Garbage sweeping method, sweeping vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of cleaning, in particular to a garbage sweeping method, a sweeper and a storage medium, the method is applied to the sweeper, and the method comprises the steps that in the process of executing garbage sweeping work along a first path, environment data of a current position are acquired; according to the environment data, whether first target garbage and second target garbage exist or not is determined, the first target garbage is garbage within a preset range deviating from the first path, and the second target garbage is garbage located on the first path; and if the first target garbage exists and the second target garbage does not exist, re-planning the cleaning path based on the first position and the first path of the first target garbage, so that the cleaning can cover the first target garbage. According to the method, when the target garbage exists in the preset range outside the first path, the sweeping path is re-planned to sweep the target garbage, the road environment change can be dealt with, the garbage on the road can be swept in time, the cleaning efficiency is improved, and the cleaning time is saved.

Description

Technical Field

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

[0002] With the rapid development of artificial intelligence and Internet technology in recent years, autonomous driving technology has been applied to more and more industries. In the cleaning field, unmanned sweepers are one of the most popular unmanned driving products. They can freely perform cleaning tasks in large squares, supermarkets, basements and other scenes, greatly reducing the burden on cleaners.

[0003] At present, most automatic cleaning vehicles deal with edge-to-edge driving in a separate edge-to-edge cleaning mode. The decision-making and planning of the cleaning vehicle will focus on edge-to-edge cleaning to ensure the smoothness of the edge-to-edge cleaning mode as much as possible. However, in many scenarios, due to the dynamic changes in road environmental conditions, the cleaning vehicle cannot respond to the garbage to be cleaned in other parts of the road, or ignores some other cleaning needs of the road, resulting in delayed processing of the cleaning area, reduced road cleaning efficiency, more cleaning time, and increased costs. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a garbage cleaning method, a cleaning vehicle and a storage medium, aiming to solve the technical problems of low road cleaning efficiency and high time consumption in the prior art.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a garbage cleaning method, which is applied to a garbage cleaning vehicle, and the method comprises:

[0007] In the process of performing garbage cleaning along the first path, obtaining environmental data of the current position;

[0008] Determine, according to the environmental data, whether there is first target garbage and second target garbage, wherein the first target garbage is garbage within a preset range outside the first path, and the second target garbage is garbage on the first path;

[0009] If the first target garbage exists and the second target garbage does not exist, the cleaning path is replanned based on the first position of the first target garbage and the first path so that the cleaning can cover the first target garbage.

[0010] In some embodiments, the replanning of the cleaning path based on the first position of the first target garbage and the first path so that the cleaning can cover the first target garbage includes:

[0011] Planning a path based on the current position and the first position of the first target garbage to obtain a second path;

[0012] The second path is spliced ​​with the first path to obtain a target cleaning path, and garbage cleaning work is performed along the target cleaning path.

[0013] In some embodiments, the method further comprises:

[0014] If the first target garbage and the second target garbage exist, performing garbage cleaning along the first path and recording the first position where the first target garbage is located;

[0015] After the garbage cleaning work is completed along the first path, a supplementary cleaning path is planned according to the first position where the first target garbage is located, and the garbage cleaning work is performed along the supplementary cleaning path.

[0016] In some embodiments, planning a supplementary cleaning path according to the first location of the first target garbage includes:

[0017] If there are multiple first target garbage, the supplementary sweeping path with the shortest distance is planned based on the distance between the first positions of the first target garbage.

[0018] In some embodiments, the step of splicing the second path with the first path to obtain a target cleaning path includes:

[0019] Using the current position of the sweeper as the first connection point;

[0020] The starting position of the second path where the garbage to be cleaned is to be used as the second connection point, and the ending position of the second path where the garbage to be cleaned is to be used as the third connection point;

[0021] Determine a first target position on the first path based on the third connection point, and use the first target position as a fourth connection point, wherein the first target position is any position on the first path and the positional relationship between the first target position and the third connection point satisfies a constraint condition, wherein the constraint condition includes at least one of a kinematic constraint and a preset rule constraint;

[0022] The first connection point, the second connection point, the third connection point and the fourth connection point are connected and spliced ​​with the first path to obtain a target cleaning path.

[0023] In some embodiments, planning a path based on the current position and the first position of the first target garbage to obtain a second path includes:

[0024] If the number of the first target garbage is one, the current position of the cleaning vehicle and the first position of the first target garbage are connected to obtain a second path.

[0025] In some embodiments, the method further comprises:

[0026] If there are multiple first target garbage, an approximate straight line is planned according to the locations of the multiple first target garbage, wherein the sum of the distances from the locations of the multiple first target garbage to the approximate straight line is the minimum;

[0027] The current position of the sweeper and the approximate straight line are connected to obtain the second path.

[0028] In some embodiments, the method further comprises:

[0029] If there are multiple first target garbage, determine the location distribution of the multiple first target garbage;

[0030] According to the shapes of the position distribution of the multiple first target garbage, a strategy for planning the second path is determined, wherein when the shape of the position distribution is quasi-circular, the second path is determined to be a curved path, when the shape of the position distribution is rectangular, the second path is determined to be at least one straight path, and when the shape of the position distribution is irregular, the second path is determined to be connected by multiple parallel path segments.

[0031] In a second aspect, an embodiment of the present invention provides a sweeper, comprising:

[0032] A processor and a memory communicatively connected to the processor;

[0033] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the garbage cleaning methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the garbage cleaning methods proposed in the first aspect.

[0034] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes any one of the garbage cleaning methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the garbage cleaning methods proposed in the first aspect.

[0035] Beneficial effects of the embodiments of the present invention: Different from the prior art, the garbage cleaning method provided by the embodiments of the present invention is applied to a cleaning vehicle, and the method includes: in the process of performing garbage cleaning work along a first path, obtaining environmental data of the current position; according to the environmental data, determining whether there is first target garbage and second target garbage, the first target garbage is garbage within a preset range that deviates from the first path, and the second target garbage is garbage located on the first path; if the first target garbage exists and the second target garbage does not exist, re-planning the cleaning path based on the first position and the first path of the first target garbage so that the cleaning can cover the first target garbage.

[0036] In the present invention, when cleaning garbage along the first path, it is determined whether there is target garbage within a preset range outside the first path by acquiring environmental data of the current position, and when there is target garbage, the cleaning path is replanned to clean the target garbage. When there is target garbage within a preset range outside the first path, the method replans the cleaning path to clean the target garbage, which can respond to changes in the road environment, clean the garbage on the road in a timely manner, improve cleaning efficiency, and save cleaning time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0038] Figure 1 is a schematic diagram of an application scenario of a garbage cleaning method provided by some embodiments of the present invention;

[0039] Figure 2 is a schematic structural diagram of a sweeper provided by some embodiments of the present invention;

[0040] Figure 3 is a flowchart of a garbage cleaning method provided by some embodiments of the present invention;

[0041] Figure 4 yes Figure 3 A schematic diagram of a sub-process of step S300 in the garbage cleaning method shown in the embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural 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 in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0044] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0045] See also Figure 1 , Figure 1 A schematic diagram of an application scenario of the garbage cleaning method provided by some embodiments of the present invention is schematically shown.

[0046] like Figure 1As shown, the application scenario includes: a cleaning vehicle 100 and garbage 200. Among them, the cleaning vehicle 100 located on the road is performing garbage cleaning work along the first path, that is, performing garbage cleaning work along the direction N. In order to improve the cleaning efficiency of the road and clean up the garbage outside the first path in a timely manner, the cleaning vehicle 100 scans the environment of the current location through various sensors equipped with itself (for example, cameras, laser radars or image sensors, etc.) during the garbage cleaning work along the first path, and obtains corresponding environmental data. Then, the environmental data is analyzed and processed to identify whether there is garbage on the first path and outside the first path in the environmental data, and according to the garbage situation on the first path and outside the first path, the cleaning path is replanned or other operations are performed to clean up the garbage on the first path and outside the first path.

[0047] In some embodiments, if there is garbage outside the first path and there is no garbage on the first path (e.g., Figure 1 In the scenario shown in the figure), the cleaning vehicle 100 replans the cleaning path (e.g., the second path) according to the location of the garbage outside the first path and the first path, so as to clean the garbage outside the first path in time and improve the cleaning efficiency of the road. In some embodiments, the first path may be an edge cleaning path, and the second path may be a non-edge cleaning path. After the second path is replanned, the first path and the second path are spliced ​​to obtain the target cleaning path, and then the cleaning vehicle 100 performs the garbage cleaning work along the target cleaning path, that is, the cleaning vehicle 100 cleans the garbage on the non-edge cleaning path along the target cleaning path, and after cleaning the garbage on the non-edge cleaning path, it continues to perform the garbage cleaning work along the edge cleaning path.

[0048] In some embodiments, if there is garbage on and outside the first path, the cleaning vehicle 100 performs garbage cleaning along the first path first, and records the location of the garbage outside the first path. After completing the garbage cleaning along the first path, the cleaning vehicle 100 plans a supplementary cleaning path for the garbage outside the first path according to the location of the garbage outside the first path, and then performs garbage cleaning along the supplementary cleaning path, that is, cleaning the garbage outside the first path along the supplementary cleaning path.

[0049] It should be understood that Figure 1In the application scenario shown, only a schematic diagram is shown of a situation in which there is garbage outside the first path and there is no garbage on the first path during the garbage cleaning work performed by the cleaning vehicle 100 along the first path. It does not impose any restrictions on the structure, type and quantity of the cleaning vehicle 100 in other application scenarios, the type, quantity and distribution of the garbage 200, etc. For example, in some other application scenarios, there is garbage on the first path, and the cleaning vehicle 100 can also determine whether to plan a full coverage cleaning path for the garbage outside the first path according to the quantity and distribution of the garbage outside the first path, so as to fully cover the garbage outside the first path and improve the cleaning efficiency.

[0050] In order to facilitate understanding of the garbage cleaning method provided by the embodiment of the present invention, the cleaning vehicle provided by the embodiment of the present invention is first introduced in detail.

[0051] See also Figure 2 , Figure 2 The structural diagram of the sweeper 100 provided in some embodiments of the present invention is schematically shown.

[0052] like Figure 2 As shown, the cleaning vehicle 100 includes at least one processor 110 and a memory 120 that are communicatively connected. Figure 2 The bus system 130 is used as an example to connect a processor. The various components in the sweeper 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between these components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In the figure, various buses are labeled as bus system 130. It can be understood that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the above-mentioned sweeper 100. For example, the above-mentioned sweeper 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0053] Specifically, the processor 110 is used to provide computing and control capabilities to control the sweeper 100 to perform corresponding tasks. For example, the sweeper 100 is controlled to perform any one of the garbage cleaning methods provided in the embodiments of the present invention, or to perform the steps in any one of the possible implementations of any one of the garbage cleaning methods provided in the embodiments of the present invention. Those skilled in the art will appreciate that the processor 110 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 gates or transistor logic devices, discrete hardware components.

[0054] The memory 120, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the garbage cleaning method in the embodiment of the present invention. In some embodiments, the memory 120 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 110, etc. The processor 110 executes various functional applications and data processing of the sweeper 100 by running the non-transitory software programs, instructions and modules stored in the memory 120 to implement any of the garbage cleaning methods provided in the embodiment of the present invention, or execute any of the steps in any possible implementation of any of the garbage cleaning methods provided in the embodiment of the present invention. Among them, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the processor 110 via a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0055] It is easy to understand that the implementation subject of any garbage cleaning method provided in the embodiments of the present invention can be any suitable type of cleaning vehicle with certain computing and control capabilities. In some possible implementations, any garbage cleaning method provided in the embodiments of the present invention can be implemented by a processor calling computer program instructions stored in a memory.

[0056] It can be understood from the above that the garbage cleaning method provided in the embodiment of the present invention can be implemented by various suitable types of cleaning vehicles with certain computing and control capabilities, for example, it can be implemented by the above-mentioned cleaning vehicle 100. The garbage cleaning method provided in the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the cleaning vehicle provided in the embodiment of the present invention.

[0057] See also Figure 3 , Figure 3 A schematic flowchart of a garbage cleaning method provided in some embodiments of the present invention is shown schematically.

[0058] Those skilled in the art will appreciate that the garbage cleaning method provided in the embodiment of the present invention can be applied to the above-mentioned cleaning vehicle (eg, cleaning vehicle 100). Specifically, the execution subject of the garbage cleaning method is one or at least two processors of the cleaning vehicle.

[0059] like Figure 3 As shown, the garbage cleaning method includes but is not limited to the following steps S100-S300:

[0060] S100: Acquire environmental data of a current location during garbage cleaning along a first path.

[0061] The first path is a cleaning path pre-planned according to current road information, and after the cleaning vehicle plans the first path, it performs garbage cleaning along the first path. In some embodiments, the first path may be an edge cleaning path, that is, the cleaning vehicle performs garbage cleaning along the edge cleaning path.

[0062] Specifically, when the sweeper is performing garbage cleaning work along the first path, that is, when cleaning garbage along the first path, the environmental data around the current location of the sweeper is obtained in real time through the image sensors installed on the sweeper (for example, cameras, lidars, infrared sensors, and ultrasonic sensors, etc.).

[0063] The sweeper processes and analyzes the acquired environmental data to detect garbage, obstacles, pedestrians, etc. in the surrounding environment of the current location. In addition, the sweeper uses its own GPS system, inertial navigation system (INS) and high-precision map to locate and navigate in real time to ensure that it travels along the predetermined first path to perform garbage cleaning work.

[0064] S200: Determine whether there is first target garbage and second target garbage according to the environmental data, the first target garbage is garbage within a preset range outside the first path, and the second target garbage is garbage on the first path.

[0065] Specifically, after obtaining the environmental data of the current location, the road sweeper first pre-processes the environmental data (for example, denoising, graying, etc.), and then uses a garbage recognition algorithm (for example, a computer vision algorithm, a target detection model, and a deep learning model) to detect whether there is garbage at the current location, and determines whether the garbage is the first target garbage or the second target garbage according to the location of the garbage. The first target garbage is garbage within a preset range that deviates from the first path, and the second target garbage is garbage on the first path. The preset range is an area range, for example, Figure 1 The rectangular area range shown can be determined according to actual needs and application scenarios. For example, the preset range is a rectangular area range that deviates from the first path by a specified distance. That is, when a certain garbage is located within the rectangular area range that deviates from the first path, the garbage is classified as the first target garbage.

[0066] It is understandable that different environmental data are obtained by using different image sensors. Therefore, when processing and analyzing the environmental data to determine whether the first target garbage and the second target garbage exist at the current location of the sweeper, corresponding processing and identification methods need to be adopted. For example, the environmental data obtained by the camera is an image or video, and the environmental data obtained by the laser radar is point cloud data. Obviously, the methods for processing and identifying garbage for images or videos and point cloud data are different. Those skilled in the art can use any appropriate method to obtain the environmental data of the current location of the sweeper according to actual needs and application scenarios, and use corresponding appropriate methods to process and analyze the environmental data.

[0067] S300: If the first target garbage exists and the second target garbage does not exist, replanning the cleaning path based on the first position and the first path of the first target garbage so that the cleaning can cover the first target garbage.

[0068] Specifically, if the detection determines that there is the first target garbage near the current position of the cleaning vehicle, and there is no second target garbage, a new cleaning path is replanned using a path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.) according to the current position of the cleaning vehicle and the first position of the first target garbage in combination with the first path. The new cleaning path can cover the cleaning of the first target garbage.

[0069] After planning a new cleaning path, the road sweeper updates the navigation and positioning system to execute the new cleaning path to clean the first target garbage, thereby covering the first target garbage within a preset distance range outside the first path, improving the road cleaning efficiency and reducing the cleaning time.

[0070] See also Figure 4 , Figure 4 A sub-process diagram of step S300 in the garbage cleaning method provided in some embodiments of the present invention.

[0071] like Figure 4 As shown, in some embodiments, the cleaning path is replanned based on the first position and the first path of the first target garbage so that the cleaning can cover the first target garbage, specifically including but not limited to the following steps S310-S320:

[0072] S310: Planning a path based on the current position and the first position of the first target garbage to obtain a second path.

[0073] Specifically, the sweeper determines the current location through the GPS system, the inertial navigation system (INS) and the high-precision map, and obtains the specific location of the first target garbage, that is, the first location of the first target garbage. The first location of the first target garbage can be obtained when processing the environmental data.

[0074] Then, the current position of the sweeper and the first position of each first target garbage are determined as a node, wherein the starting node is the current position of the sweeper, and the target node is the first position of the first target garbage. A path planning algorithm (such as A* algorithm, Dijkstra algorithm, RRT algorithm, etc.) is used to plan the path of the node to obtain a second path. In some embodiments, when planning the second path, the driving ability of the sweeper and environmental obstacles need to be considered to ensure the feasibility and safety of the second path.

[0075] In some embodiments, the first path is an edge cleaning path, and the second path is a non-edge cleaning path, that is, the cleaning vehicle performs garbage cleaning work along the non-edge cleaning path to clean the garbage on the non-edge cleaning path.

[0076] In some embodiments, a path is planned based on the current position and the first position of the first target garbage to obtain a second path, specifically including but not limited to the following steps S311:

[0077] S311: If the number of the first target garbage is one, connect the current position of the cleaning vehicle and the first position of the first target garbage to obtain a second path.

[0078] Specifically, if the number of first target garbage within the preset distance range outside the first path is one, that is, there is only one first target garbage within the preset distance range outside the first path, the current position of the sweeper and the first position of the first target garbage are directly used as two connecting nodes, and the two connecting nodes are connected to obtain the second path.

[0079] In some embodiments, a path is planned based on the current position and the first position of the first target garbage to obtain a second path, which specifically includes but is not limited to the following steps S312-S313:

[0080] S312: If there are multiple first target garbages, an approximate straight line is planned according to the locations of the multiple first target garbages, wherein the sum of the distances from the locations of the multiple first target garbages to the approximate straight line is the minimum.

[0081] Specifically, if there are multiple first target garbage within the preset distance range outside the first path, that is, there are at least two first target garbage within the preset distance range outside the first path, an approximate straight line is planned according to the locations of the multiple first target garbage, wherein the sum of the distances from the locations of the multiple first target garbage to the approximate straight line is the smallest.

[0082] In some embodiments, the least square method is used to fit the approximate straight line y=ax+b so that the sum of the vertical distances from the locations of the plurality of first target garbage to the straight line is minimized. In some embodiments, after eliminating the more remote points, the approximate straight line is fitted using the least square method.

[0083] S313: Connect the current position of the sweeper and the approximate straight line to obtain a second path.

[0084] Specifically, the approximate straight line is used as a partial path in the second path, and the current position of the cleaning vehicle is used as a connecting node. The connecting node and the approximate straight line are connected to obtain the second path.

[0085] In some embodiments, when there are multiple first target garbage within a preset distance range outside the first path, it is necessary to determine a corresponding path planning strategy based on the location distribution of the first target garbage to plan and obtain the optimal second path.

[0086] In some embodiments, a path is planned based on the current position and the first position of the first target garbage to obtain a second path, which specifically includes but is not limited to the following steps S314-S315:

[0087] S314: If there are multiple first target garbage, determine the location distribution of the multiple first target garbage.

[0088] Specifically, if there are multiple first target garbages within the preset distance range outside the first path, that is, there are at least two first target garbages within the preset distance range outside the first path, the location distribution of the multiple first target garbages is determined according to the locations of the multiple first target garbages.

[0089] In some embodiments, the location distribution of the plurality of first target garbages may be determined by calculating statistical information of the locations of the plurality of first target garbages.

[0090] First, the location of all first target garbage is obtained. The location of the first target garbage can be expressed as the coordinates of the coordinate point (x i ,y i ), i = 1, 2, 3, ..., n. Where n represents the total number of the first target garbage. Then, the coordinate points of each first target garbage are marked using a scatter plot to intuitively determine the location distribution of the first target garbage.

[0091] S315: Determine a strategy for planning the second path based on the shapes of the location distribution of multiple first target garbage, wherein when the shape of the location distribution is quasi-circular, the second path is determined to be a curved path, when the shape of the location distribution is rectangular, the second path is determined to be at least one straight path, and when the shape of the location distribution is irregular, the second path is determined to be connected by multiple parallel path segments.

[0092] Specifically, after determining the position distribution of each first target garbage, the position distribution of multiple first target garbage is identified and analyzed to obtain the shape of the position distribution of the first target garbage, wherein the shape of the position distribution includes a quasi-circular shape, a rectangular shape, and an irregular shape.

[0093] Then, according to the shape of the location distribution of the first target garbage, the strategy for planning the second path is determined, that is, different path planning strategies are adopted to plan the second path.

[0094] In some embodiments, if the shape of the position distribution of the first target garbage is quasi-circular, the second path is determined to be a curved path. The second path is planned using a curved path planning strategy, for example, by calculating the center of mass as the center of the circle (where the center of mass is ), use the maximum distance or mean distance as the radius, plan a spiral or circular curve path, and gradually expand outward from the center of mass to cover all the first target garbage.

[0095] Among them, the maximum distance or mean distance can be calculated using the following formula:

[0096]

[0097] or,

[0098] Among them, x i Represents the horizontal coordinate of the i-th coordinate point, y i represents the ordinate of the i-th coordinate point, represents the mean of the x coordinates of all coordinate points, Represents the mean of the y coordinates of all coordinate points.

[0099] In some embodiments, if the shape of the position distribution of the first target garbage is a rectangle, the second path is determined to be at least one straight path. The second path is planned using a straight path planning strategy, for example, the minimum enclosing rectangle of the first position of the first target garbage is calculated, and after generating parallel straight paths, the parallel straight paths are covered with the minimum enclosing rectangle at a certain interval, so as to cover and clean the first target garbage within the minimum enclosing rectangle.

[0100] In some embodiments, if the shape of the position distribution of the first target garbage is an irregular shape, the second path is determined to be a plurality of parallel path segments connected. The second path is planned using a parallel path segment planning strategy, that is, the cleaning is performed by connecting a plurality of parallel path segments. For example, the convex hull algorithm and the Alpha shape algorithm can be used to calculate the irregular boundary of the position of the first target garbage, generate parallel path segments, connect a plurality of parallel path segments, and perform adaptive adjustments according to the boundary shape to ensure that all the first target garbage is covered.

[0101] S320: splicing the second path with the first path to obtain a target cleaning path, and performing garbage cleaning along the target cleaning path.

[0102] Specifically, after the second path is planned and obtained, a node on the first path that is closest to the terminal node in the second path is selected as the splicing point. The selected node should be as close to the current position of the sweeper as possible, and needs to satisfy kinematic constraints and preset rule constraints to ensure that the second path can be connected to the first path to obtain the desired cleaning path.

[0103] Then, at the selected node, the second path is smoothly and conflict-freely spliced ​​with the first path to obtain the target cleaning path, and the navigation and positioning system is updated, a new target cleaning path is set, and the new target cleaning path is executed. The cleaning vehicle travels along the target cleaning path to clean the garbage on the target cleaning path, thereby covering and cleaning the first target garbage within a preset distance range outside the first path, thereby improving the cleaning efficiency and effect.

[0104] In some embodiments, satisfying kinematic constraints means that the sweeper can achieve a preset range of motion and turning radius, etc. when traveling on a sweeping path, based on the sweeper's movement capabilities, restrictions, and other conditions or factors.

[0105] In some embodiments, the preset rule constraints include: path cleaning efficiency, obstacle avoidance rules, path priority, etc. For example, the preset rule constraints include: the running time of the target cleaning path does not exceed the preset time threshold, the running length of the target cleaning path does not exceed the preset length threshold, and the complexity of the target cleaning path does not exceed the preset complexity threshold. It can be understood that the preset rule constraints can also include other rule constraints to ensure that the second path and the first path can be connected to obtain the target cleaning path.

[0106] In some embodiments, the second path is spliced ​​with the first path to obtain a target cleaning path, including but not limited to the following steps S321-S324:

[0107] S321: The current position of the road sweeper is used as the first connection point.

[0108] Specifically, the current location of the sweeper is obtained through a positioning system (such as a high-precision map, GPS or other positioning sensors), and the current location of the sweeper can be expressed as a two-dimensional coordinate (x0, y0). After the current location of the sweeper is obtained, the current location of the sweeper is used as the first connection point, and the first connection point is connected to the starting point of the target path, that is, the starting point of the target cleaning path finally obtained.

[0109] S322: The starting position of the garbage to be cleaned up at the beginning of the second path is used as the second connection point, and the ending position of the garbage to be cleaned up is used as the third connection point.

[0110] The second path includes a starting node and an ending node, the starting node corresponds to a starting position of the garbage to be cleaned, and the ending node corresponds to an ending position of the garbage to be cleaned.

[0111] Specifically, after obtaining the second path, the starting node and the ending node of the second path are obtained, and the starting position of the starting garbage to be cleaned corresponding to the starting node is used as the second connection node, and the ending position of the ending garbage to be cleaned corresponding to the ending node is used as the third connection node.

[0112] S323: Determine the first target position on the first path based on the third connection point, and use the first target position as the fourth connection point. The first target position is any position on the first path, and the positional relationship between the first target position and the third connection point satisfies the constraint conditions, and the constraint conditions include at least one of kinematic constraints and preset rule constraints.

[0113] Among them, satisfying the kinematic constraints means that according to the movement ability, restriction conditions and other conditions or factors of the sweeper, the sweeper can achieve the preset range of motion and turning radius when driving on the sweeping path. The preset rule constraints include the cleaning efficiency, obstacle avoidance rules, path priority, etc. of the sweeping path. For example, the preset rule constraints include: the running time of the sweeping path does not exceed the preset time threshold, the running length of the sweeping path does not exceed the preset length threshold, and the complexity of the sweeping path does not exceed the preset complexity threshold. Of course, the preset rule constraints can also include other rule constraints to ensure that the second path can be connected to the first path to obtain the target sweeping path.

[0114] Specifically, after determining the second connection point and the third connection point, detailed information of the first path is obtained to obtain the coordinates of each position point on the first path. Then, the distance and relative position relationship between each position point and the third connection point are calculated, and all candidate positions that meet the conditions are screened according to the kinematic constraints and the preset rule constraints. Among the screened candidate positions, any one candidate position is determined as the first target position, and the selected first target position is used as the fourth connection point.

[0115] S324: Connect the first connection point, the second connection point, the third connection point, and the fourth connection point, and splice them with the first path to obtain a target cleaning path.

[0116] Specifically, after obtaining the first connection point, the second connection point, the third connection point and the fourth connection point, the first connection point, the second connection point, the third connection point and the fourth connection point are connected to obtain a splicing path, and then the splicing path is spliced ​​with the first path to obtain the final complete and continuous target cleaning path, ensuring the continuity and efficiency of the cleaning path.

[0117] The garbage cleaning method provided by an embodiment of the present invention is applied to a garbage cleaning vehicle, and the method includes: in the process of performing garbage cleaning work along a first path, obtaining environmental data of the current position; determining whether there is first target garbage and second target garbage based on the environmental data, the first target garbage is garbage within a preset range that deviates from the first path, and the second target garbage is garbage located on the first path; if the first target garbage exists and the second target garbage does not exist, re-planning the cleaning path based on the first position and the first path of the first target garbage so that the cleaning can cover the first target garbage.

[0118] In this embodiment, when cleaning garbage along the first path, it is determined whether there is target garbage within a preset range outside the first path by acquiring environmental data of the current position. When there is target garbage, the cleaning path is replanned to clean the target garbage. When there is target garbage within a preset range outside the first path, this method replans the cleaning path to clean the target garbage, which can respond to changes in the road environment, clean the garbage on the road in a timely manner, improve cleaning efficiency, and save cleaning time.

[0119] In some embodiments, when both the first target garbage and the second target garbage exist at the current position of the sweeper, the second target garbage on the first path is cleaned first, that is, the garbage cleaning work is performed along the first path first. After cleaning the second target garbage on the first path, a supplementary cleaning path is planned for the first target garbage, so as to clean the first target garbage along the supplementary cleaning path.

[0120] In some embodiments, the garbage cleaning method further includes but is not limited to the following steps S400-S500:

[0121] S400: If there are first target garbage and second target garbage, perform garbage cleaning along the first path and record the first position where the first target garbage is located.

[0122] Specifically, if the detection determines that there is both the first target garbage and the second target garbage near the current location of the cleaning vehicle, the cleaning is performed preferentially along the predetermined first path, that is, the garbage cleaning work is continued along the first path to clean the second target garbage on the first path, and the garbage situation on the path is continuously monitored. In addition, the coordinate information of the first location where the first target garbage is located is recorded to facilitate the subsequent planning of the cleaning path for the first target garbage.

[0123] S500: After completing the garbage cleaning work along the first path, planning a supplementary cleaning path according to the first position where the first target garbage is located, and performing the garbage cleaning work along the supplementary cleaning path.

[0124] Specifically, the sweeper completes the garbage cleaning work along the first path, that is, after cleaning the second target garbage on the first path, it plans a supplementary cleaning path for the first target garbage based on the recorded coordinate information of the first position of the first target garbage using a path planning algorithm (for example, A* algorithm, Dijkstra algorithm or TSP algorithm, etc.) to ensure that the first target garbage is covered and cleaned.

[0125] After the supplementary sweeping path is planned, the path can be optimized according to the kinematic constraints of the sweeper and the preset rule constraints to obtain an optimized supplementary sweeping path. The sweeper performs garbage cleaning along the optimized supplementary sweeping path to clean the first target garbage within the preset distance range outside the first path.

[0126] Through the above method, after completing the garbage cleaning work along the first path, a supplementary cleaning path is planned according to the first position where the first target garbage is located, and the garbage cleaning work is performed along the supplementary cleaning path, thereby ensuring that all target garbage is cleaned up and improving the road cleaning effect.

[0127] In some embodiments, when planning a supplementary sweeping path for the first target garbage, a supplementary sweeping path with the shortest distance can be planned according to the distances between the first target garbage.

[0128] In some embodiments, a supplementary cleaning path is planned according to the first location of the first target garbage, including but not limited to the following steps S510:

[0129] S510: If there are multiple first target garbage, a supplementary sweeping path with the shortest distance is planned based on the distances between the first positions of the first target garbage.

[0130] For example, according to the recorded coordinate information of the first position of the first target garbage, the Euclidean distance between the first positions of every two first target garbage is calculated to generate a distance matrix. Then, the TSP algorithm is used to input the distance matrix into the TSP algorithm to solve a shortest distance supplementary sweeping path that traverses the first positions of all first target garbage. The sweeper performs garbage cleaning along the planned shortest distance supplementary sweeping path to efficiently clean the first target garbage.

[0131] In summary, the garbage cleaning method provided by the embodiment of the present invention is applied to a garbage cleaning vehicle, and the method includes: in the process of performing garbage cleaning work along a first path, obtaining environmental data of the current position; according to the environmental data, determining whether there is first target garbage and second target garbage, the first target garbage is garbage within a preset range that deviates from the first path, and the second target garbage is garbage located on the first path; if the first target garbage exists and the second target garbage does not exist, re-planning the cleaning path based on the first position and the first path of the first target garbage so that the cleaning can cover the first target garbage.

[0132] In this embodiment, when cleaning garbage along the first path, it is determined whether there is target garbage within a preset range outside the first path by acquiring environmental data of the current position. When there is target garbage, the cleaning path is replanned to clean the target garbage. When there is target garbage within a preset range outside the first path, this method replans the cleaning path to clean the target garbage, which can respond to changes in the road environment, clean the garbage on the road in a timely manner, improve cleaning efficiency, and save cleaning time.

[0133] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the garbage cleaning methods provided in the embodiments of the present invention, or executes the steps in any one of the possible implementation methods of any one of the garbage cleaning methods provided in the embodiments of the present invention.

[0134] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0135] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0136] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0137] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0138] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0139] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0140] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A garbage cleaning method, applied to a garbage cleaning vehicle, characterized in that: The method comprises: In the process of performing garbage cleaning along the first path, obtaining environmental data of the current position; Determine, according to the environmental data, whether there is first target garbage and second target garbage, wherein the first target garbage is garbage within a preset range outside the first path, and the second target garbage is garbage on the first path; If the first target garbage exists and the second target garbage does not exist, the cleaning path is replanned based on the first position of the first target garbage and the first path so that the cleaning can cover the first target garbage.

2. The method according to claim 1, characterized in that The replanning of the cleaning path based on the first position of the first target garbage and the first path so that the cleaning can cover the first target garbage includes: Planning a path based on the current position and the first position of the first target garbage to obtain a second path; The second path is spliced ​​with the first path to obtain a target cleaning path, and garbage cleaning work is performed along the target cleaning path.

3. The method according to claim 1, characterized in that The method further comprises: If the first target garbage and the second target garbage exist, performing garbage cleaning along the first path and recording the first position where the first target garbage is located; After the garbage cleaning work is completed along the first path, a supplementary cleaning path is planned according to the first position where the first target garbage is located, and the garbage cleaning work is performed along the supplementary cleaning path.

4. The method according to claim 3, characterized in that The planning of a supplementary sweeping path according to the first position of the first target garbage includes: If there are multiple first target garbage, the supplementary sweeping path with the shortest distance is planned based on the distance between the first positions of the first target garbage.

5. The method according to claim 2, characterized in that: The step of splicing the second path with the first path to obtain a target cleaning path includes: Using the current position of the sweeper as the first connection point; The starting position of the second path where the garbage to be cleaned is to be used as the second connection point, and the ending position of the second path where the garbage to be cleaned is to be used as the third connection point; Determine a first target position on the first path based on the third connection point, and use the first target position as a fourth connection point, wherein the first target position is any position on the first path and the positional relationship between the first target position and the third connection point satisfies a constraint condition, wherein the constraint condition includes at least one of a kinematic constraint and a preset rule constraint; The first connection point, the second connection point, the third connection point and the fourth connection point are connected and spliced ​​with the first path to obtain a target cleaning path.

6. The method according to claim 2, characterized in that The planning of a path based on the current position and the first position of the first target garbage to obtain a second path includes: If the number of the first target garbage is one, the current position of the cleaning vehicle and the first position of the first target garbage are connected to obtain a second path.

7. The method according to claim 6, characterized in that The method further comprises: If there are multiple first target garbage, an approximate straight line is planned according to the locations of the multiple first target garbage, wherein the sum of the distances from the locations of the multiple first target garbage to the approximate straight line is the minimum; The current position of the sweeper and the approximate straight line are connected to obtain the second path.

8. The method according to claim 7, characterized in that The method further comprises: If there are multiple first target garbage, determine the location distribution of the multiple first target garbage; According to the shapes of the position distribution of the multiple first target garbage, a strategy for planning the second path is determined, wherein when the shape of the position distribution is quasi-circular, the second path is determined to be a curved path, when the shape of the position distribution is rectangular, the second path is determined to be at least one straight path, and when the shape of the position distribution is irregular, the second path is determined to be connected by multiple parallel path segments.

9. A sweeper, characterized in that: include: A processor and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the garbage cleaning method as described in any one of claims 1-8.

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 garbage cleaning method according to any one of claims 1-8.

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