A road cleaning method and device, electronic equipment and storage medium

Abstract

The application discloses a road cleaning method and device, electronic equipment and storage medium, and is used for solving the technical problem that the unmanned cleaning vehicle cannot clean the obstacle with large volume or mass, which results in poor cleaning effect. The application comprises the following steps: identifying large particles on a preset cleaning path, and obtaining position information of the large particles; generating a navigation route according to the position information and determining a target cleaning personnel; sending the navigation route to a terminal corresponding to the target cleaning personnel; and the navigation route is used for guiding the target cleaning personnel to clean. According to the application, the large particles on the cleaning path are identified, the position information of the large particles is determined to generate the navigation route, the target cleaning personnel is guided to clean through the navigation route, the obstacle with large volume or mass that cannot be cleaned by the unmanned cleaning vehicle is removed, and the cleaning effect is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a road cleaning method, apparatus, electronic device, and storage medium. Background Technology

[0002] Autonomous driving technology is an integration of multiple cutting-edge disciplines, including sensors, computers, artificial intelligence, communications, navigation and positioning, pattern recognition, machine vision, and intelligent control. Autonomous vehicles, also known as self-driving cars, computer-driven cars, or wheeled mobile robots, are intelligent vehicles that achieve driverless operation through computer systems.

[0003] With the popularization of autonomous driving, it has begun to be gradually applied to public services, such as using unmanned cleaning vehicles to participate in environmental cleaning.

[0004] However, during the cleaning process, unmanned sweeping vehicles cannot clean up obstacles that are large or heavy, resulting in poor cleaning performance. Furthermore, if they cannot avoid obstacles that are large but light, the suction cups under the vehicle may become clogged, causing the cleaning function to be lost and the cleaning effect to deteriorate. Summary of the Invention

[0005] This invention provides a road sweeping method, apparatus, electronic device, and storage medium to solve the technical problem that unmanned sweeping vehicles cannot sweep obstacles that are large in size or heavy in mass, resulting in poor sweeping effect.

[0006] This invention provides a road sweeping method, applied to an unmanned sweeper vehicle; the method includes:

[0007] Identify large particles on the preset cleaning path and obtain the location information of the large particles;

[0008] Based on the location information, a navigation route is generated and the target cleaning personnel are identified;

[0009] The navigation route is sent to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning.

[0010] Optionally, the step of identifying large particles on a preset cleaning path and obtaining the location information of the large particles includes:

[0011] The front-facing camera captures an image of the first obstacle on a previously untouched, preset cleaning path.

[0012] Identify the first obstacle in the first obstacle image and obtain the size information of the first obstacle;

[0013] When the size information meets the preset size threshold, the first obstacle is identified as a large particle, and the location information of the large particle is obtained.

[0014] Optionally, after the step of obtaining the location information of the large particles, the method further includes:

[0015] A new cleaning path is generated using the location information as a detour point.

[0016] Optionally, the step of identifying large particles on a preset cleaning path and obtaining the location information of the large particles further includes:

[0017] Images of the second obstacle along the cleaning path are captured by a blind spot camera;

[0018] The second obstacle in the second obstacle image is identified, the second obstacle is determined to be a large particle, and the location information of the large particle is obtained.

[0019] Optionally, the step of generating a navigation route and determining the target cleaning personnel based on the location information includes:

[0020] The cleaning path is divided into multiple grids;

[0021] The cleaning personnel within the grid are identified as the target cleaning personnel for the grid.

[0022] Obtain the current location of the target cleaning personnel within the grid;

[0023] A navigation route is generated based on the current location of the target cleaning personnel and the location information of various particles within the grid.

[0024] Optionally, the step of generating a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid includes:

[0025] Based on the current location of the target cleaning personnel and the location information of the major particles within the grid, calculate the first relative distance between the major particles and the target cleaning personnel, and the second relative distance between the major particles.

[0026] Starting from the current position of the target cleaning personnel, the largest particles with the smallest relative distance are identified as the first cleaning target;

[0027] Connect the target cleaning personnel and the first cleaning object to generate an initial navigation route;

[0028] Starting from the first cleaning object, the largest particles with the smallest relative distance to the first cleaning object are taken as the second cleaning object;

[0029] Connect the first cleaning object and the second cleaning object to obtain the updated navigation route;

[0030] Determine whether there are large, unconnected particles in the grid;

[0031] If so, the second cleaning object is taken as the first cleaning object, and the process of taking the first cleaning object as the starting point and taking the largest particle with the smallest relative distance to the first cleaning object as the second cleaning object is returned;

[0032] If there are no unconnected large particles in the grid, the updated navigation route is used as the navigation route for the large particles in the grid.

[0033] The present invention also provides a road sweeping device for use in unmanned sweeping vehicles; the device includes:

[0034] The identification module is used to identify large particles on a preset cleaning path and obtain the location information of the large particles.

[0035] The route and target cleaning personnel determination module is used to generate a navigation route and determine the target cleaning personnel based on the location information.

[0036] The sending module is used to send the navigation route to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning.

[0037] Optionally, the identification module includes:

[0038] The first obstacle image acquisition submodule is used to acquire images of the first obstacle on the preset cleaning path that has not been passed before through the front-facing camera;

[0039] The size information acquisition submodule is used to identify the first obstacle in the first obstacle image and acquire the size information of the first obstacle;

[0040] The first large particle determination submodule is used to determine the first obstacle as a large particle when the size information meets a preset size threshold, and to obtain the location information of the large particle.

[0041] The present invention also provides an electronic device, the device comprising a processor and a memory:

[0042] The memory is used to store program code and transmit the program code to the processor;

[0043] The processor is configured to execute the road cleaning method as described above, according to instructions in the program code.

[0044] The present invention also provides a computer-readable storage medium for storing program code for performing the road sweeping method as described in any of the preceding claims.

[0045] As can be seen from the above technical solutions, the present invention has the following advantages: The present invention also provides a road cleaning method, including: identifying large particles on a preset cleaning path and obtaining the location information of the large particles; generating a navigation route based on the location information and determining the target cleaning personnel; sending the navigation route to the terminal corresponding to the target cleaning personnel; and using navigation to guide the target cleaning personnel to perform cleaning. The present invention, by identifying large particles on the cleaning path and determining the location information of the large particles to generate a navigation route, guides the target cleaning personnel to perform cleaning through the navigation route, thereby clearing obstacles that are large in size or heavy in mass that cannot be cleaned by unmanned cleaning vehicles, and improving the cleaning effect. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating the steps of a road sweeping method provided in an embodiment of the present invention;

[0048] Figure 2 A flowchart illustrating the steps of a road sweeping method according to another embodiment of the present invention;

[0049] Figure 3 This is a structural block diagram of a road sweeping device provided in an embodiment of the present invention. Detailed Implementation

[0050] This invention provides a road sweeping method, apparatus, electronic device, and storage medium to solve the technical problem that unmanned sweeping vehicles cannot sweep obstacles that are large in size or heavy in mass, resulting in poor sweeping effect.

[0051] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0052] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of a road sweeping method provided in an embodiment of the present invention.

[0053] The present invention provides a road sweeping method, applied to unmanned sweeping vehicles, which may specifically include the following steps:

[0054] Step 101: Identify large particles on the preset cleaning path and obtain the location information of the large particles;

[0055] Large particles refer to objects that cannot be sucked into the suction port of an automated guided vehicle (AGV), such as objects that are too large in size or mass. For example, if the maximum diameter of the AGV's suction port is 20cm, then large particles can be large objects with a maximum diameter exceeding 20cm, such as tree branches blown down by strong winds. If the maximum mass that the AGV's suction port can suck in is 20g, then large particles can be objects with a mass exceeding 20g, such as bricks.

[0056] In this embodiment of the invention, the unmanned cleaning vehicle is equipped with a series of image acquisition devices for collecting environmental data around the vehicle. In practical applications, the unmanned cleaning vehicle can automatically perform cleaning tasks within a set range according to a predetermined cleaning path, and acquire images of its surroundings in real time through the image acquisition devices. Based on the acquired images, large particles on the preset cleaning path can be identified, and the location information of these large particles can be obtained through the vehicle's navigation system.

[0057] Step 102: Generate a navigation route based on the location information and determine the target cleaning personnel;

[0058] In this embodiment of the invention, based on the location information of large particles, the nearest cleaning personnel can be identified as the target cleaning personnel in real time. A navigation route is then generated to guide the target cleaning personnel in cleaning the large particles, thus notifying them to perform the cleaning. The generation of the navigation route can be achieved by analyzing the relative distance between the large particles and the target cleaning personnel, as well as the distribution of the large particles on the road.

[0059] In practice, cleaning staff can use their personal terminal devices to report their real-time location to the cloud, so that the cloud can assign them appropriate cleaning areas in real time.

[0060] Step 103: Send the navigation route to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning.

[0061] In this embodiment of the invention, after obtaining the navigation route, the navigation route can be sent to the terminal device carried by the target cleaning personnel to guide the target cleaning personnel to clean large particles.

[0062] This invention identifies large particles on the cleaning path and determines their location information to generate a navigation route. This navigation route guides cleaning personnel to perform cleaning, thereby removing large or heavy obstacles that unmanned cleaning vehicles cannot clean, thus improving cleaning efficiency.

[0063] Please see Figure 2 , Figure 2 This is a flowchart illustrating the steps of a road sweeping method according to another embodiment of the present invention. This embodiment is derived from the above embodiments through supplementation and refinement, and may specifically include the following steps:

[0064] Step 201: Identify large particles on the preset cleaning path and obtain the location information of the large particles;

[0065] In this embodiment of the invention, the unmanned sweeping vehicle can automatically perform sweeping tasks within a set range according to a predetermined sweeping path, and acquire images of the surrounding area in real time through an image acquisition device. Based on the acquired images, large particles on the preset sweeping path are identified, and the location information of these large particles is obtained through the vehicle navigation system.

[0066] In one example, large particles can be objects with a relatively large volume. The steps of identifying large particles on a pre-defined cleaning path and obtaining their location information may include the following sub-steps:

[0067] S11 uses a front-facing camera to capture images of the first obstacle on a previously untouched preset cleaning path;

[0068] S12, identify the first obstacle in the first obstacle image and obtain the size information of the first obstacle;

[0069] S13, when the size information meets the preset size threshold, the first obstacle is identified as a large particle, and the location information of the large particle is obtained;

[0070] S14: Using the location information as a detour point, a new cleaning path is generated.

[0071] In this embodiment of the invention, a front-facing camera can be used to capture images of first obstacles on a preset cleaning path that have not been previously passed. The first obstacle image is a ground image of the section of road that the unmanned cleaning vehicle is about to pass through.

[0072] The first obstacle refers to an object in the first obstacle image that is not part of the road.

[0073] After acquiring the first obstacle image, the system can identify the first obstacle in the image and its size information to determine whether it is a large particle. When the size of an obstacle exceeds a preset size threshold (which can be set according to the size of the unmanned sweeper's suction inlet), the first obstacle can be identified as a large particle. Simultaneously, the location information of the large particles is obtained through the vehicle's navigation system.

[0074] When the first obstacle is determined to be a large particle, in order to avoid the large particle from clogging the suction inlet, a new cleaning path can be generated to bypass the large particle by using the large particle as a detour point.

[0075] In another example, large particles can be obstacles with large mass. The step of identifying large particles on a pre-defined cleaning path and obtaining their location information may further include the following sub-steps:

[0076] S15 uses a blind spot camera to capture images of the second obstacle on the cleaning path that has already been passed;

[0077] S16, identify the second obstacle in the second obstacle image, determine the second obstacle as a large particle, and obtain the location information of the large particle.

[0078] In this embodiment of the invention, when no large particles are detected in the first obstacle image in front of the unmanned sweeper, the vehicle can proceed along the original sweeping path. After passing the obstacle, a second obstacle image is captured by a blind spot camera (which may include cameras that capture images of the left, right, and rear sides of the unmanned sweeper). The second obstacle image is used to determine whether a second obstacle exists on the already passed path. If so, it indicates that the second obstacle is a large object that cannot be sucked in by the suction port. At this time, the location information of the second obstacle can be obtained to guide the sweeping personnel to perform the sweeping.

[0079] Step 202: Divide the cleaning path into multiple grids;

[0080] Step 203: Identify the cleaning personnel within the grid as the target cleaning personnel for the grid;

[0081] In this embodiment of the invention, to facilitate the scheduling of cleaning personnel, the area covered by the cleaning path can be divided into multiple grids, and manual cleaning can be carried out in each grid. When scheduling cleaning personnel, the cleaning personnel within a grid can be identified as target cleaning personnel, and the target cleaning personnel can be instructed to complete the cleaning of the relevant grid.

[0082] In one example, each grid can be assigned a specific cleaning staff member, with the designated staff member cleaning the corresponding grid.

[0083] Step 204: Obtain the current location of the target cleaning personnel within the grid;

[0084] Step 205: Generate a navigation route based on the current location of the target cleaning personnel and the location information of major particles within the grid;

[0085] In this embodiment of the invention, the cloud can generate a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid.

[0086] In one example, the step of generating a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid may include the following sub-steps:

[0087] S51, based on the current location of the target cleaning personnel and the location information of the major particles within the grid, calculate the first relative distance between the major particles and the target cleaning personnel, and the second relative distance between the major particles;

[0088] S52, taking the current position of the target cleaning personnel as the starting point, the largest particles with the smallest relative distance are identified as the first cleaning target;

[0089] S53 connects the target cleaning personnel and the first cleaning object to generate an initial navigation route;

[0090] S54, taking the first cleaning object as the starting point, the large particles with the smallest relative distance to the first cleaning object are taken as the second cleaning object;

[0091] S55 connects the first and second objects to be cleaned and obtains an updated navigation route;

[0092] S56, Determine if there are unconnected large particles in the mesh;

[0093] S57, If yes, take the second cleaning object as the first cleaning object, and return to the step of taking the largest particle with the smallest relative distance to the first cleaning object as the second cleaning object, starting from the first cleaning object;

[0094] S58, if there are no unconnected large particles in the grid, the navigation route will be updated as the navigation route for the large particles in the grid.

[0095] In this embodiment of the invention, the current position of the target cleaning personnel can be used as the starting point. The largest particle closest to the target cleaning personnel in terms of first relative distance can be taken as the first cleaning object. Then, the target cleaning personnel and the first cleaning object can be connected as the initial navigation route. Next, the largest particle with the smallest second relative distance from the first cleaning object can be found as the second cleaning object, and the initial navigation route can be updated. This process is repeated, connecting each large particle according to its second relative distance to form a complete navigation route.

[0096] Step 206: Send the navigation route to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning.

[0097] In this embodiment of the invention, after obtaining the navigation route, the navigation route can be sent to the terminal device carried by the target cleaning personnel to guide the target cleaning personnel to clean large particles.

[0098] This invention identifies large particles on the cleaning path and determines their location information to generate a navigation route. This navigation route guides cleaning personnel to perform cleaning, thereby removing large or heavy obstacles that unmanned cleaning vehicles cannot clean, thus improving cleaning efficiency.

[0099] Please see Figure 3 , Figure 3 This is a structural block diagram of a road sweeping device provided in an embodiment of the present invention.

[0100] This invention provides a road sweeping device for use in unmanned sweeping vehicles; the device includes:

[0101] The identification module 301 is used to identify large particles on the preset cleaning path and obtain the location information of the large particles;

[0102] The route and target cleaning personnel determination module 302 is used to generate a navigation route and determine the target cleaning personnel based on location information;

[0103] The sending module 303 is used to send the navigation route to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to carry out cleaning.

[0104] In this embodiment of the invention, the identification module 301 includes:

[0105] The first obstacle image acquisition submodule is used to acquire images of the first obstacle on the preset cleaning path that has not been passed before through the front-facing camera;

[0106] The size information acquisition submodule is used to identify the first obstacle in the first obstacle image and acquire the size information of the first obstacle;

[0107] The first large particle determination submodule is used to identify the first obstacle as a large particle when the size information meets the preset size threshold, and to obtain the location information of the large particle.

[0108] In this embodiment of the invention, the identification module 301 further includes:

[0109] The new cleaning path generation submodule is used to generate a new cleaning path using location information as detour points.

[0110] In this embodiment of the invention, the identification module 301 further includes:

[0111] The second obstacle image acquisition submodule is used to acquire images of the second obstacle on the already passed cleaning path through the blind spot camera;

[0112] The second large particle identification submodule is used to identify the second obstacle in the second obstacle image, identify the second obstacle as a large particle, and obtain the location information of the large particle.

[0113] In this embodiment of the invention, the route and target cleaning personnel determination module 302 includes:

[0114] The grid division submodule is used to divide the cleaning path into multiple grids;

[0115] The target cleaning personnel determination submodule is used to identify cleaning personnel within the grid as the target cleaning personnel of the grid.

[0116] The current location acquisition submodule is used to obtain the current location of the target cleaning personnel within the grid;

[0117] The navigation route generation submodule is used to generate a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid.

[0118] In this embodiment of the invention, the navigation route generation submodule includes:

[0119] The relative distance calculation unit is used to calculate the first relative distance between the target cleaning personnel and the target cleaning personnel, as well as the second relative distance between the target cleaning personnel and the target cleaning personnel, based on the current position of the target cleaning personnel and the position information of the major particles in the grid.

[0120] The first cleaning object determination unit is used to determine the large particles with the smallest relative distance as the first cleaning object, starting from the current position of the target cleaning personnel.

[0121] The initial navigation route generation unit is used to connect the target cleaning personnel and the first cleaning object to generate an initial navigation route;

[0122] The second cleaning object determination unit is used to take the first cleaning object as the starting point and the large particles with the smallest relative distance to the first cleaning object as the second cleaning object;

[0123] The navigation route generation unit is updated to connect the first cleaning object and the second cleaning object to obtain an updated navigation route.

[0124] The judgment unit is used to determine whether there are unconnected large particles in the mesh;

[0125] The return unit is used to, if so, treat the second cleaning object as the first cleaning object and return the step of taking the largest particle with the smallest relative distance to the first cleaning object as the second cleaning object, starting from the first cleaning object;

[0126] The navigation route determination unit is used to update the navigation route as the navigation route for the large particles in the grid if there are no unconnected large particles in the grid.

[0127] This invention also provides an electronic device, which includes a processor and a memory:

[0128] The memory is used to store program code and transfer the program code to the processor;

[0129] The processor is used to execute the road sweeping method of this invention according to the instructions in the program code.

[0130] This invention also provides a computer-readable storage medium for storing program code for executing the road cleaning method of this invention.

[0131] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0132] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0133] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0137] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0138] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0139] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 the present invention.

Claims

1. A road sweeping method, characterized in that, Applied to unmanned sweeping vehicles; the method includes: Identify large particles on the preset cleaning path and obtain the location information of the large particles; Based on the location information, a navigation route is generated and the target cleaning personnel are identified; The navigation route is sent to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning. The step of generating a navigation route and determining the target cleaning personnel based on the location information includes: The cleaning path is divided into multiple grids; The cleaning personnel within the grid are identified as the target cleaning personnel for the grid. Obtain the current location of the target cleaning personnel within the grid; A navigation route is generated based on the current location of the target cleaning personnel and the location information of large particles within the grid. The step of generating a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid includes: Based on the current location of the target cleaning personnel and the location information of the major particles within the grid, calculate the first relative distance between the major particles and the target cleaning personnel, and the second relative distance between the major particles. Starting from the current position of the target cleaning personnel, the largest particles with the smallest relative distance are identified as the first cleaning target; Connect the target cleaning personnel and the first cleaning object to generate an initial navigation route; Starting from the first cleaning object, the largest particles with the smallest relative distance to the first cleaning object are taken as the second cleaning object; Connect the first cleaning object and the second cleaning object to obtain the updated navigation route; Determine whether there are large, unconnected particles in the grid; If so, take the second cleaning object as the first cleaning object, and return to the step of taking the largest particle with the smallest relative distance to the first cleaning object as the second cleaning object, starting from the first cleaning object; If there are no unconnected large particles in the grid, the updated navigation route is used as the navigation route for the large particles in the grid.

2. The method according to claim 1, characterized in that, The step of identifying large particles on a preset cleaning path and obtaining the location information of the large particles includes: The front-facing camera captures an image of the first obstacle on a previously untouched, preset cleaning path. Identify the first obstacle in the first obstacle image and obtain the size information of the first obstacle; When the size information meets the preset size threshold, the first obstacle is identified as a large particle, and the location information of the large particle is obtained.

3. The method according to claim 2, characterized in that, After the step of obtaining the location information of the large particles, the method further includes: A new cleaning path is generated using the location information as a detour point.

4. The method according to claim 2, characterized in that, The step of identifying large particles on a preset cleaning path and obtaining the location information of the large particles further includes: Images of the second obstacle along the cleaning path are captured by a blind spot camera; The second obstacle in the second obstacle image is identified, the second obstacle is determined to be a large particle, and the location information of the large particle is obtained.

5. A road sweeping device, characterized in that, Applied to unmanned sweeping vehicles; the device includes: The identification module is used to identify large particles on a preset cleaning path and obtain the location information of the large particles. The route and target cleaning personnel determination module is used to generate a navigation route and determine the target cleaning personnel based on the location information. The sending module is used to send the navigation route to the terminal corresponding to the target cleaning personnel; the navigation route is used to guide the target cleaning personnel to perform cleaning. The module for determining the route and target cleaning personnel includes: The grid division submodule is used to divide the cleaning path into multiple grids; The target cleaning personnel determination submodule is used to identify cleaning personnel within the grid as the target cleaning personnel of the grid. The current location acquisition submodule is used to obtain the current location of the target cleaning personnel within the grid; The navigation route generation submodule is used to generate a navigation route based on the current location of the target cleaning personnel and the location information of large particles within the grid. The navigation route generation submodule includes: The relative distance calculation unit is used to calculate the first relative distance between the target cleaning personnel and the target cleaning personnel, as well as the second relative distance between the target cleaning personnel and the target cleaning personnel, based on the current position of the target cleaning personnel and the position information of the major particles in the grid. The first cleaning object determination unit is used to determine the large particles with the smallest relative distance as the first cleaning object, starting from the current position of the target cleaning personnel. The initial navigation route generation unit is used to connect the target cleaning personnel and the first cleaning object to generate an initial navigation route; The second cleaning object determination unit is used to take the first cleaning object as the starting point and the large particles with the smallest relative distance to the first cleaning object as the second cleaning object; The navigation route generation unit is updated to connect the first cleaning object and the second cleaning object to obtain an updated navigation route. The judgment unit is used to determine whether there are unconnected large particles in the mesh; The return unit is used to, if so, treat the second cleaning object as the first cleaning object and return the step of taking the largest particle with the smallest relative distance to the first cleaning object as the second cleaning object, starting from the first cleaning object; The navigation route determination unit is used to update the navigation route as the navigation route for the large particles in the grid if there are no unconnected large particles in the grid.

6. The apparatus according to claim 5, characterized in that, The identification module includes: The first obstacle image acquisition submodule is used to acquire images of the first obstacle on the preset cleaning path that has not been passed before through the front-facing camera; The size information acquisition submodule is used to identify the first obstacle in the first obstacle image and acquire the size information of the first obstacle; The first large particle determination submodule is used to determine the first obstacle as a large particle when the size information meets a preset size threshold, and to obtain the location information of the large particle.

7. An electronic device, 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 configured to execute the road cleaning method according to any one of claims 1-4 according to 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 for performing the road sweeping method according to any one of claims 1-4.

Images