Unmanned vehicle cleaning method, unmanned vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle cleaning method, an unmanned vehicle and a storage medium, by acquiring a cleaning task, planning a cleaning path based on the cleaning task, and detecting the ground condition of an area in front of the unmanned vehicle on the cleaning path through a detection device arranged at the front end of the unmanned vehicle; determining whether the cleaning capacity of a first cleaning device arranged at the rear end of the unmanned vehicle is matched with the cleaning requirement of the front area, and if the cleaning capacity of the first cleaning device is matched with the cleaning requirement of the front area, starting the first cleaning device to clean the front area, the first cleaning device is started for cleaning only when the cleaning capacity of the first cleaning device meets the cleaning requirement, cleaning tools of the unmanned vehicle can be effectively protected, damage to the cleaning tools due to the fact that the cleaning tools are not matched with the ground condition is reduced, and the cleaning effect is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned vehicles, and in particular to an unmanned vehicle cleaning method, an unmanned vehicle and a storage medium. Background Art

[0002] With the development of science and technology, cleaning unmanned vehicles are widely used in indoor and outdoor scenes due to their convenient cleaning, time-saving and labor-saving features. In outdoor scenes, they are mainly used in outdoor medium and large parks, including residential areas, commercial blocks, office parks, industrial parks, airport stations, scenic spots, parks, schools, hospitals, parking lots, etc. Outdoor ground includes: asphalt pavement, cement ground, marble, granite, rough stone ground, plastic floor, epoxy resin, pebbles, etc. In indoor scenes, unmanned vehicles are mainly used in hotels, KTVs and other places to provide customers with intelligent cleaning services.

[0003] Currently, the roller brush of the unmanned vehicle is generally set at the front of the unmanned vehicle, and the unmanned vehicle uses the roller brush to clean the ground it is driving on. However, in different application scenarios, different types of ground may affect the service life of the roller brush or affect the cleaning effect. Summary of the invention

[0004] The embodiment of the present invention provides an unmanned vehicle cleaning method, which aims to solve the technical problem that different types of ground may affect the service life of the roller brush or the cleaning effect.

[0005] In a first aspect, an embodiment of the present invention provides a method for cleaning an unmanned vehicle, wherein the unmanned vehicle comprises a first cleaning device and a detection device, the front end of the unmanned vehicle is provided with a detection device, and the rear end of the unmanned vehicle is provided with a first cleaning device, and the method comprises:

[0006] Acquire a cleaning task, and plan a cleaning path based on the cleaning task;

[0007] Detecting the ground conditions in the area in front of the unmanned vehicle on the cleaning path by the detection device;

[0008] Based on the ground condition, determining whether the cleaning capability of the first cleaning device matches the cleaning requirement of the front area;

[0009] If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, the first cleaning device is started to clean the front area.

[0010] In some embodiments, the method further comprises:

[0011] If the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, the first cleaning device is not started.

[0012] In some embodiments, the unmanned vehicle further comprises a second cleaning device;

[0013] If the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, not starting the first cleaning device comprises:

[0014] When the cleaning ability of the first cleaning device does not match the cleaning requirement of the front area, pulling up the first cleaning device;

[0015] Based on the cleaning requirements of the front area, replacing and lowering the second cleaning device, and using the second cleaning device to clean the front area;

[0016] Alternatively, bypass the front area and continue to perform the cleaning task.

[0017] In some embodiments, bypassing the front area and continuing to perform the cleaning task includes:

[0018] bypassing the immovable obstacle in the front area and marking the position coordinates of the immovable obstacle;

[0019] Continue to perform the subsequent cleaning task according to the cleaning path;

[0020] After the subsequent cleaning task is completed, the location of the position coordinates of the immovable obstacle is taken as an uncleaned location, and a cleaning report is generated.

[0021] In some embodiments, the method of taking the position coordinates of the immovable obstacle as an uncleaned position and generating a cleaning report includes:

[0022] Obtain the actual driving path of the unmanned vehicle;

[0023] Determining the overlap between the driving path and the cleaning path;

[0024] The cleaning report is generated according to the uncleaned position and the overlap condition.

[0025] In some embodiments, determining whether the cleaning capability of the first cleaning device matches the cleaning requirement of the front area based on the ground condition includes:

[0026] When there is an immovable obstacle on the ground in the area in front of the unmanned vehicle, and / or the ground material and / or flatness of the area in front do not meet the start-up conditions of the first cleaning device, it is determined that the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area in front;

[0027] When there is a movable obstacle on the ground in front of the unmanned vehicle, and after the movable obstacle leaves, the ground material and / or flatness of the front area meets the start-up conditions of the first cleaning device, determining that the cleaning capacity of the first cleaning device matches the cleaning requirements of the front area;

[0028] Alternatively, when there are no obstacles on the ground in the area in front of the unmanned vehicle and the ground material and / or flatness of the area in front meet the start-up conditions of the first cleaning device, it is determined that the cleaning capacity of the first cleaning device matches the cleaning requirements of the area in front.

[0029] In some embodiments, if the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, starting the first cleaning device to clean the front area includes:

[0030] If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, and there is a movable obstacle on the ground in the front area of ​​the unmanned vehicle, a reminder message is sent to the movable obstacle so that the movable obstacle leaves the front area;

[0031] After the movable obstacle leaves, the first cleaning device is controlled to continue to perform the cleaning task according to the cleaning path.

[0032] In some embodiments, the sending of a reminder message to the movable obstacle so that the movable obstacle leaves the front area includes:

[0033] The target cleaning path to be executed is projected onto the ground by the projection device of the unmanned vehicle, and the projection image of the target cleaning path is used as the reminder information. The target cleaning path is a partial path of the cleaning path within a preset range of the current position of the unmanned vehicle.

[0034] In a second aspect, an embodiment of the present invention provides an unmanned vehicle, including:

[0035] at least one processor, and

[0036] A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect above.

[0037] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by at least one processor, the at least one processor executes the method described in the first aspect above.

[0038] Beneficial effects of the embodiments of the present invention: Different from the prior art, the unmanned vehicle cleaning method provided by the embodiments of the present invention acquires a cleaning task, plans a cleaning path based on the cleaning task, detects the ground conditions of the area in front of the unmanned vehicle on the cleaning path through a detection device set at the front end of the unmanned vehicle, and determines whether the cleaning capacity of the first cleaning device set at the rear end of the unmanned vehicle matches the cleaning requirements of the area in front based on the ground conditions. If the cleaning capacity of the first cleaning device matches the cleaning requirements of the area in front, the first cleaning device is started to clean the area in front. The detection device set at the front end of the unmanned vehicle can detect the ground conditions, and the cleaning capacity of the cleaning device set at the rear end of the unmanned vehicle is compared with the cleaning requirements determined based on the ground conditions. The cleaning device is started for cleaning only when the cleaning capacity of the cleaning device matches the cleaning requirements. This can effectively protect the cleaning tools of the unmanned vehicle, reduce damage to the cleaning tools caused by mismatch with the ground conditions, and improve the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0040] Figure 1 A schematic diagram of an application environment of an unmanned vehicle cleaning method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the system structure of an unmanned vehicle provided by an embodiment of the present invention;

[0042] Figure 3 A structural block diagram of an unmanned vehicle provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a flow chart of an unmanned vehicle cleaning method provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of a flow chart of an unmanned vehicle cleaning method provided by another embodiment of the present invention;

[0045] Figure 6 A schematic diagram of a flow chart of an unmanned vehicle cleaning method provided by another embodiment of the present invention;

[0046] Figure 7A schematic diagram of a flow chart of an unmanned vehicle cleaning method provided by another embodiment of the present invention;

[0047] Figure 8 A schematic diagram of a flow chart of an unmanned vehicle cleaning method provided by another embodiment of the present invention;

[0048] Fig. 9 A schematic flow chart of an unmanned vehicle cleaning method provided in accordance with another embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] 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.

[0051] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0053] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Figure 1 is a schematic diagram of the application environment of the unmanned vehicle cleaning method provided by an embodiment of the present invention, Figure 2 is a schematic diagram of the system structure of the unmanned vehicle provided by an embodiment of the present invention. Figure 1-Figure 2, the application environment includes an unmanned vehicle 10, a ground 20 and a user terminal 30.

[0055] The unmanned vehicle 10 is in communication connection with the user terminal 30. The unmanned vehicle 10 can receive instructions sent by the user terminal 30, and the user terminal 30 can also receive messages sent by the unmanned vehicle 10. The user terminal 30 is a terminal used by the user. For example, the user terminal 30 can be a computer, a smart phone, or a tablet computer controlled by the user, and the user is the object of the unmanned vehicle for floor cleaning. In other embodiments, the user controls the unmanned vehicle 10 through the human-computer interaction control interface of the unmanned vehicle 10 without using the user terminal 30.

[0056] The unmanned vehicle 10 travels on the ground 20 and cleans the ground 20. The ground 20 may be in an indoor scene, such as a hotel, KTV, office, etc., or in an outdoor scene, such as a residential area, a commercial block, an office park, an industrial park, an airport station, a scenic spot, a park, a school, a hospital, a parking lot, etc. The ground 20 may be made of various materials, for example, the ground 20 may be a ceramic floor, a wooden floor, a carpet storefront, an asphalt floor, a cement floor, a marble floor, a granite floor, a rough stone floor, a plastic floor, an epoxy resin floor, a pebble floor, etc.

[0057] The unmanned vehicle 10 includes a first cleaning device 100 and a detection device 200. The detection device 200 is disposed at the front end of the unmanned vehicle 10, and the first cleaning device 100 is disposed at the rear end of the unmanned vehicle 10. The first cleaning device 100 is used to clean the ground, and includes cleaning tools, such as a hard-bristle roller brush, a soft-bristle roller brush, a mop, etc. The detection device 200 is used to detect ground conditions, such as the hardness of the ground, the flatness of the ground, the type of the ground, etc. The detection device 200 can be a depth camera, an infrared sensor, a vibration sensor, etc.

[0058] In some embodiments, the unmanned vehicle 10 also includes a second cleaning device 300, which is disposed at the rear end or middle of the unmanned vehicle 10 and is used to clean the floor, including cleaning tools such as a hard-bristle roller brush, a soft-bristle roller brush, a mop, a water gun, etc.

[0059] In some embodiments, the unmanned vehicle 10 further includes a projection device 400 , which is installed at the front end of the unmanned vehicle 10 and is used to project images onto the ground.

[0060] One embodiment of the present invention provides an unmanned vehicle cleaning method, which is executed by an unmanned vehicle 10 and can make cleaning decisions based on ground conditions, thereby protecting cleaning tools and improving cleaning effects.

[0061] Before introducing the unmanned vehicle cleaning method in detail, the hardware structure of the unmanned vehicle provided by another embodiment of the present invention is described.

[0062] Another embodiment of the present invention provides an unmanned vehicle, such as Figure 3 As shown, the unmanned vehicle 10 includes at least one processor 11 and a memory 12 ( Figure 3 A bus connection and a processor are used as an example). A person skilled in the art can understand that Figure 3 The structure shown is for illustration only and does not limit the structure of the above electronic device. Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown.

[0063] Among them, the processor 11 is used to provide computing and control capabilities to control the unmanned vehicle 10 to perform corresponding tasks, for example, to control the unmanned vehicle 10 to perform any one of the unmanned vehicle cleaning methods provided in the following embodiments of the invention.

[0064] It can be understood that the processor 11 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0065] The memory 12, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the unmanned vehicle cleaning method in the embodiment of the present invention. The processor 11 can implement the unmanned vehicle cleaning method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 12. The memory 12 may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 12 may also include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0066] The following is a detailed description of the unmanned vehicle cleaning method provided by the embodiment of the present invention. Figure 4 The unmanned vehicle cleaning method includes but is not limited to the following steps S401-S404:

[0067] S401: Acquire a cleaning task, and plan a cleaning path based on the cleaning task.

[0068] In this embodiment, before cleaning the ground, the unmanned vehicle first obtains a cleaning task, which can be obtained from the user terminal, such as obtaining a cleaning task sent by the user through the app corresponding to the unmanned vehicle, or obtaining a scheduled cleaning task set by the user in advance. The cleaning task includes the area to be cleaned and the number of cleanings, etc. For example, the cleaning task can be cleaning the kitchen and balcony once, cleaning the area within 30 meters, cleaning the whole house at 5 pm every day, etc. Based on the cleaning task, the unmanned vehicle determines the working area, plans the cleaning path according to the global static map, drives along the cleaning path in the working area, and cleans the ground.

[0069] S402: Detect the ground condition in the area ahead of the unmanned vehicle on the cleaning path through a detection device.

[0070] Among them, the detection device is arranged at the front end of the unmanned vehicle to detect the ground conditions. The detection device can be a depth camera, an infrared sensor, a vibration sensor, etc.

[0071] The detection device is used to detect the area in front of the unmanned vehicle during its driving process to determine the ground conditions in the area in front, including the hardness and softness of the ground, the flatness of the ground, the type of ground, and whether there are obstacles.

[0072] S403: Based on the ground condition, determine whether the cleaning capability of the first cleaning device matches the cleaning requirement of the front area.

[0073] Among them, the first cleaning device is arranged at the rear end of the unmanned vehicle, and the first cleaning device is used to clean the ground, including cleaning tools, such as a hard-bristle roller brush, a soft-bristle roller brush, a mop, etc.

[0074] After obtaining the ground conditions, the cleaning requirements of the front area are determined according to the ground conditions. For example, if the front area is carpeted, the cleaning requirement is to use a soft-bristled roller brush; if there are obstacles in the front area, the cleaning requirement is to remove the obstacles; if the front area is a rough ground with potholes, the cleaning requirement is to use a hard-bristled roller brush; if there are puddles in the front area, the cleaning requirement is to use a mop instead of a roller brush, etc. Then, the cleaning capacity of the currently used first cleaning device is compared with the cleaning requirements of the front area to determine whether the two match and whether the first cleaning device can successfully clean the front area, so as to determine whether to use the first cleaning device to clean the front area.

[0075] In some embodiments, see Figure 5 , step S403, based on the ground conditions, determining whether the cleaning capability of the first cleaning device matches the cleaning requirements of the front area includes S501-S503:

[0076] S501: When there is an immovable obstacle on the ground in the area ahead of the unmanned vehicle and / or the ground material and / or flatness of the area ahead do not meet the start-up conditions of the first cleaning device, it is determined that the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area ahead.

[0077] S502: When there is a movable obstacle on the ground in front of the unmanned vehicle, and after the movable obstacle leaves, the ground material and / or flatness of the front area meets the start-up conditions of the first cleaning device, determine that the cleaning capacity of the first cleaning device matches the cleaning requirements of the front area.

[0078] S503: When there are no obstacles on the ground in the area ahead of the unmanned vehicle and the ground material and / or flatness of the area ahead meet the start-up conditions of the first cleaning device, determine that the cleaning capability of the first cleaning device matches the cleaning requirements of the area ahead.

[0079] The detection device is used to detect whether there are obstacles in the area in front of the unmanned vehicle. Obstacles are divided into movable obstacles and immovable obstacles. Movable obstacles are obstacles that can be moved away by reminders from the unmanned vehicle, such as movable personnel or smart vehicles. Immovable obstacles can be fixed and immovable obstacles, such as newly added fixed furniture that has not been updated in the global static map, or obstacles that cannot be moved in a short time.

[0080] During the driving process of the unmanned vehicle, it is detected whether there is an obstacle in the area in front of the unmanned vehicle. If there is no obstacle, it is detected whether the ground material and flatness of the front area meet the starting conditions of the first cleaning device. If they meet, it is determined that the cleaning ability of the first cleaning device matches the cleaning requirements of the front area, and cleaning can be performed. If there is an obstacle, the type of obstacle is determined. If it is a movable obstacle, wait until the obstacle leaves, and then detect whether the ground material and flatness of the front area meet the starting conditions of the first cleaning device. If they meet, it is determined that the cleaning ability of the first cleaning device matches the cleaning requirements of the front area, and the front area can continue to be cleaned after the obstacle leaves. If there is an obstacle, and the obstacle is an immovable obstacle, it is determined that the cleaning ability of the first cleaning device does not match the cleaning requirements of the front area. Detect whether the ground material and flatness of the front area meet the starting conditions of the first cleaning device. If not, it is determined that the cleaning ability of the first cleaning device does not match the cleaning requirements of the front area.

[0081] In this embodiment, different ground conditions are distinguished by matching the cleaning capacity of the first cleaning device with the cleaning requirements of the front area. The ground conditions are specifically distinguished based on whether there are obstacles in the front area, the type of obstacles, and whether the ground material and / or flatness of the front area match the starting conditions of the first cleaning device. This helps the unmanned vehicle to handle ground conditions more flexibly, better perform cleaning tasks, and improve cleaning efficiency.

[0082] S404: If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, the first cleaning device is started to clean the front area.

[0083] If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, the first cleaning device is started to clean the front area. For example, if the first cleaning device is in an upward position, the first cleaning device is lowered to make the first cleaning device contact the ground and clean the front area along the cleaning path.

[0084] In this embodiment, by acquiring the cleaning task, planning the cleaning path based on the cleaning task, detecting the ground conditions in the area in front of the unmanned vehicle on the cleaning path through the detection device set at the front end of the unmanned vehicle, and determining whether the cleaning capacity of the first cleaning device set at the rear end of the unmanned vehicle matches the cleaning requirements of the area in front based on the ground conditions, if the cleaning capacity of the first cleaning device matches the cleaning requirements of the area in front, then starting the first cleaning device to clean the area in front. The detection device set at the front end of the unmanned vehicle can detect the ground conditions, and compare the cleaning capacity of the cleaning device set at the rear end of the unmanned vehicle with the cleaning requirements determined based on the ground conditions. The first cleaning device is started for cleaning only when the cleaning capacity of the cleaning device matches the cleaning requirements, which can effectively protect the cleaning tools of the unmanned vehicle, reduce damage to the cleaning tools caused by mismatch with the ground conditions, and improve the cleaning effect.

[0085] In some embodiments, please refer to Figure 6 , step S404, if the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, starting the first cleaning device to clean the front area includes steps S504-S505:

[0086] S504: If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, and there is a movable obstacle on the ground in the front area of ​​the unmanned vehicle, a reminder message is sent to the movable obstacle so that the movable obstacle leaves the front area.

[0087] S505: After the movable obstacle leaves, controlling the first cleaning device to continue to perform the cleaning task according to the cleaning path.

[0088] In this embodiment, if the cleaning capacity of the first cleaning device matches the cleaning requirements of the front area, and there are movable obstacles on the ground conditions in the front area of ​​the unmanned vehicle, for example, there are movable obstacles on the ground conditions in the front area of ​​the unmanned vehicle, and after the movable obstacle leaves, the ground material and / or flatness of the front area meets the start-up conditions of the first cleaning device, a reminder message is sent to the movable obstacle to remind the movable obstacle to leave the front area. After the movable obstacle leaves the front area, the first cleaning device is controlled to continue to perform the cleaning task according to the cleaning path.

[0089] For example, the movable obstacle may be a movable person. The unmanned vehicle can remind the movable person to leave by means of voice reminders, sending reminder messages to user terminals, etc. The movable obstacle may also be an intelligent vehicle. The unmanned vehicle can determine the communication protocol in advance with the intelligent vehicle in the same scene to achieve communication connection. When a smart vehicle is detected in the front area during the cleaning process, a reminder message is sent to the smart vehicle to make the smart vehicle leave.

[0090] After the unmanned vehicle waits for the movable obstacle to leave the front area, the first cleaning device is controlled to continue to complete the next cleaning task according to the cleaning path, while also continuing to detect the front area where the unmanned vehicle is traveling.

[0091] In this embodiment, by prompting the movable obstacle so that the movable obstacle leaves the front area and continues to perform the cleaning task, the cleaning efficiency can be improved, the interruption of the cleaning task can be reduced, the completion of the cleaning task can be improved, and the user experience can be enhanced.

[0092] In some embodiments, step S504, if the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, and there is a movable obstacle on the ground in the front area of ​​the unmanned vehicle, a reminder message is sent to the movable obstacle so that the movable obstacle leaves the front area, including step S506:

[0093] S506: Projecting the target cleaning path to be executed onto the ground through the projection device of the unmanned vehicle, and using the projected image of the target cleaning path as reminder information, the target cleaning path being a partial path of the cleaning path within a preset range of the current position of the unmanned vehicle.

[0094] The projection device may be a projector, which is arranged on the unmanned vehicle and is used to project onto the ground to serve as a prompt. The target cleaning path is a portion of the cleaning path within a preset range of the current position of the unmanned vehicle. The preset range may be set in advance by the user or automatically generated based on big data.

[0095] In this embodiment, the unmanned vehicle projects part of the path it will travel next onto the ground through a projection device, forming a projection image on the ground, which can serve as a reminder to passers-by, so that pedestrians can know the driving path of the unmanned vehicle in advance and can avoid it in time, reducing obstacles to the unmanned vehicle in performing cleaning tasks and improving the cleaning efficiency of the unmanned vehicle. In addition, this reminder method is gentler and easier to accept, which can improve user experience.

[0096] In some embodiments, it is also possible to obtain a projection image generated by the projection and compare it with a preset projection image to determine whether there is a pothole in the road ahead of the unmanned vehicle. If there is a pothole in the road ahead, the pothole is bypassed to continue the cleaning task.

[0097] In some embodiments, the unmanned vehicle cleaning method further includes step S405:

[0098] S405: If the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, the first cleaning device is not started.

[0099] If the cleaning capacity of the first cleaning device does not match the cleaning requirements of the front area, for example, there is an immovable obstacle in the front area of ​​the unmanned vehicle or the ground material and / or flatness of the front area do not meet the starting conditions of the first cleaning device, the first cleaning device will not be started and the cleaning task will not be performed on the front area. At this time, the first cleaning device can be pulled up and off the ground.

[0100] In some embodiments, see Figure 7 The unmanned vehicle further includes a second cleaning device. Step S405: if the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, the first cleaning device is not started, including steps S601-S602:

[0101] S601: When the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, pull up the first cleaning device.

[0102] S602: Based on the cleaning requirement of the front area, the second cleaning device is replaced and lowered, and the second cleaning device is used to clean the front area.

[0103] In other embodiments, after S601: when the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, pulling up the first cleaning device, the method further includes step S603: bypassing the front area and continuing to perform the cleaning task.

[0104] When the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area ahead, pulling up the first cleaning device to lift it off the ground can reduce damage to the first cleaning device. If the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area ahead due to the mismatch between the first cleaning device and the area ahead, for example, the ground material and / or flatness of the area ahead does not meet the start-up conditions of the first cleaning device, then based on the cleaning requirements of the area ahead, select a suitable second cleaning device, replace and lower the second cleaning device to bring it into contact with the ground, and use the second cleaning device to continue the cleaning task and clean the area ahead. If the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area ahead because the area ahead cannot be passed, for example, there are immovable obstacles in the area ahead, then bypass the area ahead and continue the cleaning task.

[0105] In the embodiment, by using different processing methods for different situations, the first cleaning device is first pulled up to prevent damage to the first cleaning device, and then it is determined whether the cleaning of the front area can be completed by replacing the cleaning tools according to the cleaning requirements. If possible, the second cleaning device is replaced and lowered, so that the unmanned vehicle can clean more ground conditions. If cleaning is not possible, the front area is directly bypassed and the next cleaning task is continued, which can save cleaning time and improve cleaning efficiency.

[0106] In some embodiments, see Figure 8 , step S603, bypassing the front area, and continuing to perform the cleaning task includes steps S701-S703:

[0107] S701: bypass the immovable obstacle in the front area and mark the position coordinates of the immovable obstacle.

[0108] S702: Continue to execute subsequent cleaning tasks according to the cleaning path.

[0109] S703: After completing the subsequent cleaning task, the location of the position coordinates of the immovable obstacle is regarded as an uncleaned location, and a cleaning report is generated.

[0110] In this embodiment, there is an immovable obstacle in the front area. To ensure the cleaning effect, the immovable obstacle in the front area is first bypassed, and the position coordinates of the immovable obstacle are marked. The subsequent cleaning tasks are continued according to the cleaning path. After the subsequent cleaning tasks are completed, the position coordinates of the immovable obstacle are used as the uncleaned position to form a cleaning report so as to perform compensatory cleaning by means of subsequent cleaning. For example, after the cleaning report is formed, the cleaning report is sent to the user terminal, the position coordinates of the immovable obstacle are displayed to the user, and the user is prompted to remove the immovable obstacle or update the global static map. After removing the immovable obstacle, the user can send a cleaning task of subsequent cleaning to the unmanned vehicle through the user terminal, and the unmanned vehicle will perform compensatory cleaning on the uncleaned position; if the immovable obstacle is a fixed obstacle such as newly added furniture, after the user updates the global static map to add the immovable obstacle, in the subsequent cleaning tasks, the unmanned vehicle will avoid the immovable obstacle when planning the cleaning path and will not clean the ground occupied by it.

[0111] Among them, the cleaning report is used to show the completion status of this cleaning task. The content of the cleaning report may include cleaning time, cleaning area, cleaning path, uncleaned locations, cleaning time and cleaning effect, etc.

[0112] In this embodiment, when encountering an immovable obstacle, the robot first bypasses it and forms a cleaning report by marking the position of the immovable obstacle. This can prompt the user and facilitate subsequent cleaning, thereby improving cleaning efficiency, saving cleaning time, ensuring cleaning results, and improving user experience.

[0113] In some embodiments, see Fig. 9 , step S703, after completing the subsequent cleaning task, the position coordinates of the immovable obstacle are taken as the uncleaned position, and a cleaning report is formed including steps S801-S803:

[0114] S801: Obtain the actual driving path of the unmanned vehicle.

[0115] S802: Determine the overlap between the driving path and the cleaning path.

[0116] S803: Generate a cleaning report based on uncleaned positions and overlap conditions.

[0117] Obtain the actual driving path of the unmanned vehicle during the execution of this cleaning task, that is, the actual cleaning path of this cleaning task, compare the driving path and the cleaning path, determine the overlap, and generate a cleaning report based on the uncleaned position, that is, the position and overlap of the immovable obstacles, which reflects the completion of the cleaning task. Users can determine the position of the immovable obstacles through the cleaning report and perform corresponding follow-up cleaning or secondary enhanced cleaning.

[0118] In this embodiment, by generating a cleaning report based on the uncleaned positions and overlaps, the user can understand the completion of the cleaning task and determine whether to make up for the cleaning according to the specific situation. The overlap of the driving path and the cleaning path is used to characterize whether the actual cleaning of the unmanned vehicle meets the pre-planned cleaning. The higher the degree of overlap between the driving path and the cleaning path, the more it means that the actual cleaning of the unmanned vehicle is consistent with the pre-planned cleaning and meets the planned cleaning. The lower the degree of overlap between the driving path and the cleaning path, the more it means that the actual cleaning of the unmanned vehicle is inconsistent with the pre-planned cleaning and does not meet the planned cleaning. At this time, the user can perform the cleaning task again for the area to be cleaned. In addition, the coordinates of the uncleaned position are provided to help prompt the user that there are immovable obstacles for corresponding processing, which helps to improve the completion of subsequent cleaning tasks and can improve the cleaning effect and user experience.

[0119] In summary, the unmanned vehicle cleaning method provided by the embodiment of the present invention acquires a cleaning task, plans a cleaning path based on the cleaning task, detects the ground conditions of the area in front of the unmanned vehicle on the cleaning path through a detection device set at the front end of the unmanned vehicle, and determines whether the cleaning ability of the first cleaning device set at the rear end of the unmanned vehicle matches the cleaning requirements of the area in front based on the ground conditions. If the cleaning ability of the first cleaning device matches the cleaning requirements of the area in front, the first cleaning device is started to clean the area in front. The detection device set at the front end of the unmanned vehicle can detect the ground conditions, and the cleaning ability of the cleaning device set at the rear end of the unmanned vehicle can be compared with the cleaning requirements determined based on the ground conditions. The cleaning device is started for cleaning only when the cleaning ability of the cleaning device matches the cleaning requirements. This can effectively protect the cleaning tools of the unmanned vehicle, reduce damage to the cleaning tools caused by mismatch with the ground conditions, and improve the cleaning effect.

[0120] Another embodiment of the present invention further provides a non-volatile computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by at least one processor, the at least one processor executes the unmanned vehicle cleaning method as described in any one of the above embodiments.

[0121] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for cleaning an unmanned vehicle, characterized in that: The unmanned vehicle comprises a first cleaning device and a detection device, the front end of the unmanned vehicle is provided with the detection device, and the rear end of the unmanned vehicle is provided with the first cleaning device, and the method comprises: Acquire a cleaning task, and plan a cleaning path based on the cleaning task; Detecting the ground conditions in the area in front of the unmanned vehicle on the cleaning path by the detection device; Based on the ground condition, determining whether the cleaning capability of the first cleaning device matches the cleaning requirement of the front area; If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, the first cleaning device is started to clean the front area.

2. The method according to claim 1, characterized in that The method further comprises: If the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, the first cleaning device is not started.

3. The method according to claim 2, characterized in that The unmanned vehicle further includes a second cleaning device; If the cleaning capability of the first cleaning device does not match the cleaning requirement of the front area, not starting the first cleaning device comprises: When the cleaning ability of the first cleaning device does not match the cleaning requirement of the front area, pulling up the first cleaning device; Based on the cleaning requirements of the front area, replacing and lowering the second cleaning device, and using the second cleaning device to clean the front area; Alternatively, bypass the front area and continue to perform the cleaning task.

4. The method according to claim 3, characterized in that The step of bypassing the front area and continuing to perform the cleaning task includes: bypassing the immovable obstacle in the front area and marking the position coordinates of the immovable obstacle; Continue to perform the subsequent cleaning task according to the cleaning path; After the subsequent cleaning task is completed, the location of the position coordinates of the immovable obstacle is taken as an uncleaned location, and a cleaning report is generated.

5. The method according to claim 4, characterized in that The method of taking the position coordinates of the immovable obstacle as an uncleaned position and forming a cleaning report includes: Obtain the actual driving path of the unmanned vehicle; Determining the overlap between the driving path and the cleaning path; The cleaning report is generated according to the uncleaned position and the overlap condition.

6. The method according to any one of claims 1 to 5, characterized in that: The determining, based on the ground condition, whether the cleaning capability of the first cleaning device matches the cleaning requirement of the front area includes: When there is an immovable obstacle on the ground in the area in front of the unmanned vehicle, and / or the ground material and / or flatness of the area in front do not meet the start-up conditions of the first cleaning device, it is determined that the cleaning capacity of the first cleaning device does not match the cleaning requirements of the area in front; When there is a movable obstacle on the ground in front of the unmanned vehicle, and after the movable obstacle leaves, the ground material and / or flatness of the front area meets the start-up conditions of the first cleaning device, determining that the cleaning capacity of the first cleaning device matches the cleaning requirements of the front area; Alternatively, when there are no obstacles on the ground in the area in front of the unmanned vehicle and the ground material and / or flatness of the area in front meet the start-up conditions of the first cleaning device, it is determined that the cleaning capacity of the first cleaning device matches the cleaning requirements of the area in front.

7. The method according to claim 6, characterized in that If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, starting the first cleaning device to clean the front area comprises: If the cleaning capability of the first cleaning device matches the cleaning requirement of the front area, and there is a movable obstacle on the ground in the front area of ​​the unmanned vehicle, a reminder message is sent to the movable obstacle so that the movable obstacle leaves the front area; After the movable obstacle leaves, the first cleaning device is controlled to continue to perform the cleaning task according to the cleaning path.

8. The method according to claim 7, characterized in that The sending of a reminder message to the movable obstacle so that the movable obstacle leaves the front area includes: The target cleaning path to be executed is projected onto the ground by the projection device of the unmanned vehicle, and the projection image of the target cleaning path is used as the reminder information. The target cleaning path is a partial path of the cleaning path within a preset range of the current position of the unmanned vehicle.

9. An unmanned vehicle, characterized in that: include: at least one processor, and A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor is caused to execute the method according to any one of claims 1 to 8.

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