A route planning system for unmanned road sweeper
By designing the unmanned sweeper's travel route planning system, using sensors and deep learning algorithms to realize environmental perception and path planning, the problem of repeated cleaning of the unmanned sweeper's sweeper area is solved, and efficient and accurate cleaning and remote supervision are achieved.
Patent Information
- Application Number
- CN202411836390.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-04-01
AI Technical Summary
The existing unmanned sweeper technology has not planned the travel route during cleaning, resulting in repeated cleaning of the cleaning area, wasting time and difficult to regulate uniformly.
A unmanned sweeper vehicle travel route planning system was designed, including a sensor real-time sensing end, a path planning platform, an unmanned vehicle comprehensive management platform and on-site emergency mobilization module. The environment is perceived in real time through multiple sets of sensors, combined with deep learning algorithms to realize environmental modeling and path planning, dynamically adjust the path to avoid obstacles, and optimize cleaning area segmentation and multi-vehicle coordination through the unmanned vehicle comprehensive management platform.
It realizes that unmanned sweepers quickly and accurately find the optimal path in complex environments, avoid obstacles, ensure that each area is fully cleaned, reduce omissions, facilitate remote supervision and precise control, and improve the intelligent level of route planning and management.
Smart Images
Figure CN119739159A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned sweeping, and in particular to a route planning system for an unmanned sweeping vehicle. Background Art
[0002] Unmanned sweepers are beginning to show a diversified development trend. Cleaning equipment with different working modes has emerged, which has the advantages of high reliability, flexibility, and simple operation. However, these products also have disadvantages such as large size, high energy consumption, and inability to clean corners. Corners refer to the blank areas for cleaning caused by the sweeper turning to avoid obstacles when encountering walls and corners. Cleaning staff need to perform a second manual cleaning of these blind spots.
[0003] However, in the prior art, the route of the unmanned sweeper is not planned during cleaning, resulting in the area being cleaned again by other unmanned sweepers after cleaning, wasting cleaning time. At the same time, it is inconvenient to carry out unified supervision, and the unmanned sweeper equipment itself is less managed, and it is difficult to obtain its specific information data, which affects the subsequent manual judgment and route planning. Therefore, the present invention needs to design an unmanned sweeper route planning system to solve the above-mentioned problems. Summary of the invention
[0004] The purpose of the present invention is to provide a route planning system for an unmanned road sweeper in order to solve the above-mentioned problems, thereby solving the problems mentioned in the background technology.
[0005] In order to solve the above problems, the present invention provides a technical solution: A route planning system for an unmanned road sweeper, the route planning system comprising a real-time sensing terminal of a sensor, a path planning platform, an integrated management platform for an unmanned vehicle and an on-site emergency mobilization module, the integrated management platform for an unmanned vehicle respectively maintaining real-time data communication and sharing with the real-time sensing terminal of the sensor, the path planning platform and the on-site emergency mobilization module through the Internet, a staff member logs into the integrated management platform of the unmanned vehicle to enter the route planning system, and checks the real-time operation data of the real-time sensing terminal of the sensor, the path planning platform and the on-site emergency mobilization module one by one; The sensor real-time sensing end is used to sense the surrounding environment, detect obstacles, and sense the ground state in real time through multiple sets of sensor devices, and perform synchronous positioning and map construction through GPS; The path planning platform is used to calculate and plan the optimal path in real time based on the environmental information and cleaning task requirements obtained by sensors, realize environmental modeling through lidar scanning and visual cameras combined with deep learning algorithms, identify and mark obstacles and areas not suitable for cleaning, and dynamically adjust the path during travel to ensure that the vehicle can smoothly avoid obstacles; The unmanned vehicle integrated management platform is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., give priority to cleaning high-pollution or high-demand areas, and coordinate and collaborate multiple vehicles by adopting a centralized or distributed scheduling algorithm; The on-site emergency mobilization module is used to manage the user interface, provide status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC, and allow manual remote monitoring, scheduling and control through the Internet or local area network.
[0006] As a preferred technical solution, the output end of the real-time sensing end of the sensor is communicatively connected to the input end of the path planning platform, the output end of the path planning platform is communicatively connected to the input end of the unmanned vehicle integrated management platform, and the unmanned vehicle integrated management platform and the on-site emergency mobilization module are bidirectionally communicatively connected.
[0007] As a preferred technical solution, the real-time sensing end of the sensor includes a sensor monitoring unit, a positioning installation unit and a real-time communication contact unit. The output ends of the sensor monitoring unit and the positioning installation unit are both communicatively connected to the input end of the real-time communication contact unit, and the positioning installation unit is integrated into the interior of the sensor monitoring unit.
[0008] As a preferred technical solution, the sensor monitoring unit is used to perceive the surrounding environment, detect obstacles, and perceive the ground state in real time through multiple sets of sensor devices, and the multiple sets of sensors include but are not limited to laser radar, ultrasonic sensor, visual camera, infrared sensor, global positioning system sensor, and geomagnetic sensor; The positioning installation unit is used to perform synchronous positioning and map construction through GPS, thereby providing the real-time position of the sweepers with different numbers; The real-time communication contact unit is used to upload all operating data, path planning information, and cleaning logs to the cloud to facilitate subsequent data analysis and optimization, and to monitor the communication information during the upload process and when contacting the site in real time.
[0009] As a preferred technical solution, the path planning platform includes a path planning unit, an algorithm optimization unit and an intelligent obstacle avoidance unit. The output end of the algorithm optimization unit is communicatively connected to the input end of the path planning unit, and the intelligent obstacle avoidance unit is integrated inside the path planning unit.
[0010] As a preferred technical solution, the path planning unit is used to calculate and plan the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements, and the planning should take into account obstacles, ground conditions, cleaning coverage, weather changes in the cleaning area, and changes in traffic flow in the cleaning area; The algorithm optimization unit is used to realize environmental modeling through laser radar scanning and visual cameras combined with deep learning algorithms, identify and mark obstacles and areas not suitable for cleaning, and can also manually import different algorithms into the system to find the shortest or optimal path from the starting point to the target point in a known map or dynamic environment; The intelligent obstacle avoidance unit is used to combine laser radar and ultrasonic sensors to sense obstacles around the vehicle in real time, dynamically adjust the path during travel, and ensure that the vehicle can smoothly avoid obstacles.
[0011] As a preferred technical solution, the unmanned vehicle integrated management platform includes an unmanned vehicle area management unit, an integrated dispatching unit and an unmanned vehicle equipment control unit, and the output end of the unmanned vehicle area management unit is communicatively connected to the input end of the integrated dispatching unit.
[0012] As a preferred technical solution, the unmanned vehicle area management unit is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., give priority to cleaning high-pollution or high-demand areas, and mark the cleaned areas to avoid repeated cleaning; The integrated dispatching unit is used for multi-vehicle coordination and collaboration. By adopting a centralized or distributed dispatching algorithm, it ensures that the paths between the vehicles do not conflict. Through wireless communication technology, the sweeping vehicles can share location information, task progress and other data in real time, thereby dynamically adjusting the paths to avoid conflicts and duplication of work. The unmanned vehicle equipment control unit is used to design an automatic recharging function, so that the sweeper can autonomously return to the charging station for charging when the battery is low, thereby maximizing the working time. At the same time, the usage data of each unmanned vehicle is supervised, and the usage data includes unmanned vehicle maintenance data, unmanned vehicle current usage data, and unmanned vehicle cleaning data.
[0013] As a preferred technical solution, the on-site emergency mobilization module includes a human-computer interaction and control unit, a remote monitoring unit and an on-site implementation unit, and the output ends of the human-computer interaction and control unit and the on-site implementation unit are both communicatively connected to the input end of the remote monitoring unit.
[0014] As a preferred technical solution, the human-machine interaction and control unit is used to manage the user interface, provide status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC, and allow users to set and adjust tasks; The remote monitoring unit is used for remote control and monitoring, and allows a human operator to remotely monitor, dispatch and control the sweeper through a mobile phone or computer via the Internet or a local area network; The on-site implementation unit is used to perform flexible on-site scheduling according to different cleaning needs, supports remote management and scheduling of multiple cleaning vehicles, improves the management efficiency of large-scale cleaning tasks, and is also used to communicate with on-site staff in a timely manner.
[0015] The beneficial effects of the present invention are as follows: the present invention constructs a complete route planning system by setting up a sensor real-time sensing terminal, a path planning platform, an unmanned vehicle integrated management platform and an on-site emergency mobilization module. When in use, multiple groups of sensor devices are used to perceive the surrounding environment, detect obstacles, and perceive the ground state in real time. The path planning platform is used to calculate and plan the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements. Through lidar scanning and visual cameras, combined with deep learning algorithms, environmental modeling is achieved, obstacles and areas not suitable for cleaning are identified and marked, and the path is dynamically adjusted during travel to ensure that the vehicle can smoothly avoid obstacles. The unmanned vehicle integrated management platform is installed to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., and high-pollution or high-level cleaning is given priority. In demand areas, multi-vehicle coordination and collaboration are carried out by adopting centralized or distributed scheduling algorithms. By setting up an on-site emergency mobilization module management user interface, the status monitoring, task scheduling and path viewing of the sweeper are provided through a mobile phone app or PC. Through the Internet or local area network, manual remote monitoring, scheduling and control are allowed. Through intelligent path planning and environmental perception, the sweeper can quickly and accurately find the optimal path in a complex environment, not only avoiding obstacles, but also ensuring that each area is fully cleaned and reducing omissions. It is convenient for staff to remotely supervise, accurately control each link, reduce the occurrence of accidents, manage, visualize and store route planning data and corresponding analysis results, which helps to realize route planning management through Internet cloud control and improve the intelligence level of route planning management. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] For ease of explanation, the present invention is described in detail with reference to the following specific implementations and the accompanying drawings.
[0017] Figure 1 It is an overall structural topological diagram of a route planning system for an unmanned sweeper of the present invention. DETAILED DESCRIPTION
[0018] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.
[0019] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.
[0020] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0021] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
[0022] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.
[0023] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.
[0024] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.
[0025] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.
[0026] like Figure 1 As shown, this specific implementation adopts the following technical solutions: A route planning system for an unmanned road sweeper, the route planning system comprising a real-time sensing end of a sensor, a path planning platform, an integrated management platform for an unmanned vehicle and an on-site emergency mobilization module, the integrated management platform for an unmanned vehicle respectively maintaining real-time data intercommunication and sharing with the real-time sensing end of the sensor, the path planning platform and the on-site emergency mobilization module through the Internet, a staff member enters the route planning system by logging into the integrated management platform for an unmanned vehicle, and checks the real-time operation data of the real-time sensing end of the sensor, the path planning platform and the on-site emergency mobilization module one by one; the output end of the real-time sensing end of the sensor is communicatively connected to the input end of the path planning platform, the output end of the path planning platform is communicatively connected to the input end of the integrated management platform for an unmanned vehicle, and the integrated management platform for an unmanned vehicle is bidirectionally communicatively connected to the on-site emergency mobilization module; The sensor real-time sensing end is used to sense the surrounding environment, detect obstacles, and sense the ground state in real time through multiple sets of sensor devices, and perform synchronous positioning and map construction through GPS; The path planning platform is used to calculate and plan the optimal path in real time based on the environmental information and cleaning task requirements obtained by sensors, realize environmental modeling through lidar scanning and visual cameras combined with deep learning algorithms, identify and mark obstacles and areas not suitable for cleaning, and dynamically adjust the path during travel to ensure that the vehicle can smoothly avoid obstacles; The unmanned vehicle integrated management platform is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., give priority to cleaning high-pollution or high-demand areas, and coordinate and collaborate multiple vehicles by adopting a centralized or distributed scheduling algorithm; The on-site emergency mobilization module is used to manage the user interface, provide status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC, and allow manual remote monitoring, scheduling and control through the Internet or local area network.
[0027] The real-time sensing end of the sensor includes a sensor monitoring unit, a positioning installation unit and a real-time communication contact unit. The output ends of the sensor monitoring unit and the positioning installation unit are both communicatively connected to the input end of the real-time communication contact unit. The positioning installation unit is integrated into the interior of the sensor monitoring unit. The sensor monitoring unit is used to perceive the surrounding environment, detect obstacles, and perceive the ground state in real time through multiple groups of sensor equipment. The multiple groups of sensors include but are not limited to laser radars, ultrasonic sensors, visual cameras, infrared sensors, global positioning system sensors, and geomagnetic sensors; the positioning installation unit is used to perform synchronous positioning and map construction through GPS, thereby providing the real-time location of the sweepers under different numbers; the real-time communication contact unit is used to upload all operation data, path planning information, and cleaning logs to the cloud, which is convenient for subsequent data analysis and optimization, and real-time supervision of communication information during the upload process and when contacting the site.
[0028] The path planning platform includes a path planning unit, an algorithm optimization unit and an intelligent obstacle avoidance unit. The output end of the algorithm optimization unit is communicatively connected to the input end of the path planning unit. The intelligent obstacle avoidance unit is integrated inside the path planning unit. The path planning unit is used to calculate and plan the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements. When planning, obstacles, ground conditions, cleaning coverage, weather changes in the cleaning area, and traffic flow changes in the cleaning area must be taken into consideration; the algorithm optimization unit is used to achieve environmental modeling through laser radar scanning and visual cameras in combination with deep learning algorithms, identify and mark obstacles and areas that are not suitable for cleaning, and different algorithms can be manually introduced into the system to find the shortest or optimal path from the starting point to the target point in a known map or dynamic environment; the intelligent obstacle avoidance unit is used to combine laser radar and ultrasonic sensors to perceive obstacles around the vehicle in real time, dynamically adjust the path during travel, and ensure that the vehicle can smoothly avoid obstacles.
[0029] The unmanned vehicle integrated management platform includes an unmanned vehicle area management unit, an integrated dispatching unit and an unmanned vehicle equipment control unit. The output end of the unmanned vehicle area management unit is communicatively connected to the input end of the integrated dispatching unit. The unmanned vehicle area management unit is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., give priority to cleaning high-pollution or high-demand areas, and mark the areas where cleaning is completed to avoid repeated cleaning; the integrated dispatching unit is used for multi-vehicle coordination and collaboration. By adopting a centralized or distributed dispatching algorithm, it is ensured that there is no conflict in the paths between the vehicles. Through wireless communication technology, the cleaning vehicles can share location information, task progress and other data in real time, thereby dynamically adjusting the path to avoid conflicts and duplication of work; the unmanned vehicle equipment control unit is used to design an automatic recharging function, so that the cleaning vehicle can autonomously return to the charging station for charging when the battery is low, thereby maximizing the working time, and at the same time supervising the usage data of each unmanned vehicle, the usage data including unmanned vehicle maintenance data, unmanned vehicle current usage data, and unmanned vehicle cleaning data.
[0030] The on-site emergency mobilization module includes a human-computer interaction and control unit, a remote supervision unit and an on-site implementation unit. The output ends of the human-computer interaction and control unit and the on-site implementation unit are both communicatively connected to the input end of the remote supervision unit. The human-computer interaction and control unit is used to manage the user interface, and provides status monitoring, task scheduling and path viewing of the sweeper through a mobile phone App or PC, allowing users to set and adjust tasks; the remote supervision unit is used for remote control and monitoring, and allows manual operators to remotely monitor, schedule and control the sweeper through mobile phones or computers through the Internet or local area network; the on-site implementation unit is used to perform flexible on-site scheduling according to different cleaning needs, supports remote management and scheduling of multiple sweepers, improves the management efficiency of large-scale cleaning tasks, and is also used to get in touch with on-site staff in a timely manner. Example
[0031] When the energy cloud management system is connected to factory management: S1. The staff will check the equipment required on-site and remotely one by one. After checking that there are no problems and they can be started normally, the route planning system will be started. The sensor monitoring unit is used to perceive the surrounding environment, detect obstacles, and perceive the ground state in real time through multiple sets of sensor equipment. The multiple sets of sensors include but are not limited to laser radar, ultrasonic sensor, visual camera, infrared sensor, global positioning system sensor, geomagnetic sensor. The positioning installation unit uses GPS to synchronize positioning and map construction, thereby providing the real-time location of the sweepers under different numbers. The real-time communication contact unit uploads all operation data, route planning information, and cleaning logs to the cloud to facilitate subsequent data analysis and optimization, and real-time supervision of communication information during the upload process and when contacting the site; S2. The path planning unit calculates and plans the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements. When planning, obstacles, ground conditions, cleaning coverage, weather changes in the cleaning area, and changes in traffic flow in the cleaning area must be taken into account. The algorithm optimization unit uses laser radar scanning and visual cameras, combined with deep learning algorithms to achieve environmental modeling, identify and mark obstacles and areas that are not suitable for cleaning. At the same time, different algorithms can be manually imported into the system to find the shortest or optimal path from the starting point to the target point in a known map or dynamic environment. The intelligent obstacle avoidance unit combines laser radar and ultrasonic sensors to perceive obstacles around the vehicle in real time, and dynamically adjusts the path during travel to ensure that the vehicle can smoothly avoid obstacles; S3. The unmanned vehicle area management unit divides the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., gives priority to cleaning high-pollution or high-demand areas, and marks the cleaned areas to avoid repeated cleaning. The comprehensive scheduling unit is used for multi-vehicle coordination and collaboration. By adopting a centralized or distributed scheduling algorithm, it ensures that the paths between the vehicles do not conflict. Through wireless communication technology, the cleaning vehicles can share location information, task progress and other data in real time, so as to dynamically adjust the path to avoid conflicts and duplication of work. The unmanned vehicle equipment control unit is designed with an automatic recharge function, so that the cleaning vehicle can autonomously return to the charging station for charging when the battery is low, thereby maximizing the working time. At the same time, the usage data of each unmanned vehicle is supervised, and the usage data includes unmanned vehicle maintenance data, unmanned vehicle current usage data, and unmanned vehicle cleaning data; S4. The human-machine interaction and control unit manages the user interface, which provides status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC, allowing users to set and adjust tasks. The remote supervision unit is used for remote control and monitoring, allowing manual operators to remotely monitor, schedule and control the sweeper through mobile phones or computers through the Internet or local area network. The on-site implementation unit performs flexible on-site scheduling according to different cleaning needs, supports remote management and scheduling of multiple sweepers, improves the management efficiency of large-scale cleaning tasks, and is also used to get in touch with on-site staff in a timely manner.
[0032] Specifically: In actual applications, there are multiple sensor real-time sensing terminals, which are used in conjunction with the path planning platform, the unmanned vehicle integrated management platform and the on-site emergency mobilization module respectively. The multiple sensor real-time sensing terminals are located in different geographical locations. The present invention constructs a complete route planning system by setting the sensor real-time sensing terminal, the path planning platform, the unmanned vehicle integrated management platform and the on-site emergency mobilization module. When in use, multiple groups of sensor devices are used to perceive the surrounding environment, detect obstacles, and perceive the ground state in real time. The path planning platform is used to calculate and plan the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements. Through laser radar scanning and visual cameras, combined with deep learning algorithms, environmental modeling is achieved, obstacles and areas not suitable for cleaning are identified and marked, and the path is dynamically adjusted during the journey to ensure that the vehicle can smoothly avoid obstacles. The unmanned vehicle integrated management platform is installed according to the clearing task requirements. The cleaning area is divided into multiple sub-areas based on the size of the cleaning area, the degree of pollution, etc., and high-pollution or high-demand areas are cleaned first. Multi-vehicle coordination and collaboration are carried out by adopting centralized or distributed scheduling algorithms. The on-site emergency mobilization module management user interface is set up to provide status monitoring, task scheduling and path viewing of the cleaning vehicle through mobile phone apps or PCs. Through the Internet or local area network, manual remote monitoring, scheduling and control are allowed. Through intelligent path planning and environmental perception, the cleaning vehicle can quickly and accurately find the optimal path in a complex environment, not only avoiding obstacles, but also ensuring that each area is fully cleaned and reducing omissions, facilitating remote supervision by staff, accurately controlling each link, reducing the occurrence of accidents, managing, visualizing and storing route planning data and corresponding analysis results, which is conducive to realizing route planning management through Internet cloud management and control, and improving the intelligence level of route planning management.
[0033] Those of ordinary skill in the art will appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.
[0034] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, equipment and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.
[0035] In the several embodiments provided in the present application, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or equipment, which can be electrical, mechanical or other forms.
[0036] The modules for the real-time sensing terminal of the sensor, the path planning platform, the integrated management platform of the unmanned vehicle, and the on-site emergency mobilization may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0037] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
[0038] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only storage server, a random access storage server, a magnetic disk or an optical disk.
[0039] In addition, it should be noted that the combination of the various technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments. All technical features described in this case can be freely combined or combined in any way unless there is a contradiction between them.
[0040] It should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and there are many similar variations. All variations directly derived or associated from the contents disclosed by the technicians in this field should fall within the protection scope of the present invention.
[0041] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A route planning system for an unmanned road sweeper, characterized in that: The route planning system includes a sensor real-time sensing terminal, a path planning platform, an unmanned vehicle integrated management platform and an on-site emergency mobilization module. The unmanned vehicle integrated management platform maintains real-time data communication and sharing with the sensor real-time sensing terminal, the path planning platform and the on-site emergency mobilization module through the Internet. The staff enters the route planning system by logging into the unmanned vehicle integrated management platform and checks the real-time operation data of the sensor real-time sensing terminal, the path planning platform and the on-site emergency mobilization module one by one. The sensor real-time sensing end is used to sense the surrounding environment, detect obstacles, and sense the ground state in real time through multiple sets of sensor devices, and perform synchronous positioning and map construction through GPS; The path planning platform is used to calculate and plan the optimal path in real time based on the environmental information and cleaning task requirements obtained by sensors, realize environmental modeling through lidar scanning and visual cameras combined with deep learning algorithms, identify and mark obstacles and areas not suitable for cleaning, and dynamically adjust the path during travel to ensure that the vehicle can smoothly avoid obstacles; The unmanned vehicle integrated management platform is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., give priority to cleaning high-pollution or high-demand areas, and coordinate and collaborate multiple vehicles by adopting a centralized or distributed scheduling algorithm; The on-site emergency mobilization module is used to manage the user interface, provide status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC, and allow manual remote monitoring, scheduling and control through the Internet or local area network.
2. The route planning system for an unmanned road sweeper according to claim 1, characterized in that: The output end of the real-time sensing end of the sensor is communicatively connected to the input end of the path planning platform, the output end of the path planning platform is communicatively connected to the input end of the unmanned vehicle integrated management platform, and the unmanned vehicle integrated management platform and the on-site emergency mobilization module are bidirectionally communicatively connected.
3. The route planning system for an unmanned road sweeper according to claim 1, characterized in that: The real-time sensing end of the sensor includes a sensor monitoring unit, a positioning installation unit and a real-time communication contact unit. The output ends of the sensor monitoring unit and the positioning installation unit are both communicatively connected to the input end of the real-time communication contact unit, and the positioning installation unit is integrated inside the sensor monitoring unit.
4. The route planning system for an unmanned road sweeper according to claim 3 is characterized in that: The sensor monitoring unit is used to sense the surrounding environment, detect obstacles, and sense the ground state in real time through multiple sets of sensor devices; The positioning installation unit is used to perform synchronous positioning and map construction through GPS; The real-time communication contact unit is used to upload all operation data, path planning information, and cleaning logs to the cloud.
5. The route planning system for an unmanned road sweeper according to claim 1, characterized in that: The path planning platform includes a path planning unit, an algorithm optimization unit and an intelligent obstacle avoidance unit. The output end of the algorithm optimization unit is communicatively connected to the input end of the path planning unit, and the intelligent obstacle avoidance unit is integrated inside the path planning unit.
6. The route planning system for an unmanned road sweeper according to claim 5, characterized in that: The path planning unit is used to calculate and plan the optimal path in real time based on the environmental information obtained by the sensor and the cleaning task requirements; The algorithm optimization unit is used to realize environmental modeling through laser radar scanning and visual cameras combined with deep learning algorithms, identify and mark obstacles and areas not suitable for cleaning, and can also access different algorithms into the system through manual import; The intelligent obstacle avoidance unit is used to combine laser radar and ultrasonic sensors to sense obstacles around the vehicle in real time.
7. The route planning system for an unmanned road sweeper according to claim 1, characterized in that: The unmanned vehicle integrated management platform includes an unmanned vehicle area management unit, an integrated dispatching unit and an unmanned vehicle equipment control unit. The output end of the unmanned vehicle area management unit is communicatively connected to the input end of the integrated dispatching unit.
8. The route planning system for an unmanned road sweeper according to claim 7, characterized in that: The unmanned vehicle area management unit is used to divide the cleaning area into multiple sub-areas according to the size of the cleaning area, the degree of pollution, etc., and give priority to cleaning high-pollution or high-demand areas; The integrated dispatching unit is used for multi-vehicle coordination and collaboration, and ensures that there is no conflict in the paths between the vehicles by adopting a centralized or distributed dispatching algorithm; The unmanned vehicle equipment control unit is used to design an automatic recharging function, so that the sweeper can autonomously return to the charging station for charging when the battery is low.
9. The route planning system for an unmanned road sweeper according to claim 1, characterized in that: The on-site emergency mobilization module includes a human-machine interaction and control unit, a remote monitoring unit and an on-site implementation unit. The output ends of the human-machine interaction and control unit and the on-site implementation unit are both communicatively connected to the input end of the remote monitoring unit.
10. The route planning system for an unmanned road sweeper according to claim 9, characterized in that: The human-machine interaction and control unit is used to manage the user interface and provide status monitoring, task scheduling and path viewing of the sweeper through a mobile phone app or PC; The remote monitoring unit is used for remote control and monitoring via the Internet or a local area network; The on-site implementation unit is used to perform flexible on-site scheduling according to different cleaning needs and supports remote management and scheduling of multiple cleaning vehicles.