start boundary translated line segment and an end boundary translated line segment, respectively;

[0030] taking the intersection of the start boundary translated line segment and the end boundary translated line segment as the edge-following start point.

[0031] Optionally, the method further comprises:

[0032] taking a point on the non-edge-following cleaning area boundary and at a distance of the cleaning width from the edge-following start point as an edge-following end point of the edge-following path and a non-edge-following start point of the first / second non-edge-following path.

[0033] Optionally, the method comprises:

[0034] generating, based on the start cleaning direction, an initial edge-following path parallel to each boundary line segment of the convex polygonal region from the edge-following start point to the edge-following end point.

[0035] adjusting, at each line segment intersection point on the initial edge-following path, the initial edge-following path using a clothoid curve to generate the edge-following path.

[0036] Optionally, adjusting the first non-edge-following path using a Dubins curve to generate a second non-edge-following path comprises:

[0037] generating a Dubins curve great circle according to a minimum turning radius of the cleaning vehicle and the cleaning width;

[0038] determining, based on each bow-shaped turning section, two position points on two straight path line segments corresponding to the bow-shaped turning section, such that, after the two position points are connected to two end points of the Dubins curve great circle, the Dubins curve great circle is substantially tangent to the edge-following path, removing the bow-shaped turning path section between the two position points, and connecting the Dubins curve great circle to the two position points.

[0039] According to another aspect of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory for execution by the processor, the processor implementing the steps of the region-based full-coverage path planning method according to any one of the preceding aspects when executing the program.

[0040] According to still another aspect of the present application, there is provided a computer readable storage medium storing a computer program, the processor implementing the steps of the region-based full-coverage path planning method according to any one of the preceding aspects when executing the program.

[0041] The beneficial effects of the present application are: in the present application, the contour information of the convex polygon region to be cleaned and the cleaning width of the cleaning vehicle are obtained, a boundary path around the inner contour of the convex polygon region is generated according to the contour information and the cleaning width; the contour of the convex polygon region is reduced inward based on the cleaning width to obtain a reduced non-boundary cleaning region; a first non-boundary path is generated in the non-boundary cleaning region based on the arch-shaped full coverage path planning method, and a Dubins curve is used to adjust each arch-shaped turning part of the first non-boundary path to generate a second non-boundary path; and the boundary path and the second non-boundary path are connected to form a full coverage path of the convex polygon region. The method provided by the present application meets the kinematic characteristics of the vehicle, can be adapted to various cleaning vehicles, improves the universality of the full coverage path algorithm, reduces the control difficulty of the cleaning vehicle and the probability of the vehicle being trapped, and improves the cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0042] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the embodiments so that one of ordinary skill in the art will understand that not all of the drawings are to scale, that the drawings are illustrated using a cartoon style with the intent of providing conceptual descriptions of aspects of the application, and that, where appropriate, certain dimensions can have been exaggerated from the actual proportions so as to make certain features more apparent than others.

[0043] Figure 1 is an optional region-based full coverage path planning method flowchart provided by the first embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a boundary path in a convex polygon region provided by the first embodiment of the present application;

[0045] Figure 3 is a schematic diagram of a first non-boundary path in a convex polygon region provided by the first embodiment of the present application;

[0046] Figure 4 is a schematic diagram of a full coverage path in a convex polygon region provided by the first embodiment of the present application;

[0047] Figure 5 is a schematic diagram of the generation of a Dubins curve great circle provided by the first embodiment of the present application;

[0048] Figure 6 is an optional electronic device structure schematic diagram provided by the second embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0050] In addition, the technical features involved in each of the embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0051] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0052] Embodiment one

[0053] According to the embodiments of the present application, a region-based full coverage path planning method is provided. Please refer to Figures 1 to 5 , an optional region-based full coverage path planning method related to the first embodiment of the present application is provided. The method can be applied to various cleaning robots or cleaning vehicles, especially to cleaning vehicles using Ackerman chassis. The method comprises:

[0054] Step S101, obtaining the contour information of the convex polygon region to be cleaned and the cleaning width of the cleaning vehicle.

[0055] Specifically, a positioning module is arranged on the cleaning vehicle, and the vehicle position of the cleaning vehicle can be obtained according to the positioning module. The identification information of the convex polygon region to be cleaned where the cleaning vehicle is located can be determined according to the vehicle position, and then the contour information of the convex polygon region to be cleaned can be obtained according to the identification information. The identification information can correspond to the subarea number of the convex polygon region.

[0056] In some embodiments, the entire cleaning region to be cleaned is divided into subareas according to the cleaning region map in advance, each subarea corresponds to a convex polygon region, and the number, coordinate information and contour information of each convex polygon subarea after division are stored.

[0057] Step S102, generating an edge-following path around the inner contour of the convex polygon region according to the contour information and the cleaning width.

[0058] Before generating the edge-following path, the edge-following starting point, the edge-following ending point and the starting cleaning direction of the edge-following path are determined according to the contour information and the cleaning width.

[0059] In some embodiments, step S102 specifically includes: determining the starting cleaning direction of the cleaning vehicle based on the contour information; determining the starting boundary segment and the ending boundary segment from each boundary segment of the convex polygon region based on the starting cleaning direction; determining the starting point of the edge path based on the starting boundary segment and the ending boundary segment; determining the ending point of the edge path based on the non-edge cleaning area and the starting point; and generating an edge path that surrounds the internal contour of the convex polygon region based on the contour information, the starting point, and the ending point.

[0060] The initial cleaning direction can be determined as follows: Calculate the length of each boundary segment of the convex polygon region based on the contour information, and select the direction represented by the longest boundary segment as the initial cleaning direction. For example... Figure 2 The convex polygon shown has 5 boundary segments. The longest boundary segment is number ④. Therefore, the direction represented by boundary segment ④ is used as the starting cleaning direction. The direction represented by each boundary segment is calculated as follows: calculate the angle between each boundary segment and the two coordinate axes of the two-dimensional reference coordinate system, and take the direction of the coordinate axis with the smaller angle as the direction represented by that boundary segment. For example, the angle between boundary segment ④ and the X-axis is smaller than the angle with the Y-axis; therefore, the direction represented by boundary segment ④ is horizontal, i.e., the X-axis direction. Using the direction represented by the longest boundary segment as the starting cleaning direction can maximize the length of the straight section.

[0061] After determining the initial cleaning direction, the starting point along the edge is determined based on the current location of the cleaning vehicle. The starting point can be determined through the following steps: Take the boundary segment closest to the cleaning vehicle whose representative direction is consistent with the initial cleaning direction as the starting boundary segment; take the other boundary segment adjacent to the starting boundary segment and relatively close to the cleaning vehicle as the ending boundary segment; shift the starting and ending boundary segments inwards by half a cleaning width to obtain the initial and ending boundary shift segments; the intersection of the initial and ending boundary shift segments is taken as the starting point along the edge. Figure 2 In the diagram, the boundary segment numbered ① is closest to the cleaning vehicle, and its representative direction (lateral) is the same as the starting cleaning direction. The starting point for the edge is determined based on this boundary segment. Selecting the boundary segment closest to the cleaning vehicle and whose representative direction is the same as the starting cleaning direction to determine the starting point for the edge not only maximizes the length of the straight section but also reduces the distance the cleaning vehicle needs to travel from its current position to the starting point, thus improving the efficiency of the cleaning vehicle.

[0062] The endpoint of the edge-following path is the non-edge-following starting point of the non-edge-following path. Optionally, this point is located on the boundary of the non-edge-following cleaning area, and the distance from the edge-following starting point is the cleaning width.

[0063] Since the cleaning vehicle on the Ackerman chassis cannot turn in place, to allow the cleaning vehicle to turn more easily, preferably, a spiral curve is used to smoothly transition at the intersection of two line segments along the edge path. In some embodiments, the method for generating the edge path includes: First, based on the initial cleaning direction, generating initial edge paths parallel to the boundary line segments of each convex polygon region from the starting point to the ending point of the edge path. Specifically, each boundary line segment is translated inward by half a cleaning width, and the translated line segment at the ending point of the edge path is specially processed. In one embodiment, the translated line segment from the ending point of the edge path to the ending boundary line segment is made parallel to the starting boundary line segment, such as... Figure 2 Translate line segment ⑥. Find the intersection points of each translated line segment to obtain the initial edge path formed by connecting the starting point along the edge, each intersection point, and the ending point along the edge, such as... Figure 2 As shown. The second step involves adjusting the intersection points of each line segment on the initial edge path using a spiral curve to generate the final edge path, as shown. Figure 4 As shown.

[0064] Step S103: The outline of the convex polygon region is reduced inward based on the cleaning width to obtain a reduced non-edge cleaning region.

[0065] In some embodiments, the outline of the convex polygonal region is reduced inward by a cleaning width to obtain a reduced non-edge cleaning region.

[0066] Step S104: Generate the first non-edge path in the non-edge cleaning area based on the bow-shaped full coverage path planning method.

[0067] Based on the aforementioned determined edge endpoint / non-edge starting point and non-edge cleaning area, a first non-edge path is generated using the existing bow-shaped full coverage path method, such as... Figure 3 As shown.

[0068] Step S105: Adjust each bow-shaped turning section of the first non-edge path using Dubins curves to generate the second non-edge path.

[0069] Depend on Figure 3 As can be seen, the first non-edge path contains multiple bow-shaped turning sections, which can easily cause cleaning vehicles using Ackerman chassis to get stuck. In this embodiment of the invention, Dubins curves are used to replace these bow-shaped turning sections, which can reduce the control difficulty of the cleaning vehicle and the probability of the vehicle getting stuck.

[0070] In some embodiments, replacing these bow-shaped turning sections with Dubins curve great circles includes: generating Dubins curve great circles based on the minimum turning radius and sweeping width of the cleaning vehicle; determining two position points on the two straight path segments corresponding to each bow-shaped turning section, such that after connecting the two endpoints of the Dubins curve great circle with the two position points, the Dubins curve great circle is substantially tangent to the edge path generated in step S102; removing the bow-shaped turning path portion between the two position points; and connecting the Dubins curve great circle to the two position points.

[0071] like Figure 5 As shown, the great circle of the Dubins curve can be obtained by three radii, each with a radius of R, arranged in a triangular pattern. min A large circle is generated. The centers of the two large circles, positioned horizontally to the left and right, are spaced (2R) apart. min + Cleaning width w clear The large circle below the two large circles on the left and right is tangent to both of them. The generated Dubins curve large circles include an entry endpoint A and an exit endpoint B, as well as arcs ①, ②, and ③ between the entry endpoint A and the exit endpoint B. Entry endpoint A is the tangent point between the straight path before the turn and the right large circle; exit endpoint B is the tangent point between the straight path after the turn and the left large circle; arc ① is located on the right large circle, with its starting endpoint at A and its ending endpoint at the tangent point between the right and lower large circles; arc ② is located on the lower large circle, with its starting endpoint at the tangent point between the right and lower large circles and its ending endpoint at the tangent point between the left and lower large circles; and arc ③ is located on the left large circle, with its starting endpoint at the tangent point between the left and lower large circles and its ending endpoint at B.

[0072] When the cleaning vehicle makes a right-angle turn, and the turning section is replaced with a Dubins curve great circle, the turning allowance length L is... turn It can be obtained through the following formula:

[0073]

[0074] When the bow-shaped turning section is not a right angle, the allowable length L for the right angle turn can be used as a reference. turn The location of the connection point between the two straight path segments is determined iteratively. For example... Figure 4 As shown, none of the bow-shaped turns on the first non-edge path are right angles. The following describes how to iteratively determine the connection point with the Dubins curve great circle on the straight path segment when making non-right angle turns.

[0075] Step 1: Delete all turning path segments on the first non-edge path, and keep all straight path segments.

[0076] like Figure 4As shown, each path segment on the first non-along-edge path which is parallel to the path segment where the non-along-edge start point is located is a straight path segment, and each path segment connecting the straight path segments is a turning path segment. Each bow-shaped turning portion is composed of a straight path segment before turning, a turning path segment, and a straight path segment after turning.

[0077] Step 2, determining the straight path segment before turning, the end point before turning, the end point after turning, and the straight path segment after turning of each bow-shaped turning portion.

[0078] Wherein, the end point before turning is the intersection of the straight path segment before turning and the turning path segment, and the end point after turning is the intersection of the straight path segment after turning and the turning path segment.

[0079] Step 3, obtaining the straight path segment before turning corresponding to a bow-shaped turning portion, cutting off L turn from the end point before turning on one side of the straight path segment before turning, and calculating the end point position at the cutting position, taking the end point position as the first connection point position.

[0080] Step 4, connecting the first connection point with the entering end point of the Dubins curve great circle, and making the symmetry axis of the Dubins curve great circle parallel to the straight path segment.

[0081] Step 5, determining the relationship between the along-edge path and the Dubins curve great circle, if intersecting, entering Step 6, if tangent, entering Step 7.

[0082] Step 6, continuing to cut off the straight path segment before turning in the interval [L turn , 2L turn ] according to bisection method, and updating the first connection point position, entering Step 4.

[0083] Step 7, determining the second connection point position of the Dubins curve great circle and the straight path segment after turning, and cutting off the line segment between the second connection point and the end point after turning on the straight path segment after turning.

[0084] Specifically, drawing a perpendicular line of the straight path segment after turning through the first connection point, and the intersection of the perpendicular line and the straight path segment after turning is the second connection point position.

[0085] Step 8, determining whether all bow-shaped turning portions have been replaced, if not, entering Step 3, if yes, ending.

[0086] It can be understood that the position of the second connection point can also be determined first. Specifically, cutting off L turnThe end position at the cutting position is taken as the second connection point position, and the outgoing end point of the Dubins curve great circle is connected, and the accurate position of the second connection point is iteratively calculated. Then, the position of the first connection point is determined based on the position of the second connection point, and the line segment from the first connection point to the end point before the turn on the straight line segment before the turn is cut off.

[0087] After all the bow-shaped turning portions are replaced by the Dubins curve great circle, the second non-along-edge path is obtained.

[0088] In step S106, the along-edge path and the second non-along-edge path are connected to form the full-coverage path of the convex polygon region.

[0089] As shown in Figure 5 Fig. 1 shows a generation diagram of the Dubins curve great circle provided by the embodiment one of the present application, wherein each turn of the along-edge path is smoothly connected by a clothoid curve, and each bow-shaped turning portion of the non-along-edge path is connected by the Dubins curve great circle.

[0090] The method for planning the full-coverage path based on the region provided by the embodiment of the present application comprises the following steps: obtaining the contour information of a convex polygon region to be cleaned and the cleaning width of a cleaning vehicle; generating an along-edge path based on the contour information and the cleaning width, the along-edge path surrounding the inner contour of the convex polygon region; reducing the contour of the convex polygon region inward based on the cleaning width to obtain a reduced non-along-edge cleaning region; generating a first non-along-edge path in the non-along-edge cleaning region based on the bow-shaped full-coverage path planning method, and adjusting each bow-shaped turning portion of the first non-along-edge path by the Dubins curve to generate a second non-along-edge path; and connecting the along-edge path and the second non-along-edge path to form the full-coverage path of the convex polygon region. The method provided by the present application conforms to the kinematic characteristics of the vehicle, is suitable for various cleaning vehicles, improves the universality of the full-coverage path algorithm, reduces the control difficulty of the cleaning vehicle and the probability of the vehicle being trapped, and improves the cleaning efficiency.

[0091] Embodiment two

[0092] According to the embodiment of the present application, an electronic device is provided, such as Figure 6As shown, an optional electronic device structure diagram is provided for the third embodiment of the present application, which can include a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 602 and the memory 603 complete mutual communication through the communication bus 604. The processor 601 can invoke the logic instructions in the memory 603 to execute the region-based full-coverage path planning method, which includes: acquiring contour information of a convex polygon region to be cleaned and a cleaning width of a cleaning vehicle; generating an edge-following path surrounding an inner contour of the convex polygon region according to the contour information and the cleaning width; reducing the contour of the convex polygon region inward based on the cleaning width to obtain a reduced non-edge-following cleaning region; generating a first non-edge-following path in the non-edge-following cleaning region based on the arch-shaped full-coverage path planning method; adjusting each arch-shaped turning part of the first non-edge-following path using a Dubins curve to generate a second non-edge-following path; and connecting the edge-following path and the second non-edge-following path to form a full-coverage path of the convex polygon region.

[0093] In addition, the logic instructions in the memory 603 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in several computer readable storage media. Based on such understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of any of the methods described in the first embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0094] The above product can execute the region-based full-coverage path planning method described in any of the embodiments, has the corresponding functional modules and beneficial effects of the method, and the technical details not described in detail in the present embodiment can be referred to the region-based full-coverage path planning method provided in the first embodiment of the present application.

[0095] Embodiment three

[0096] According to the embodiments of the present application, a computer readable storage medium is provided, which is of the type described in the second embodiment, and the computer readable storage medium stores a computer program, when the computer program is executed by a processor, the processor executes the steps of the region-based full-coverage path planning method described in the first embodiment.

[0097] The product can perform the area-based full coverage path planning method described in any of Embodiment One, has the corresponding functional modules and beneficial effects of the method, and the technical details not described in detail in this embodiment can be referred to the area-based full coverage path planning method provided in Embodiment One of the application.

[0098] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0099] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of the different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A region-based full coverage path planning method, characterized in that, The method comprises: acquiring contour information of a convex polygonal area to be cleaned and a cleaning width of a cleaning vehicle; generating an edge-following path around an inner contour of the convex polygonal area according to the contour information and the cleaning width; narrowing the contour of the convex polygonal area inward based on the cleaning width to obtain a narrowed non-edge-following cleaning area; generating a first non-edge-following path in the non-edge-following cleaning area based on an arch-shaped full-coverage path planning method; adjusting each arch-shaped turning part of the first non-edge-following path by using a Dubins curve to generate a second non-edge-following path; connecting the edge-following path and the second non-edge-following path to form a full-coverage path of the convex polygonal area, wherein an edge-following end point of the edge-following path is a non-edge-following start point of the first non-edge-following path / the second non-edge-following path, which is located on a boundary of the non-edge-following cleaning area and is at a distance of the cleaning width from an edge-following start point of the edge-following path.

2. The method of claim 1, wherein, The acquiring of the contour information of the convex polygonal area to be cleaned comprises: acquiring a vehicle position of the cleaning vehicle according to a positioning module on the cleaning vehicle; determining identification information of the convex polygonal area to be cleaned in which the cleaning vehicle is located according to the vehicle position; acquiring the contour information of the convex polygonal area to be cleaned according to the identification information of the convex polygonal area to be cleaned.

3. The method of claim 1, wherein, The method further comprises: determining a starting cleaning direction of the cleaning vehicle according to the contour information; determining a starting boundary line segment and an ending boundary line segment from each boundary line segment of the convex polygonal area according to the starting cleaning direction; determining an edge-following start point of the edge-following path according to the starting boundary line segment and the ending boundary line segment; determining an edge-following end point of the edge-following path according to the non-edge-following cleaning area and the edge-following start point; generating an edge-following path around an inner contour of the convex polygonal area according to the contour information, the edge-following start point and the edge-following end point.

4. The method of claim 3, wherein, The method comprises: calculating lengths of each boundary line segment of the convex polygonal area according to the contour information; selecting a direction represented by a boundary line segment with the longest length as the starting cleaning direction.

5. The method of claim 4, wherein, The method comprises: selecting a boundary line segment closest to the cleaning vehicle and consistent with the starting cleaning direction as a starting boundary line segment; selecting another boundary line segment adjacent to the starting boundary line segment and closer to the cleaning vehicle as an ending boundary line segment; translating the starting boundary line segment and the ending boundary line segment inward by half of the cleaning width to obtain a starting boundary translated line segment and an ending boundary translated line segment, respectively; selecting an intersection of the starting boundary translated line segment and the ending boundary translated line segment as the edge-following start point.

6. The method according to claim 4 or 5, characterized in that, The method comprises: generating initial edge-following paths respectively parallel to each boundary line segment of the convex polygonal area from the edge-following start point to the edge-following end point based on the starting cleaning direction; adjusting each line segment intersection on the initial edge-following paths by using a spiral curve to generate the edge-following path.

7. The method according to claim 4 or 5, characterized in that, The adjusting of each arch-shaped turning part of the first non-edge-following path by using a Dubins curve to generate a second non-edge-following path comprises: generating a Dubins curve great circle according to a minimum turning radius of the cleaning vehicle and the sweeping width; determining two position points on two straight path line segments corresponding to each S-shaped turning part, so that the two end points of the Dubins curve great circle are connected with the two position points, the Dubins curve great circle is substantially tangent to the edge-following path, the S-shaped turning path part between the two position points is removed, and the Dubins curve great circle is connected to the two position points.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory to run on the processor, characterized in that, The processor implements the steps of the region-based full-coverage path planning method according to any one of claims 1-7 when executing the program.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the region-based full-coverage path planning method according to any one of claims 1-7.

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