A sanitation method and device based on vehicle linkage

Abstract

The application discloses a sanitation method and device based on vehicle linkage. The sanitation method comprises the following steps: receiving the position of each garbage to be cleaned in a sanitation area sent by a target vehicle; obtaining a road planning map of the sanitation area; determining a cleaning path according to the position of each garbage to be cleaned and the road planning map; sending the cleaning path to a sanitation vehicle, so that the sanitation vehicle drives to the position of each garbage to be cleaned according to the cleaning path for cleaning; determining the cleaning result of each garbage to be cleaned, and sending the cleaning result of each garbage to be cleaned to the target vehicle, so that the target vehicle drives according to the cleaning result. The target vehicle and the sanitation vehicle are linked, the position of the garbage to be cleaned found by the target vehicle during driving can be received, and the cleaning path of the sanitation vehicle is planned according to the position, so that the sanitation vehicle can accurately and quickly drive to the position of each garbage to be cleaned for cleaning.

Description

Technical Field

[0001] This application relates to the field of vehicle-based sanitation technology, specifically to a sanitation method and device based on vehicle linkage. Background Technology

[0002] Sanitation vehicles are indispensable for urban planning and environmental safety. They can perform sanitation functions while driving, such as spraying water and sweeping the ground. Sanitation vehicles generally travel through every road in the sanitation area, and the dust or garbage on the road surface of each road will be cleaned up by the sanitation vehicles.

[0003] However, sanitation vehicles can only clean up garbage encountered during their journey. If there is garbage on other roads, the sanitation vehicles can only clean up the garbage after they have traveled to other roads according to their normal working mode. This means they cannot accurately and promptly clean up roads with garbage, which is not conducive to the cleanliness of the roads. Summary of the Invention

[0004] In view of this, this application provides a sanitation method and device based on vehicle linkage to solve the problem that sanitation vehicles can only clean up garbage encountered during their journey. If there is garbage on other roads, the sanitation vehicles can only clean up the garbage after they have traveled to other roads in the normal working mode. This is not able to accurately and timely clean up the roads with garbage, which is not conducive to the cleanliness of the roads.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] Firstly, a sanitation method based on vehicle linkage includes:

[0007] Receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle;

[0008] Obtain the road planning map of the sanitation area and the current location of the sanitation vehicles;

[0009] The cleaning path is determined based on the location of each piece of trash to be cleaned, the road planning map, and the current location;

[0010] The cleaning path is sent to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0011] The cleaning result of each piece of garbage to be cleaned is determined, and the cleaning result of each piece of garbage to be cleaned is sent to the target vehicle so that the target vehicle can proceed with its subsequent driving based on the cleaning result.

[0012] Preferably, determining the cleaning path based on the location of each piece of trash to be cleaned and the road planning map includes:

[0013] For each piece of garbage to be cleaned, based on the road planning map, the path formed by the sanitation vehicle traveling from its current location to the location of the garbage to be cleaned is taken as the first path;

[0014] Calculate the overlap between each pair of first paths;

[0015] The cleaning path is planned based on the overlap between each two first paths.

[0016] Preferably, determining the cleaning path based on the location of each piece of trash to be cleaned, the road planning map, and the current location includes:

[0017] Determine whether there are two first paths with an overlap greater than a first preset threshold;

[0018] If not, then determine the first travel distance between the current location of the sanitation vehicle and the location of each piece of garbage to be cleaned;

[0019] The garbage to be cleaned is sorted in ascending order of the first travel distance, and a cleaning path is planned according to the sorting.

[0020] If so, the overlapping portion between the two first paths with an overlap greater than the first preset threshold is taken as the second path;

[0021] Each of the second paths and each of the first paths whose overlap with any of the first paths is no greater than a first preset threshold are all regarded as the third path;

[0022] The cleaning path is planned based on each of the third paths described above.

[0023] Preferably, determining the cleaning path based on the location of each piece of trash to be cleaned, the road planning map, and the current location includes:

[0024] For the multiple roads within the sanitation area, determine whether there are multiple pieces of garbage awaiting cleaning located on the same road;

[0025] If so, then each road with multiple piles of garbage to be cleaned will be designated as a "multi-garbage road".

[0026] For each road with a lot of garbage, determine the second travel distance between the current position of the sanitation vehicle and each piece of garbage to be cleaned on that road;

[0027] Each piece of garbage to be cleaned with the longest second driving distance on each of the multi-garbage roads, and each piece of garbage to be cleaned on other roads in the sanitation area other than the multi-garbage roads, are regarded as each first piece of garbage to be processed.

[0028] Based on the location of each of the first types of waste to be processed and the road planning map, the cleaning path is determined.

[0029] Preferably, the process of the target vehicle proceeding with its subsequent driving based on each of the cleaning results includes:

[0030] Based on the cleaning results, determine whether there are any uncollected trash items that failed to be cleaned.

[0031] If so, then each piece of trash that failed to be cleaned will be treated as a separate piece of trash that failed to be cleaned.

[0032] For each piece of trash that failed to be cleaned, determine the actual type of trash to which it belongs;

[0033] Each piece of garbage that failed to be cleaned, which is a preset obstacle type, is designated as a first obstacle garbage.

[0034] Record the position of each of the first obstacle debris, and avoid the target vehicle when it travels to the position of each of the first obstacle debris.

[0035] Preferably, determining the actual type of waste to which each failed-to-be-cleaned waste belongs includes:

[0036] For each piece of trash that failed to be cleaned, an image of the trash was acquired, and the type of trash to which the trash belonged was identified based on the image, and this type was designated as the first type of trash.

[0037] Determine whether the failed-to-clean trash is recorded in the cloud corresponding to the target vehicle as belonging to any of the various trash types other than the first trash type;

[0038] If so, the actual type of waste to which the failed-to-clean waste belongs is determined based on the first type of waste and the other types of waste.

[0039] If not, then the first type of waste will be taken as the true type of waste for the failed cleaning.

[0040] Preferably, it further includes:

[0041] Each piece of garbage to be cleaned that is of the preset re-cleanable type is considered as a piece of garbage to be cleaned again.

[0042] The locations where garbage needs to be cleaned again are sent to other sanitation vehicles within the sanitation area, so that the other sanitation vehicles can drive to the locations where garbage needs to be cleaned again for secondary cleaning.

[0043] Preferably, it further includes:

[0044] The first current position, first speed, and first current direction of travel of the sanitation vehicle, as well as the second current position, second speed, and second current direction of travel of the target vehicle, are acquired in real time.

[0045] Based on the first current position, first speed, first current direction of travel, second current position, second speed, and second current direction of travel, it is predicted whether the sanitation vehicle and the target vehicle will simultaneously enter any two-way single lane in the sanitation area in opposite directions within a first preset time period.

[0046] If so, then predict the time it would take for the sanitation vehicle and the target vehicle to pass through the two-way single lane individually;

[0047] A stop signal is sent to the vehicle that takes the longest time to pass through the two-way single lane among the sanitation vehicles and the target vehicles.

[0048] Secondly, a sanitation device based on vehicle linkage includes:

[0049] The location receiving module is used to receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle;

[0050] The road planning map acquisition module is used to acquire the road planning map of the sanitation area;

[0051] The cleaning path determination module is used to determine the cleaning path based on the location of each piece of garbage to be cleaned and the road planning map;

[0052] The cleaning path sending module is used to send the cleaning path to the sanitation vehicle, so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0053] The cleaning result sending module is used to determine the cleaning result of each of the garbage items to be cleaned, and send each cleaning result of each garbage item to the target vehicle so that the target vehicle can proceed with its subsequent driving based on each cleaning result.

[0054] Preferably, the cleaning path determination module includes:

[0055] The first path determination module is used to determine the first path for each piece of garbage to be cleaned, based on the road planning map, the path formed by the sanitation vehicle traveling from its current position to the location of the garbage to be cleaned.

[0056] The overlap calculation module is used to calculate the overlap between each pair of first paths;

[0057] The cleaning path planning module is used to plan the cleaning path based on the overlap between each two first paths.

[0058] As can be seen from the above technical solution, this application receives the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle; obtains the road planning map of the sanitation area; determines the cleaning path based on the location of each piece of garbage to be cleaned and the road planning map; sends the cleaning path to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path; determines the cleaning result of each piece of garbage to be cleaned, and sends the cleaning result of each piece of garbage to be cleaned to the target vehicle so that the target vehicle can proceed according to the cleaning result. This solution links the target vehicle and the sanitation vehicle, and can receive the location of garbage to be cleaned found by the target vehicle during its journey, and plan the cleaning path of the sanitation vehicle according to each location, so that the sanitation vehicle can travel to each location to clean the garbage to be cleaned in a purposeful manner according to the cleaning path, without the need for the sanitation vehicle to travel along a conventional path and only the road surface it travels to be cleaned. It can carry out sanitation work in the sanitation area efficiently, quickly and accurately, and effectively maintain the cleanliness of the roads. Attached Figure Description

[0059] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0060] Figure 1 An optional flowchart of a vehicle-linked sanitation method provided for an embodiment of this application;

[0061] Figure 2 This is a schematic diagram of a vehicle driving scenario provided in an embodiment of this application;

[0062] Figure 3 This is a schematic diagram of another vehicle driving scenario provided in an embodiment of this application;

[0063] Figure 4 A schematic diagram of a vehicle-linked sanitation device provided in an embodiment of this application;

[0064] Figure 5This is a structural schematic diagram of a vehicle-linked sanitation equipment provided in an embodiment of this application. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0066] Sanitation vehicles are indispensable for urban planning and environmental safety. They can perform sanitation functions while driving, such as spraying water and sweeping the ground. Sanitation vehicles generally travel through every road in the sanitation area, and the dust or garbage on the road surface of each road will be cleaned up by the sanitation vehicles.

[0067] However, sanitation vehicles can only clean up garbage encountered during their journey. If there is garbage on other roads, the sanitation vehicles can only clean up the garbage after they have traveled to other roads according to their normal working mode. This means they cannot accurately and promptly clean up roads with garbage, which is not conducive to the cleanliness of the roads.

[0068] This invention provides a sanitation method based on vehicle linkage. This method can be applied to various computer terminals or smart terminals, and its execution entity can be the processor or server of the computer terminal or smart terminal. The method flowchart is shown below. Figure 1 As shown, it specifically includes:

[0069] S1: Receives the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle.

[0070] In this application, the target vehicle is a vehicle that corresponds to and is linked with sanitation vehicles, used to monitor garbage or obstacles on the road surface of each road in the sanitation area in real time. The vehicle can be any type of vehicle, such as a car, bus or other sanitation vehicle that is driving or passing through the sanitation area normally, etc. This embodiment does not limit this.

[0071] In one example, the target vehicle is a sightseeing minibus. While driving within the sanitation area, the minibus, in addition to performing its own tasks, such as carrying tourists for sightseeing, will also monitor the road it is traveling on, as well as the furthest location it can monitor and the garbage on the road surface in real time, and record the location of each piece of garbage to be cleaned, and then send these locations to the backend terminal or the cloud; optionally, if the target vehicle is the implementing entity of this solution, the target vehicle can directly send the locations of these garbage to be cleaned to the sanitation vehicle.

[0072] Specifically, the location of the garbage to be cleaned can be based on the coordinates of the sanitation area, or it can be based on a landmark object, with the angle and distance of the garbage to be cleaned determining its location.

[0073] S2: Obtain the road planning map of the sanitation area.

[0074] The road planning map includes information such as driving rules, road specifications, and driving directions for each road, for reference.

[0075] S3: Determine the cleaning path based on the location of each piece of trash to be cleaned and the road planning map.

[0076] Based on the location of each piece of garbage to be cleaned, the road where each piece of garbage is located can be determined, and the information of the roads with garbage to be cleaned can be organized to plan the cleaning route.

[0077] Optionally, a path planning model can be constructed. The location of each piece of trash to be cleaned is input into this model to obtain a cleaning path. This path planning model is trained using multiple sets of trash locations as training samples, and the cleaning path corresponding to each set of trash locations is used as the sample label. Each set of trash locations is randomly generated. For example, if there are 10 roads in the sanitation area, trash is randomly placed on these 10 roads to form countless trash location sample sets.

[0078] S4: Send the cleaning path to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0079] If the sanitation vehicle is in normal driving condition, after receiving the cleaning route, it will start driving along the cleaning route at its current location to complete the cleaning operation.

[0080] S5: Determine the cleaning result of each of the garbage items to be cleaned, and send each cleaning result of each of the garbage items to the target vehicle so that the target vehicle can proceed with its subsequent driving based on each cleaning result.

[0081] For each piece of garbage to be cleaned, after the sanitation vehicle cleans the garbage, it is determined whether the garbage has been successfully cleaned into the sanitation vehicle. If yes, the cleaning result of the garbage is considered successful; otherwise, the cleaning result of the garbage is considered unsuccessful.

[0082] The cleanup results for each piece of garbage to be cleaned are sent to the target vehicles so that they can determine their next driving route based on the cleanup results or take action when they encounter uncleaned garbage. For example, if a piece of garbage to be cleaned is a large obstacle, its location needs to be sent to the target vehicle so that it can avoid it. The cleanup results can also be sent to all vehicles in the sanitation area so that all vehicles can avoid it or replan their driving routes.

[0083] As can be seen from the above technical solution, this application receives the location of each piece of garbage to be cleaned in the sanitation area from the target vehicle; obtains the road planning map of the sanitation area; determines the cleaning path based on the location of each piece of garbage to be cleaned and the road planning map; sends the cleaning path to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path; determines the cleaning result of each piece of garbage to be cleaned, and sends the cleaning result of each piece of garbage to be cleaned to the target vehicle so that the target vehicle can proceed according to the cleaning result. This solution links the target vehicle and the sanitation vehicle, and can receive the location of garbage to be cleaned found by the target vehicle during its journey, and plan the cleaning path of the sanitation vehicle according to each location, so that the sanitation vehicle can travel to each location to clean the garbage to be cleaned in a purposeful manner according to the cleaning path, without the need for the sanitation vehicle to travel along a conventional path and only the road surface it travels to be cleaned. This can efficiently, quickly and accurately carry out sanitation work in the sanitation area, effectively maintaining the cleanliness of the roads. In addition, this solution can be applied to the field of autonomous driving.

[0084] The method provided in this embodiment of the invention, which determines the cleaning path based on the location of each piece of garbage to be cleaned, the road planning map, and the current location, may include the following two methods:

[0085] (a) Determine the cleaning path based on the degree of path overlap.

[0086] For each piece of garbage to be cleaned, based on the road planning map, the path formed by the sanitation vehicle traveling from its current location to the location of the garbage to be cleaned is taken as the first path;

[0087] Calculate the overlap between each pair of first paths;

[0088] The cleaning path is planned based on the overlap between each two first paths.

[0089] Specifically, the process of planning the cleaning path based on the overlap between each pair of first paths includes:

[0090] Determine whether there are two first paths with an overlap greater than a first preset threshold;

[0091] If not, then determine the first travel distance between the current location of the sanitation vehicle and the location of each piece of garbage to be cleaned;

[0092] The garbage to be cleaned is sorted in ascending order of the first travel distance, and a cleaning path is planned according to the sorting.

[0093] If so, the overlapping portion between the two first paths with an overlap greater than the first preset threshold is taken as the second path;

[0094] Each of the second paths and each of the first paths whose overlap with any of the first paths is no greater than a first preset threshold are all regarded as the third path;

[0095] The cleaning path is planned based on each of the third paths described above.

[0096] The first preset threshold can be set to 50%, 60%, etc. The method for calculating the overlap can be as follows: obtain the path length of each first path, then determine the overlap length between each pair of first paths, calculate the percentage of the path length of the two first paths relative to the overlap length for each pair of first paths, and select the average of these two percentages as the overlap degree between the two first paths.

[0097] (ii) Plan the cleaning path based on the perspective that there are multiple pieces of garbage to be cleaned on the same road.

[0098] For the multiple roads within the sanitation area, determine whether there are multiple pieces of garbage awaiting cleaning located on the same road;

[0099] If so, then each road with multiple piles of garbage to be cleaned will be designated as a "multi-garbage road".

[0100] For each road with a lot of garbage, determine the second travel distance between the current position of the sanitation vehicle and each piece of garbage to be cleaned on that road;

[0101] Each piece of garbage to be cleaned with the longest second driving distance on each of the multi-garbage roads, and each piece of garbage to be cleaned on other roads in the sanitation area other than the multi-garbage roads, are regarded as each first piece of garbage to be processed.

[0102] Based on the location of each of the first types of waste to be processed and the road planning map, the cleaning path is determined.

[0103] It is understandable that if a sanitation vehicle travels to the furthest point of garbage on a road with a lot of garbage, then the other garbage on that road will definitely be cleaned up.

[0104] The above solution describes the process of determining the cleaning path based on the location of each piece of garbage to be cleaned, the road planning map, and the current location in this application. The following embodiments describe in detail the process of the target vehicle driving subsequently based on each cleaning result.

[0105] Based on the cleaning results, determine whether there are any uncollected trash items that failed to be cleaned.

[0106] If so, then each piece of trash that failed to be cleaned will be treated as a separate piece of trash that failed to be cleaned.

[0107] For each piece of trash that failed to be cleaned, determine the actual type of trash to which it belongs;

[0108] Each piece of garbage that failed to be cleaned, which is a preset obstacle type, is designated as a first obstacle; the position of each first obstacle is recorded, and the target vehicle avoids the position of each first obstacle when it travels to it.

[0109] Each piece of garbage to be cleaned that is of the preset re-cleanable type is designated as a piece of garbage to be cleaned again; the location of each piece of garbage to be cleaned again is sent to other sanitation vehicles in the sanitation area so that the other sanitation vehicles can drive to the location of each piece of garbage to be cleaned again for secondary cleaning.

[0110] In the above scheme, for example, some of the garbage to be cleaned may be classified as obstacles, so target vehicles with low chassis cannot pass safely. Therefore, it is necessary to determine the actual garbage type of the garbage to be cleaned based on the cleaning results in order to avoid it, such as by taking a detour or replanning the route. For example, some garbage to be cleaned is not easy to clean up, and sanitation vehicles cannot clean it up in one go, or the sweeping power of the sanitation vehicles is not enough to sweep it into the garbage bin of the sanitation vehicles. Therefore, each piece of garbage to be cleaned that is classified as a preset re-cleanable type can be treated as a re-cleanable garbage and its location can be sent to other sanitation vehicles for secondary cleaning, or sent to large sanitation vehicles with strong sweeping power for secondary cleaning. This embodiment does not limit this.

[0111] Specifically, for each piece of waste that failed to be cleaned, the actual type of waste to which it belongs is determined, including:

[0112] For each piece of trash that failed to be cleaned, an image of the trash is acquired, and the type of trash to which the trash belongs is identified based on the image, and designated as the first type of trash. It is then determined whether the trash that failed to be cleaned is recorded in the cloud corresponding to the target vehicle as belonging to any of the other types of trash besides the first type of trash. If so, the actual type of trash to which the trash belongs is determined based on the first type of trash and the other types of trash. If not, the first type of trash is taken as the actual type of trash for the trash that failed to be cleaned.

[0113] For each piece of trash that failed to be cleaned, an image of the trash is acquired, and the type of trash to which the trash belongs is identified based on the image, and designated as the first type of trash. It is then determined whether the trash that failed to be cleaned is recorded in the cloud corresponding to the target vehicle as belonging to any of the other types of trash besides the first type of trash. If so, the actual type of trash to which the trash belongs is determined based on the first type of trash and the other types of trash. If not, the first type of trash is taken as the actual type of trash for the trash that failed to be cleaned.

[0114] Specifically, the process of determining the true waste type of the failed-to-clean waste based on the first waste type and the other waste types may include: taking the waste type that is recorded the most times as the second waste type; if the second waste type is different from the first waste type, then taking the second waste type as the true waste type of the failed-to-clean waste; if each recorded type is recorded only once, then taking the first waste type as the true waste type of the failed-to-clean waste.

[0115] Optionally, the reason for the failure to clean up the garbage can also be determined, and the type of garbage can be determined based on the reason for the failure.

[0116] Furthermore, considering that the target vehicle and the sanitation vehicle are interconnected, the distance between them will not be too far. Also, sanitation vehicles are larger than ordinary vehicles. Therefore, in narrow two-way single-lane roads, collisions or jamming may occur. Thus, this solution may also include:

[0117] The system acquires in real-time the first current position, first speed, and first current direction of travel of the sanitation vehicle, as well as the second current position, second speed, and second current direction of travel of the target vehicle. Based on the first current position, first speed, first current direction of travel, second current position, second speed, and second current direction of travel, it predicts whether the sanitation vehicle and the target vehicle will simultaneously enter any two-way single lane in the sanitation area in opposite directions within a first preset time period. If so, it predicts the time it would take for each vehicle to pass through the two-way single lane individually. A stop signal is sent to the vehicle that takes the longest time to pass through the two-way single lane, so that the vehicle stops at its current position. This process is as follows: Figure 2 As shown.

[0118] Additionally, it is possible to predict whether sanitation vehicles and target vehicles will simultaneously approach a small intersection within a second preset time period based on the first current location, first vehicle speed, first current direction of travel, second current location, second vehicle speed, and second current direction of travel. Figure 3 As shown, the traffic signal conditions at the current moment can be used to stop the last vehicle to cross the intersection at its current position.

[0119] In another embodiment provided in the application, if the target vehicle is used as the executing entity, then this solution includes:

[0120] During the driving of the target vehicle, the garbage that needs to be cleaned in the sanitation area is monitored in real time, and the location of each piece of garbage to be cleaned is identified.

[0121] The location of each piece of garbage to be cleaned is sent to the sanitation vehicle, so that the sanitation vehicle can determine the cleaning route based on the location of each piece of garbage to be cleaned, the pre-acquired road planning map of the sanitation area and the current location, drive to the location of each piece of garbage to be cleaned according to the cleaning route, clean it, and determine the cleaning result of each piece of garbage to be cleaned.

[0122] Receive the cleaning results of each piece of garbage to be cleaned from the sanitation vehicles, and proceed with the subsequent driving based on each cleaning result.

[0123] and Figure 1 Corresponding to the method described above, embodiments of the present invention also provide a vehicle-linked sanitation device for [specific purposes]. Figure 1 In a specific implementation of the method, the vehicle-linked sanitation device provided in this embodiment of the invention can be integrated into a computer terminal or various mobile devices. Figure 4 This section introduces sanitation equipment based on vehicle linkage, such as... Figure 4 As shown, the device may include:

[0124] The location receiving module 10 is used to receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle;

[0125] The road planning map acquisition module 20 is used to acquire the road planning map of the sanitation area and the current location of the sanitation vehicles;

[0126] The cleaning path determination module 30 is used to determine the cleaning path based on the location of each piece of garbage to be cleaned, the road planning map, and the current location;

[0127] The cleaning path sending module 40 is used to send the cleaning path to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0128] The cleaning result sending module 50 is used to determine the cleaning result of each of the garbage items to be cleaned, and send each cleaning result of each of the garbage items to be cleaned to the target vehicle, so that the target vehicle can proceed with its subsequent driving based on each cleaning result.

[0129] As can be seen from the above technical solution, this application receives the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle; obtains the road planning map of the sanitation area; determines the cleaning path based on the location of each piece of garbage to be cleaned and the road planning map; sends the cleaning path to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path; determines the cleaning result of each piece of garbage to be cleaned, and sends the cleaning result of each piece of garbage to be cleaned to the target vehicle so that the target vehicle can proceed according to the cleaning result. This solution links the target vehicle and the sanitation vehicle, and can receive the location of garbage to be cleaned found by the target vehicle during its journey, and plan the cleaning path of the sanitation vehicle according to each location, so that the sanitation vehicle can travel to each location to clean the garbage to be cleaned in a purposeful manner according to the cleaning path, without the need for the sanitation vehicle to travel along a conventional path and only the road surface it travels to be cleaned. It can carry out sanitation work in the sanitation area efficiently, quickly and accurately, and effectively maintain the cleanliness of the roads.

[0130] In one example, the cleaning path determination module 30 may include:

[0131] The first path determination module is used to determine the first path for each piece of garbage to be cleaned, based on the road planning map, the path formed by the sanitation vehicle traveling from its current position to the location of the garbage to be cleaned.

[0132] The overlap calculation module is used to calculate the overlap between each pair of first paths;

[0133] The cleaning path planning module is used to plan the cleaning path based on the overlap between each two first paths.

[0134] Furthermore, embodiments of this application provide a sanitation equipment based on vehicle linkage. Optionally, Figure 5 The diagram shows the hardware structure of a vehicle-linked sanitation equipment. Figure 5 The hardware structure of a vehicle-linked sanitation equipment may include: at least one processor 01, at least one communication interface 02, at least one memory 03 and at least one communication bus 04.

[0135] In this embodiment, the number of processor 01, communication interface 02, memory 03 and communication bus 04 is at least one, and processor 01, communication interface 02 and memory 03 communicate with each other through communication bus 04.

[0136] Processor 01 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0137] Memory 03 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device.

[0138] The memory stores a program, which the processor can call to execute. The program is used to execute the following vehicle-linked sanitation method, including:

[0139] Receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle;

[0140] Obtain the road planning map of the sanitation area and the current location of the sanitation vehicles;

[0141] The cleaning path is determined based on the location of each piece of trash to be cleaned, the road planning map, and the current location;

[0142] The cleaning path is sent to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0143] The cleaning result of each piece of garbage to be cleaned is determined, and the cleaning result of each piece of garbage to be cleaned is sent to the target vehicle so that the target vehicle can proceed with its subsequent driving based on the cleaning result.

[0144] Optionally, the detailed and extended functions of the program can be found in the description of the vehicle-linked sanitation method in the method embodiments.

[0145] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor. When the program runs, it controls the device where the storage medium is located to execute the following vehicle-linked sanitation method, including:

[0146] Receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle;

[0147] Obtain the road planning map of the sanitation area and the current location of the sanitation vehicles;

[0148] The cleaning path is determined based on the location of each piece of trash to be cleaned, the road planning map, and the current location;

[0149] The cleaning path is sent to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path.

[0150] The cleaning result of each piece of garbage to be cleaned is determined, and the cleaning result of each piece of garbage to be cleaned is sent to the target vehicle so that the target vehicle can proceed with its subsequent driving based on the cleaning result.

[0151] Specifically, the storage medium can be a computer-readable storage medium, which can be an electronic storage device such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM.

[0152] Optionally, the detailed and extended functions of the program can be found in the description of the vehicle-linked sanitation method in the method embodiments.

[0153] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module 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 disclosure, in essence, or the part that contributes to the prior art, or a 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 to cause a computer device (which may be a personal computer, a live streaming device, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this disclosure.

[0154] 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 apparatus 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 apparatus. 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 apparatus that includes said element.

[0155] 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.

[0156] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sanitation method based on vehicle linkage, characterized in that, include: Receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle; Obtain the road planning map of the sanitation area and the current location of the sanitation vehicles; Based on the location of each piece of garbage to be cleaned, the road planning map, and the current location, a cleaning path is determined, including: for each piece of garbage to be cleaned, based on the road planning map, the path formed by the sanitation vehicle traveling from the current location to the location of the garbage to be cleaned is taken as a first path; the overlap degree between any two first paths is calculated; it is determined whether there are two first paths with an overlap degree greater than a first preset threshold; if not, a first travel distance between the current location of the sanitation vehicle and the location of each piece of garbage to be cleaned is determined; the pieces of garbage to be cleaned are sorted in ascending order of the first travel distance, and a cleaning path is planned according to the sorting; if so, the overlapping portion between the two first paths with an overlap degree greater than the first preset threshold is taken as a second path; each second path and each first path with an overlap degree not greater than the first preset threshold is taken as a third path; a cleaning path is planned based on each of the third paths; The cleaning path is sent to the sanitation vehicle so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path. The cleaning result of each piece of garbage to be cleaned is determined, and the cleaning result of each piece of garbage to be cleaned is sent to the target vehicle so that the target vehicle can proceed with its subsequent driving based on the cleaning result.

2. The method according to claim 1, characterized in that, The step of determining the cleaning path based on the location of each piece of garbage to be cleaned, the road planning map, and the current location includes: For the multiple roads within the sanitation area, determine whether there are multiple pieces of garbage awaiting cleaning located on the same road; If so, then each road with multiple piles of garbage to be cleaned will be designated as a "multi-garbage road". For each road with a lot of garbage, determine the second travel distance between the current position of the sanitation vehicle and each piece of garbage to be cleaned on that road; Each piece of garbage to be cleaned with the longest second driving distance on each of the multi-garbage roads, and each piece of garbage to be cleaned on other roads in the sanitation area other than the multi-garbage roads, are regarded as each first piece of garbage to be processed. Based on the location of each of the first types of waste to be processed and the road planning map, the cleaning path is determined.

3. The method according to claim 1, characterized in that, The process of the target vehicle proceeding with its subsequent driving based on the various cleaning results includes: Based on the cleaning results, determine whether there are any uncollected trash items that failed to be cleaned. If so, then each piece of trash that failed to be cleaned will be treated as a separate piece of trash that failed to be cleaned. For each piece of trash that failed to be cleaned, determine the actual type of trash to which it belongs; Each piece of garbage that failed to be cleaned, which is a preset obstacle type, is designated as a first obstacle garbage. Record the position of each of the first obstacle debris, and avoid the target vehicle when it travels to the position of each of the first obstacle debris.

4. The method according to claim 3, characterized in that, For each piece of garbage that failed to be cleaned, the actual type of garbage to which it belongs is determined, including: For each piece of trash that failed to be cleaned, an image of the trash was acquired, and the type of trash to which the trash belonged was identified based on the image, and this type was designated as the first type of trash. Determine whether the failed-to-clean garbage is recorded in the cloud corresponding to the target vehicle as belonging to any of the garbage types other than the first garbage type; If so, the actual type of waste to which the failed-to-clean waste belongs is determined based on the first type of waste and the other types of waste. If not, then the first type of waste will be taken as the true type of waste for the failed cleaning.

5. The method according to claim 3, characterized in that, Also includes: Each piece of garbage to be cleaned that is of the preset re-cleanable type is considered as a piece of garbage to be cleaned again. The locations where garbage needs to be cleaned again are sent to other sanitation vehicles within the sanitation area, so that the other sanitation vehicles can drive to the locations where garbage needs to be cleaned again for secondary cleaning.

6. The method according to claim 1, characterized in that, Also includes: The first current position, first speed, and first current direction of travel of the sanitation vehicle, as well as the second current position, second speed, and second current direction of travel of the target vehicle, are acquired in real time. Based on the first current position, first speed, first current direction of travel, second current position, second speed, and second current direction of travel, it is predicted whether the sanitation vehicle and the target vehicle will simultaneously enter any two-way single lane in the sanitation area in opposite directions within a first preset time period. If so, then predict the time it would take for the sanitation vehicle and the target vehicle to pass through the two-way single lane individually; A stop signal is sent to the vehicle that takes the longest time to pass through the two-way single lane among the sanitation vehicles and the target vehicles.

7. A sanitation device based on vehicle linkage, characterized in that, include: The location receiving module is used to receive the location of each piece of garbage to be cleaned in the sanitation area sent by the target vehicle; The road planning map acquisition module is used to acquire the road planning map of the sanitation area and the current location of the sanitation vehicles; A cleaning path determination module is used to determine a cleaning path based on the location of each piece of garbage to be cleaned, a road planning map, and the current location. This includes: for each piece of garbage to be cleaned, based on the road planning map, determining the path formed by the sanitation vehicle traveling from its current location to the location of the garbage to be cleaned as a first path; calculating the overlap between any two first paths; determining whether there are two first paths with an overlap greater than a first preset threshold; if not, determining a first travel distance between the current location of the sanitation vehicle and the location of each piece of garbage to be cleaned; sorting the garbage to be cleaned in ascending order of the first travel distance, and planning a cleaning path based on the sorting; if so, selecting the overlapping portion between the two first paths with an overlap greater than the first preset threshold as a second path; selecting each second path and each first path with an overlap of no more than the first preset threshold as a third path; and planning a cleaning path based on each of the third paths. The cleaning path sending module is used to send the cleaning path to the sanitation vehicle, so that the sanitation vehicle can travel to the location of each piece of garbage to be cleaned according to the cleaning path. The cleaning result sending module is used to determine the cleaning result of each of the garbage items to be cleaned, and send each cleaning result of each garbage item to the target vehicle so that the target vehicle can proceed with its subsequent driving based on each cleaning result.

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