Unmanned vehicle driving control method, electronic equipment and computer readable storage medium

Abstract

The invention is suitable for the technical field of robots, and provides an unmanned vehicle driving control method, electronic equipment and a computer readable storage medium, and the method comprises the steps: firstly determining an operation region range of an unmanned vehicle; according to the boundary of the working area range, planning a plurality of mutually parallel advancing paths in the working area; the plurality of forward paths are spliced according to the end point of the current forward path and the starting point of the next adjacent forward path in sequence, so that a backward path is generated between every two adjacent forward paths; and finally moving along a forward path in a forward mode and moving along a backward path in a backward mode so as to continuously execute all the forward paths in the operation area, the requirement for the turning radius of the unmanned vehicle during moving work is low, and the technical problem that in the prior art, an unmanned vehicle cannot effectively execute a full-coverage cleaning task in a narrow space can be solved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to an unmanned vehicle driving control method, an electronic device, and a computer-readable storage medium. Background Art

[0002] Currently, unmanned vehicles, such as unmanned cleaning vehicles, mostly use a U-shaped spiral circle coverage cleaning method for full coverage cleaning. Small unmanned vehicles will use a circular full coverage cleaning route.

[0003] However, the conventional unmanned vehicle cleaning routes in the above-mentioned prior art are only suitable for unmanned vehicles with smaller size or stronger turning ability when performing full coverage cleaning tasks in a small space, and have high requirements on the hardware of the unmanned vehicle. Summary of the invention

[0004] The embodiments of the present application provide an unmanned vehicle driving control method, an electronic device, and a computer-readable storage medium, which can solve the technical problem in the prior art that cleaning routes have high requirements on the hardware of unmanned vehicles.

[0005] In a first aspect, the present application provides a driving control method for an unmanned vehicle, the method comprising:

[0006] Determine the scope of the operating area;

[0007] According to the boundary of the operation area, a plurality of mutually parallel forward paths are planned in the operation area;

[0008] The plurality of forward paths are sequentially spliced ​​according to the end point of the current forward path and the starting point of the next adjacent forward path, so as to generate a backward path between the two adjacent forward paths;

[0009] The forward path is moved in the forward mode and the reverse path is moved in the reverse mode to continuously execute all the forward paths in the working area.

[0010] In particular, according to the boundary of the operation area, a plurality of mutually parallel forward paths are planned in the operation area, including:

[0011] Determine a rectangular area with the largest area in the operation area;

[0012] Taking the long side of the rectangular area as a reference line, a plurality of mutually parallel forward paths are planned in the operation area, wherein each forward path is parallel to the reference line.

[0013] In particular, the determination of the scope of the operating area includes:

[0014] Drive along the edge of the area to be operated for one circle to obtain a circular path;

[0015] Determine at least four corner points according to the surrounding path;

[0016] The area enclosed by the lines connecting the at least four corner points is taken as the scope of the operation area.

[0017] In particular, the method further comprises:

[0018] All paths generated in the operation area and the driving strategies corresponding to all the paths are respectively associated with the operation area, and the operation area is stored in a preset memory as a historical operation area.

[0019] In particular, the method further comprises:

[0020] When entering a new area to be operated, obtaining environmental information of the new area to be operated collected by the unmanned vehicle;

[0021] Determining whether the task scenarios between the new area to be operated and the historical area to be operated are similar based on the environmental information;

[0022] If similar, determining the target association relationship corresponding to the historical operation area from the preset memory;

[0023] The historical driving strategy is called based on the target association relationship, and the historical driving strategy is executed to control the unmanned vehicle to complete the work task in the new area to be operated.

[0024] Particularly, the moving along the forward path in the forward mode and the moving along the backward path in the backward mode include:

[0025] performing a first cleaning operation during movement along the forward path in the forward mode, and moving along the backward path in the backward mode;

[0026] And / or, during the movement along the forward path in the forward mode, a first cleaning operation is performed, and during the movement along the backward path in the backward mode, a second cleaning operation is performed.

[0027] In particular, the method further comprises:

[0028] Acquire current environmental information of the operation area collected by the unmanned vehicle; determine the exit position of the operation area based on the current environmental information;

[0029] Obtaining the current position of the unmanned vehicle;

[0030] A target departure path is generated according to the current posture and the exit position, and the vehicle moves along the departure path to the exit position in a forward mode.

[0031] In particular, when there are multiple exit positions in the operation area, generating a target departure path according to the current posture and the exit position, and moving to the exit position along the departure path in a forward mode includes:

[0032] Generate candidate departure paths from the current position of the unmanned vehicle to the multiple exit positions respectively based on the current position;

[0033] Determining a target departure path from a plurality of candidate departure paths according to the attitude angle of the current posture;

[0034] Moving along the target departure path to the exit location in the forward mode.

[0035] In a second aspect, the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect above when executing the computer program.

[0036] In a third aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect above are implemented.

[0037] The beneficial effects of the present application are as follows: the present invention first determines the scope of the operating area of ​​the unmanned vehicle; according to the boundary of the operating area, a plurality of mutually parallel forward paths are planned in the operating area; the plurality of forward paths are sequentially spliced ​​according to the end point of the current forward path and the starting point of the next adjacent forward path to generate a backward path between the two adjacent forward paths; finally, the vehicle moves along the forward path in a forward mode and moves along the backward path in a backward mode to continuously execute all the forward paths in the operating area. The unmanned vehicle of the present application has low turning ability requirements during mobile work, and can still effectively perform full coverage mobile tasks in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 It is a schematic flow chart of a first embodiment of the unmanned vehicle driving control method provided by an embodiment of the present application;

[0040] Figure 2 is a schematic diagram of a circumferential path obtained by the unmanned vehicle involved in an embodiment of the present application moving along the edge of the working area for one circle;

[0041] Figure 3 is a schematic diagram of a forward path and a backward path generated by an embodiment of the present application;

[0042] Figure 4 is a schematic diagram of a departure path generated by an embodiment of the present application;

[0043] Figure 5 It is a schematic flow chart of a second embodiment of the unmanned vehicle driving control method provided in an embodiment of the present application;

[0044] Figure 6 A schematic block diagram of a system 600 for controlling the driving of an unmanned vehicle provided in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0048] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Embodiment 1

[0050] like Figure 1 As shown, Figure 1 This is a flow chart of the unmanned vehicle driving control method of the present embodiment. The unmanned vehicle of the present application embodiment may include self-moving equipment, sweeping robots and other devices that can move autonomously outdoors or indoors; the unmanned vehicle driving control method of the present embodiment is applied to a system for controlling the driving of an unmanned vehicle, and the system may be a chip built into the unmanned vehicle or a terminal device (the terminal device may include a remote control, a smart phone and other mobile terminal devices). For example, when the system is built into the sweeping robot, the sweeping robot will run the relevant computer program burned in the chip to control its own movement to perform cleaning tasks; for another example, when the system is built into the terminal device, the terminal device will maintain a communication connection with the unmanned vehicle, and relevant personnel can set relevant operating parameters of the unmanned vehicle by controlling the terminal device.

[0051] Taking the unmanned vehicle as an unmanned cleaning vehicle as an example, the unmanned vehicle driving control method of the present invention includes steps S10-S40:

[0052] Step S10, determining the scope of the operation area.

[0053] It should be noted that the executor of this embodiment is the above-mentioned system for controlling the driving of the unmanned vehicle, and the operating area is the area that the robot needs to clean.

[0054] In the specific implementation, the system can control the unmanned vehicle to move around the edge of the work area to perform the (cleaning) task and obtain a surrounding path (such as Figure 2 As shown), and the working area range is generated based on the surrounding path.

[0055] It is understandable that the advantage of the unmanned vehicle circling around to perform the work task is that it can clean the edge area of ​​the work area while detecting the area environment where the work needs to be performed, prepare for generating the scope of the work area, and ensure the work efficiency of the unmanned vehicle.

[0056] Step S20: planning a plurality of mutually parallel forward paths within the working area according to the boundary of the working area.

[0057] The unmanned vehicle performs positioning and navigation based on electronic maps. For example, the unmanned vehicle constructs a map based on the SLAM (Simultaneous Localization and Mapping) algorithm and performs positioning and navigation. The unmanned vehicle plans and generates a path in the electronic map for the unmanned vehicle to travel.

[0058] In a specific implementation, the embodiment of the present application determines a rectangular area with the largest area within the working area; using the long side of the rectangular area as a reference line, a plurality of mutually parallel forward paths are planned within the working area, wherein each forward path is parallel to the reference line.

[0059] It is understandable that the forward path represents the path that the unmanned vehicle needs to travel in the forward mode.

[0060] Specifically, when the unmanned vehicle first enters the work area, it drives along the edge of the work area to obtain a circular path; then at least four corner points are determined based on the circular path; the area enclosed by the lines connecting the at least four corner points is used as the work area range. Then, using the long side of the rectangular area as the reference line, multiple parallel line segments can be planned in the work area. Optionally, multiple parallel line segments are arranged equidistantly (such as Figure 3 ), wherein each parallel line segment is parallel to the reference line, and each parallel line segment is used as a forward path. At the same time, in this process, the starting point and the end point of each parallel line segment are counted according to a preset order, and the starting point and the end point of each parallel line segment are stored in a preset storage area according to the preset order. The preset order can be (each parallel line segment) from left to right, or (each parallel line segment) from right to left. This embodiment takes the order from left to right as the preset order as an example (such as Figure 3 As shown), firstly, the starting point and the terminal of the i-1th parallel line segment are stored in the preset storage area, then the starting point and the terminal of the i-th parallel line segment are stored in the preset storage area, and finally, the starting point and the terminal of the i=nth parallel line segment are stored in the preset storage area, so that the system can determine the order of the paths to be cleaned, wherein i is a positive integer, i is less than n, and i is used to represent the serial number of the parallel line segment; n is a positive integer greater than 1, and n is used to represent the total number of parallel line segments.

[0061] It should be noted that the preset storage area may be the memory of the unmanned vehicle itself or the memory of other terminal devices that maintain communication signal connection with the unmanned vehicle.

[0062] Step S30, the plurality of forward paths are sequentially spliced ​​according to the end point of the current forward path and the starting point of the next adjacent forward path, so as to generate a backward path between the two adjacent forward paths;

[0063] In a specific implementation, the end point of the i-1th forward path is spliced ​​with the starting point of the i-th forward path to generate a backward path between two adjacent forward paths (the i-1th and the i-th).

[0064] like Figure 4 In other embodiments, the first preset position point of the current (i-1th) forward path and the second preset position point of the adjacent next (i-th) forward path can also be spliced ​​to generate a backward path, wherein the first preset position point is a position point close to the end point of the i-1th forward path, and the second preset position point is a position point close to the starting point of the (i-th) forward path.

[0065] Step S40 , moving along the forward path in the forward mode and moving along the backward path in the backward mode, so as to continuously execute all the forward paths in the working area.

[0066] In a specific implementation, when reaching the end point of the i-1th forward path, the robot is controlled to move in a backward mode along a backward path between the i-1th forward path and the i-th forward path to reach the starting point of the i-th forward path.

[0067] It is understandable that the retreat path represents the path that the unmanned vehicle needs to travel in the retreat mode, such as Figure 3 As shown, the end point of the i-1th forward path is connected to the starting point of the i-th forward path to form a backward path. The backward path has a certain inclination angle relative to the two adjacent forward paths. In this way, when the unmanned vehicle is about to complete the forward path in the forward mode, the unmanned vehicle does not need to rotate significantly to adjust its own forward direction, but only needs to make a slight angle adjustment, and then drive from the i-1th forward path (end point) to the i-th forward path (starting point) along the backward path in the backward mode. In this way, the unmanned vehicle can complete a cleaning task in a local area of ​​a small space without the need for a large turning angle, and continue to traverse the two adjacent forward paths in sequence until the last forward path is traversed. This path strategy is used to control the unmanned vehicle to complete the cleaning task.

[0068] In addition, in some embodiments, the unmanned vehicle performs a first cleaning operation while moving along a forward path in a forward mode, and moves along a backward path in a backward mode. For example, the first cleaning operation may be an operation of cleaning the ground. The unmanned vehicle cleans while driving forward, and only drives without cleaning during the backward process, thereby saving performance overhead.

[0069] In other embodiments, the unmanned vehicle performs a first cleaning operation while moving along a forward path in a forward mode; the unmanned vehicle may also perform a second cleaning operation while moving along a backward path in a backward mode; for example, the second cleaning operation may be a watering operation, or the second cleaning operation may be an operation of simultaneously performing watering and sweeping the ground.

[0070] The beneficial effects of this embodiment are: the system first determines the scope of the operating area of ​​the unmanned vehicle; according to the boundary of the operating area, a plurality of parallel forward paths are planned in the operating area; the plurality of forward paths are sequentially spliced ​​according to the end point of the current forward path and the starting point of the next adjacent forward path to generate a backward path between the two adjacent forward paths; finally, the system moves along the forward path in a forward mode and moves along the backward path in a backward mode to continuously execute all the forward paths in the operating area, and controls the unmanned vehicle to complete the cleaning task with this path strategy; the advantage of this application is that the turning radius requirement for the unmanned vehicle when it is moving is relatively low, which can solve the technical problem in the prior art that the volume of the unmanned vehicle is relatively large relative to the environment or the configuration of the unmanned vehicle requires a large steering angle, and the unmanned vehicle cannot effectively perform full coverage cleaning tasks in a small space.

[0071] Embodiment 2

[0072] Based on the first embodiment of the unmanned vehicle driving control method described above, a related method of the second embodiment is proposed. In this embodiment, the unmanned vehicle driving control method further includes steps S50-S70:

[0073] Step S50, obtaining the current environmental information of the operation area collected by the unmanned vehicle; and determining the exit position of the operation area based on the current environmental information.

[0074] It should be noted that the unmanned vehicle can collect current environmental information of the work area through its own cameras and sensors. For example, if the work area is a closed space, the exit position of the work area can be detected through radar sensors and / or depth cameras.

[0075] Step S60, obtaining the current position and posture of the unmanned vehicle.

[0076] Specifically, the current posture may include the current posture angle and current position of the unmanned vehicle.

[0077] Step S70, generating a target departure path according to the current posture and the exit position, and moving along the departure path to the exit position in a forward mode.

[0078] In the specific implementation, refer to Figure 4For example, if the current position of the unmanned vehicle is at the end point of the nth (last) forward path in a forward posture, it means that the unmanned vehicle has completed the cleaning task of the work area. In this case, the target departure path can be generated based on the current position and the exit position. Specifically, if the work area has only one exit position, the target departure path generated by this embodiment can be: the unmanned vehicle moves in a backward mode along the end point of the nth (last) forward path to the starting point of its nth forward path, and then connects the starting point of the i=nth forward path with the exit position of the work area to form a departure path (such as Figure 4 The target departure path represents the path that the unmanned vehicle takes to exit the work area in a forward mode and / or a reverse mode after completing the work task in the work area.

[0079] It is understandable that when the unmanned vehicle completes the work task in the current work area, it needs to leave the current work area; for example, if the current work area is in a small indoor space, after the unmanned vehicle automatically completes the cleaning task of the current work area, the unmanned vehicle can leave the current work area and return to the charging area in the indoor room for charging.

[0080] For another example, if the current operation area belongs to a factory building, the unmanned vehicle will drive away from the current operation area and enter other areas to be operated in the factory to complete the cleaning task.

[0081] In addition, in other embodiments, if there are multiple exit locations in the operation area, the target departure path generated by this embodiment may be:

[0082] Step S70, generating a target departure path according to the current posture and the exit position, and moving along the departure path to the exit position in a forward mode, including S71-S73:

[0083] Step S71, generating candidate departure paths from the current position of the unmanned vehicle to the multiple exit positions respectively based on the current position;

[0084] Step S72, determining a target departure path from a plurality of candidate departure paths according to the attitude angle of the current posture;

[0085] Step S73: moving along the target departure path to the exit position in the forward mode.

[0086] It is understandable that if there are multiple exit positions in the work area, candidate departure paths from the current position of the unmanned vehicle to each exit position are planned and generated according to the current position of the unmanned vehicle. Among the multiple candidate departure paths, the steering angle required for driving each candidate departure path is determined according to the current attitude angle of the unmanned vehicle, wherein the candidate departure path corresponding to the minimum steering angle required by the unmanned vehicle is used as the target departure path. Since the unmanned vehicle is relatively large and not easy to rotate, a departure path that does not require a large rotation angle (lower steering requirements) can be selected from each candidate departure path as the target departure path. In this way, when the unmanned vehicle leaves the work area, a target exit position with lower steering requirements can be selected and the corresponding target departure path can be generated, and the unmanned vehicle can smoothly drive out of the current work area along the target departure path.

[0087] Embodiment 3

[0088] It should be noted that the third embodiment can automatically save the path strategy generated in the first embodiment in real time to facilitate the use of subsequent processes. Specifically, the unmanned vehicle driving control method further includes steps S801-S804:

[0089] Step S801: associate all paths generated in the operation area and the driving strategies corresponding to all the paths with the operation area, and store the operation area as a historical operation area in a preset memory.

[0090] It is understandable that the unmanned vehicle can store the unmanned vehicle path planning strategy scheme established in Example 1 as a software program in a preset storage area. From a hardware perspective, the preset storage area can be the memory of the unmanned vehicle. From a software perspective, the preset storage area can be a relational database. This embodiment does not limit this.

[0091] Step S802: When the unmanned vehicle enters a new area to be operated, environmental information of the new area to be operated collected by the unmanned vehicle is obtained.

[0092] Step S803, based on the environmental information, determine whether the task scenarios between the new area to be operated and the historical operation area are similar; if so, determine the target association relationship corresponding to the historical operation area from the preset storage area.

[0093] Step S804: calling a historical path strategy program based on the target association relationship, and executing the historical path strategy program to control the unmanned vehicle to complete the work task in the new area to be operated.

[0094] In the specific implementation, the unmanned vehicle can collect environmental information of the new area to be worked through its own cameras and sensors, and use image recognition algorithms to determine whether the scene tasks of the new area to be worked are similar to those of the historical work areas in the database. If similar, the unmanned vehicle can directly call the historical path strategy to complete the cleaning work of the new area to be worked, which improves work efficiency and saves the cost of using the robot.

[0095] It can be understood that if the task scenarios between the new area to be operated and the historical operation area are not similar, the unmanned vehicle driving control method described in Example 1 is used to perform the corresponding operation task on the new area to be operated.

[0096] Embodiment 4

[0097] Combination of the above-mentioned embodiment 1 with embodiment 2 and embodiment 3 Figures 1 to 5 The unmanned vehicle driving control method of the embodiment of the present application is described in detail. Figure 6 to Figure 7 The system and electronic terminal provided by the embodiments of the present application are described in detail.

[0098] Figure 6 A schematic block diagram of a system 600 for controlling the driving of an unmanned vehicle provided in an embodiment of the present application, the system comprising:

[0099] A determination unit 61, used to determine the scope of the operation area;

[0100] A generating unit 62 is used to plan a plurality of mutually parallel forward paths in the working area according to the boundary of the working area;

[0101] A splicing unit 63, used for splicing the plurality of forward paths in sequence according to the end point of the current forward path and the starting point of the next adjacent forward path, so as to generate a backward path between the two adjacent forward paths;

[0102] The moving unit 64 is configured to move along the forward path in a forward mode and along the backward path in a backward mode, so as to continuously execute all the forward paths in the working area.

[0103] It should be noted that the system can be a chip built into an unmanned vehicle or a terminal device (the terminal device can include a remote control, a smart phone, or a mobile terminal device). For example, when the system is built into an unmanned vehicle, the unmanned vehicle runs the relevant computer program burned into the chip to control its own movement to perform the cleaning task; for another example, when the system is built into a terminal device, the terminal device will maintain a communication connection with the unmanned vehicle, and relevant personnel can set the relevant operating parameters of the unmanned vehicle by operating the terminal device.

[0104] It should be understood that the system 600 of the embodiment of the present application can be implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), and the PLD can be a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof. It can also be implemented by software. Figure 1 The unmanned vehicle driving control method shown in the figure is implemented by software Figure 1 When the unmanned vehicle driving control method is shown, the system 600 and its various unit modules can also be software modules.

[0105] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may be an unmanned vehicle or other mobile terminal device, wherein the unmanned vehicle may include a self-driving device, a sweeping robot, or other device that can move autonomously outdoors or indoors; and other mobile terminal devices may include remote controllers, smart phones, and other mobile terminal devices.

[0106] like Figure 7 As shown, the electronic device 700 includes a processor 701, a memory 702, a communication interface 703 and a bus 704. The processor 701, the memory 702 and the communication interface 703 communicate via the bus 704, or other means such as wireless transmission. The memory 702 is used to store instructions, and the processor 701 is used to execute the instructions stored in the memory 702. The memory 702 stores program code 6021, and the processor 701 can call the computer program 7021 stored in the memory 702 to execute Figure 1 The unmanned vehicle driving control method shown.

[0107] It should be understood that in the embodiment of the present application, the processor 701 may be a CPU, and the processor 701 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0108] The memory 702 may include a read-only memory and a random access memory, and provide instructions and data to the processor 701. The memory 702 may also include a non-volatile random access memory. The memory 702 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct memory bus random access memory (DR RAM).

[0109] In addition to the data bus, the bus 704 may also include a power bus, a control bus, and a status signal bus. Figure 7 Various buses are labeled as bus 704.

[0110] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid state drive (SSD).

[0111] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A driving control method for an unmanned vehicle, characterized in that: The method comprises: Determine the scope of the operating area; According to the boundary of the operation area, a plurality of mutually parallel forward paths are planned in the operation area; The plurality of forward paths are sequentially spliced ​​according to the end point of the current forward path and the starting point of the next adjacent forward path, so as to generate a backward path between the two adjacent forward paths; The forward path is moved in the forward mode and the reverse path is moved in the reverse mode to continuously execute all the forward paths in the working area.

2. The method according to claim 1, characterized in that The step of planning a plurality of mutually parallel forward paths within the operation area according to the boundary of the operation area includes: Determine a rectangular area with the largest area in the operation area; Taking the long side of the rectangular area as a reference line, a plurality of mutually parallel forward paths are planned in the operation area, wherein each forward path is parallel to the reference line.

3. The method according to claim 1, characterized in that Determining the scope of the operating area includes: Drive along the edge of the area to be operated for one circle to obtain a circular path; Determine at least four corner points according to the surrounding path; The area enclosed by the lines connecting the at least four corner points is taken as the scope of the operation area.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: All paths generated in the operation area and the driving strategies corresponding to all the paths are respectively associated with the operation area, and the operation area is stored in a preset memory as a historical operation area.

5. The method according to claim 4, characterized in that The method further comprises: When entering a new area to be operated, obtaining environmental information of the new area to be operated collected by the unmanned vehicle; Determining whether the task scenarios between the new area to be operated and the historical area to be operated are similar based on the environmental information; If similar, determining the target association relationship corresponding to the historical operation area from the preset memory; The historical driving strategy is called based on the target association relationship, and the historical driving strategy is executed to control the unmanned vehicle to complete the work task in the new area to be operated.

6. The method according to any one of claims 1 to 3, characterized in that: The moving along the forward path in the forward mode and the moving along the backward path in the backward mode include: performing a first cleaning operation during movement along the forward path in the forward mode, and moving along the backward path in the backward mode; And / or, during the movement along the forward path in the forward mode, a first cleaning operation is performed, and during the movement along the backward path in the backward mode, a second cleaning operation is performed.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquire current environmental information of the operation area collected by the unmanned vehicle; determine the exit position of the operation area based on the current environmental information; Obtaining the current position of the unmanned vehicle; A target departure path is generated according to the current posture and the exit position, and the vehicle moves along the departure path to the exit position in a forward mode.

8. The method according to claim 7, characterized in that In the case where there are multiple exit positions in the operation area, generating a target departure path according to the current posture and the exit position, and moving to the exit position along the departure path in a forward mode, includes: Generate candidate departure paths from the current position of the unmanned vehicle to the multiple exit positions respectively based on the current position; Determining a target departure path from a plurality of candidate departure paths according to the attitude angle of the current posture; Moving along the target departure path to the exit location in the forward mode.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the steps of the method according to any one of claims 1 to 8.

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