An automated cleaning path planning system

Abstract

The present invention discloses an automated cleaning path planning system, including a sensor acquisition unit, a processing unit, a control unit, a data storage unit, a communication unit and an operating device, wherein the sensor acquisition unit includes an ultrasonic sensor acquisition module and an image acquisition module, the processing unit includes an analysis processing module and a path planning generation module, the control unit includes a central processing module and an instruction output module, and the communication unit realizes data transmission and instruction transmission between the modules; the sensor acquisition unit collects surrounding environment information, and the processing unit effectively analyzes the path environment and plans the travel path. The present invention is reasonably designed, and the dynamic path planning method based on a neural network has more comprehensive data considerations, has a wider adaptability to complex paths, and can adjust complex road conditions in a timely manner.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an automatic cleaning path planning system. Background Art

[0002] As people's living standards improve, more and more automated operating equipment is being applied to actual production and life, bringing great convenience to people. For example, the common plant protection drones automatically perform plant protection operations, intelligent sweeping robots automatically perform cleaning operations, garbage sweepers and garbage collection and transportation vehicles perform road cleaning and garbage disposal, intelligent robots perform road rescue, and automatic logistics vehicles perform logistics transportation.

[0003] How to reasonably plan the operation path of automated operation equipment is a very important link in the process of automated operation. Reasonable path planning can effectively improve the operation efficiency of automated operation equipment, bring greater economic benefits and bring more convenience to people's lives. For this reason, we designed an automated cleaning path planning system to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art, and to propose an automated cleaning path planning system, which is based on a dynamic path planning method of a neural network, has more comprehensive data considerations, has a wider adaptability to complex paths, and can make timely adjustments to complex road conditions.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automated cleaning path planning system, including path analysis, optimal path analysis, path environment recognition, road condition recognition, operation target recognition, data collection and information storage, wherein the path analysis is used for planning and analyzing the walking route, the optimal path analysis is used for planning the optimal path from the starting point to the end point, the path environment recognition is used for environmental analysis of the route to be walked, the road condition recognition is used for analysis of the walking road surface, and the data collection and information storage are used for uploading and storing the road condition analysis data, and recording it in the cloud space for data AI analysis;

[0007] The data acquisition and information storage includes a sensor acquisition unit, a processing unit, a control unit, a data storage unit, a communication unit and an operating device. The sensor acquisition unit includes an ultrasonic sensor acquisition module and an image acquisition module. The processing unit includes an analysis and processing module and a path planning generation module. The control unit includes a central processing module and an instruction output module. The communication unit realizes data transmission and instruction transmission between modules.

[0008] The sensor acquisition unit effectively analyzes the path environment and plans the travel path, combines the path and collects surrounding environment information to train the neural network. The sensor acquisition unit collects the surrounding environment information of the carrier equipment when it is working in real time, and uses it as the input of the trained neural network, and uses the corresponding travel path through the control unit to avoid obstacles.

[0009] Preferably, the image acquisition module is composed of a plurality of camera units, and the plurality of camera units cooperate with the ultrasonic sensor acquisition module respectively to acquire road images and obstacle information in real time.

[0010] Preferably, the analysis and processing module processes the information collected by the image acquisition module and the ultrasonic sensor acquisition module, identifies road conditions, road boundaries and obstacles, and extracts key information.

[0011] Preferably, the path planning generation module uses an AI algorithm to generate a forward path for the device based on the image data processed by the analysis and processing module.

[0012] Preferably, the central processing module processes the data generated by the path planning generation module and issues control instructions through the instruction output module.

[0013] Preferably, the obstacle avoidance is achieved by moving through a wheel system and providing power.

[0014] Preferably, the data storage unit stores the travel path information and the carrier equipment operation information, and can mark the obstacle point information.

[0015] Preferably, the operating device is a display with an operating interface for an operator to set parameters, monitor device status and adjust working modes.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This automated path planning system collects surrounding environment information in real time through a sensor acquisition unit mounted on a carrier device, effectively analyzes the path environment and plans a travel path through a processing unit, trains a neural network based on the path and the collected surrounding environment information, generates a travel path, controls the operation of the carrier device through a control unit, makes timely adjustments to complex road conditions, avoids temporary parking or obstacles on the road, and replans the path, with good avoidance capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of an automated cleaning path planning system proposed by the present invention;

[0019] Figure 2A schematic diagram of the working process of an automated cleaning path planning system proposed by the present invention;

[0020] Figure 3 This is a functional schematic diagram of an automated cleaning path planning system proposed in the present invention. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all the embodiments.

[0022] Reference Figure 1-Figure 3 , an automated cleaning path planning system, path analysis, optimal path analysis, path environment recognition, road condition recognition, work target recognition, obstacle avoidance and data collection and information storage, the path analysis is used for planning and analyzing the walking route, the optimal path analysis is used for planning the optimal path from the starting point to the end point, the path environment recognition is used for environmental analysis of the route to be walked, the road condition recognition is used for analysis of the walking road surface, the work target recognition and obstacle avoidance are used for measures to avoid obstacles on the walking route, the data collection and information storage are used to upload and store the road condition analysis data, and record it in the cloud space for data AI analysis.

[0023] Among them, this automatic path planning system can be used in scenes that require path planning, such as garbage sweepers, garbage collection and transportation vehicles, automatic logistics vehicles, etc., including a sensor acquisition unit, a processing unit, a control unit, a data storage unit, a communication unit and an operating device. The sensor acquisition unit includes an ultrasonic sensor acquisition module and an image acquisition module. The image acquisition module is composed of multiple cameras, and the multiple cameras are evenly installed around the equipment to ensure that the entire operating area can be covered. An audio acquisition device is also set on the camera to collect audio. The image acquisition module cooperates with the ultrasonic sensor acquisition module to collect road images and obstacle information in real time, and transmits the collected information to the processing unit through the communication unit for processing;

[0024] The processing unit includes an analysis and processing module and a path planning generation module. The analysis and processing module processes the information collected by the image acquisition module and the ultrasonic sensor acquisition module, identifies the road conditions, operation execution targets, road boundaries and obstacles, etc., and extracts key information. Among them, the road conditions include road surface water, road potholes, traffic lights, etc. The path planning generation module uses AI algorithms to perform path analysis based on the image data processed by the analysis and processing module, and generates the optimal forward path for the equipment, completes the path planning of the carrier equipment, and replans the path for temporary parking or other obstacles on the road and complex road conditions, with good avoidance performance;

[0025] The control unit includes a central processing module and an instruction output module. The central processing module processes the data generated by the path planning generation module, and sends control instructions through the instruction output module to control the operation of the carrier device. The obstacle avoidance is carried out through the wheel system and the driving device that provides power. The instructions sent by the instruction output module can control the movement and operation. The sensor acquisition unit analyzes the environment on the path.

[0026] The data storage unit stores the travel path information and the carrier equipment operation information, can mark the obstacle point information, and can feed back the marked points to the central processing module.

[0027] The operating device is a display with an operating interface for the operator to set parameters, monitor equipment status and adjust working modes.

[0028] The following is a further description of the automatic cleaning path planning system in conjunction with specific embodiments.

[0029] The sensor acquisition unit can detect whether there is dust accumulation or particulate impurities on the path, and identify whether there is dust accumulation, particulate impurities or other adverse conditions. The processing unit effectively analyzes the path environment and plans the optimal path. The control unit controls the cleaning and feeds back and stores the road conditions and data before and after cleaning through the communication unit. The data storage unit stores the cleaning path information and cleaning information, and can mark the obstacle point information and abnormal cleaning areas, and can feed back the marked points to the central processing module, which is conducive to the subsequent investigation of whether the obstacle point still exists and can focus on cleaning or not cleaning the marked points during subsequent cleaning.

[0030] The present invention can be explained by the following operation mode:

[0031] In the present invention, the communication unit realizes data transmission and instruction delivery between each module, the sensor acquisition unit is loaded on the carrier device to collect the surrounding environment information, and then the path environment is effectively analyzed by the processing unit to plan the travel path, the neural network is trained in combination with the path and the collected surrounding environment information, the control unit controls the carrier device to move forward and perform operations, the sensor acquisition unit collects the surrounding environment information of the carrier device when it is working in real time, and uses it as the input of the trained neural network, and controls the corresponding travel path through the control unit to control the operation of the carrier device, the sensor acquisition unit collects the road conditions of the driving path in real time, the control unit dynamically adjusts according to the actual situation, avoids obstacles, adjusts the path or suspends the operation when necessary, and after the task is completed, the carrier device automatically returns to the starting point or moves to the specified position, and the data storage unit stores the travel path information and the working operation information of the carrier device for subsequent analysis and optimization.

[0032] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automated cleaning path planning system, characterized in that: It includes path analysis, optimal path analysis, path environment recognition, road condition recognition, operation target recognition, data collection and information storage. The path analysis is used to plan and analyze the walking route, the optimal path analysis is used to plan the optimal path from the starting point to the end point, the path environment recognition is used to perform environmental analysis on the route to be walked, the road condition recognition is used to analyze the walking road surface, and the data collection and information storage are used to upload and store the road condition analysis data, and record it in the cloud space for data AI analysis; The data acquisition and information storage includes a sensor acquisition unit, a processing unit, a control unit, a data storage unit, a communication unit and an operating device. The sensor acquisition unit includes an ultrasonic sensor acquisition module and an image acquisition module. The processing unit includes an analysis and processing module and a path planning generation module. The control unit includes a central processing module and an instruction output module. The communication unit realizes data transmission and instruction transmission between modules. The sensor acquisition unit effectively analyzes the path environment and plans the travel path, combines the path and collects surrounding environment information to train the neural network. The sensor acquisition unit collects the surrounding environment information of the carrier equipment when it is working in real time, and uses it as the input of the trained neural network, and uses the corresponding travel path through the control unit to avoid obstacles.

2. An automated cleaning path planning system according to claim 1, characterized in that: The image acquisition module is composed of a plurality of camera units, and the plurality of camera units cooperate with the ultrasonic sensor acquisition module respectively to acquire road images and obstacle information in real time.

3. An automated cleaning path planning system according to claim 1, characterized in that: The analysis and processing module processes the information collected by the image acquisition module and the ultrasonic sensor acquisition module, identifies road conditions, road boundaries and obstacles, and extracts key information.

4. An automated cleaning path planning system according to claim 1, characterized in that: The path planning generation module uses an AI algorithm to generate a forward path for the device based on the image data processed by the analysis and processing module.

5. An automated cleaning path planning system according to claim 1, characterized in that: The central processing module processes the data generated by the path planning generation module and issues control instructions through the instruction output module.

6. An automated cleaning path planning system according to claim 1, characterized in that: The obstacle avoidance is achieved by a wheel system and powered movement.

7. An automated cleaning path planning system according to claim 1, characterized in that: The data storage unit stores the travel path information and the carrier equipment operation information, and can mark the obstacle point information.

8. An automated cleaning path planning system according to claim 1, characterized in that: The operating device is a display with an operating interface for the operator to set parameters, monitor device status and adjust working modes.

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