Cleaning method for unmanned environmental sanitation equipment, processor and unmanned environmental sanitation equipment

Abstract

The invention discloses a cleaning method for unmanned environmental sanitation equipment, a processor and the unmanned environmental sanitation equipment, and belongs to the technical field of unmanned environmental sanitation equipment. The method comprises the steps of extracting a contour of a to-be-cleaned area and a contour of an area where an obstacle is located in the to-be-cleaned area; the contour of the to-be-cleaned area is subjected to indentation treatment of indentation by a preset width; performing external expansion processing of external expansion of a preset width on the contour of the obstacle area; extracting a first feature point of the updated contour of the to-be-cleaned area and a second feature point of the processed contour of the obstacle area; a cleaning path is generated based on the first feature point and the second feature point, the updated contour of the to-be-cleaned area is subjected to inward shrinkage processing repeatedly until the area of the to-be-cleaned area in the updated contour of the to-be-cleaned area is smaller than a preset area threshold value, and a cleaning path set comprising multiple cleaning paths is obtained; and cleaning the to-be-cleaned area. According to the method, the to-be-cleaned area can be reasonably planned, so that the cleaning efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned sanitation equipment, and in particular to a cleaning method, a processor and unmanned sanitation equipment for unmanned sanitation equipment. Background Art

[0002] In recent years, with the development of science and technology, unmanned sanitation vehicles have appeared more and more in people's lives. In scenes such as squares, parks, and campuses, unmanned sanitation vehicles need to plan a full coverage path for the cleaning area, that is, to plan a path that conforms to vehicle dynamics and traverse and clean the entire area. In the prior art, the planning of the full coverage path is mainly based on the location of the obstacle distribution, dividing the area to be cleaned into multiple sub-areas, and after cleaning the sub-area, it moves to the next sub-area to be cleaned according to the navigation algorithm, and traverses all sub-areas according to the relevant business travel algorithm until the entire scene is cleaned. However, when there are too many obstacles, there may be relatively narrow sub-areas, making cleaning more difficult, so there is a problem of low cleaning efficiency. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a cleaning method, a processor, an unmanned sanitation equipment and a storage medium for unmanned sanitation equipment, so as to solve the problem of low cleaning efficiency of unmanned sanitation equipment in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a cleaning method for unmanned sanitation equipment, comprising:

[0005] Based on the pre-acquired grid map of the area to be cleaned, extracting the outline of the area to be cleaned and the outline of the area where the obstacles in the area to be cleaned are located, so as to obtain the outline of the area to be cleaned and the outline of the obstacle area;

[0006] The outline of the area to be cleaned is indented by a preset width to obtain an updated outline of the area to be cleaned;

[0007] Performing an outward expansion process on the obstacle area contour by a preset width to obtain a processed obstacle area contour;

[0008] Respectively extracting the updated first feature points of the outline of the area to be cleaned and the processed second feature points of the outline of the obstacle area;

[0009] Generate a cleaning path based on the first feature point and the second feature point, and repeatedly shrink the updated outline of the area to be cleaned until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than a preset area threshold, so as to obtain a cleaning path set including multiple cleaning paths;

[0010] The area to be cleaned is cleaned according to multiple cleaning paths in the cleaning path set.

[0011] In an embodiment of the present application, a cleaning path is generated based on a first feature point and a second feature point, including: connecting the first feature point and the second feature point respectively to obtain a first cleaning path and a second cleaning path; determining whether the first cleaning path and the second cleaning path intersect; and if it is determined that the first cleaning path and the second cleaning path do not intersect, adding the first cleaning path to the cleaning path set.

[0012] In an embodiment of the present application, the cleaning method also includes: when it is determined that the first cleaning path intersects with the second cleaning path, the intersection of the first cleaning path and the second cleaning path, and the second feature point located between the intersection points are added to the feature point group, and the feature point group also includes the first feature point that is not inside the processed obstacle area contour; the points in the feature point group are connected to obtain a third cleaning path, and the third cleaning path is added to the cleaning path set, and the third cleaning path does not pass through the processed obstacle contour.

[0013] In an embodiment of the present application, the first feature points of the updated contour of the area to be cleaned and the second feature points of the processed contour of the obstacle area are extracted respectively, including: determining the contour corner points of the updated contour of the area to be cleaned as the first feature points; determining the contour corner points of the processed contour of the obstacle area as the second feature points; or determining multiple feature points on the contour line of the updated contour of the area to be cleaned to obtain the first feature point, and the distance between two adjacent first feature points is the first preset interval distance; determining multiple feature points on the contour line of the processed contour of the obstacle area to obtain the second feature point, and the distance between two adjacent second feature points is the second preset interval distance.

[0014] In an embodiment of the present application, before extracting the outline of the area to be cleaned and the outline of the area where obstacles are located in the area to be cleaned based on a pre-acquired raster map of the area to be cleaned to obtain the outline of the area to be cleaned and the outline of the obstacle area, the cleaning method also includes: expanding the obstacles in the area to be cleaned whose interval distance is less than a preset distance threshold; wrapping the expanded obstacles with a minimum rectangular frame to obtain the obstacle area in the area to be cleaned.

[0015] In an embodiment of the present application, the area to be cleaned is cleaned according to multiple cleaning paths in a cleaning path set, including: obtaining the current position of the unmanned sanitation equipment; sorting the multiple cleaning paths in the cleaning path set in ascending order according to the time of joining the cleaning path set to obtain the cleaning order of the multiple cleaning paths; determining the cleaning starting point of each cleaning path in the cleaning path set according to the current position; controlling the unmanned sanitation equipment to traverse all the cleaning paths in the cleaning path set in sequence, starting from the cleaning starting point of each cleaning path, in the cleaning order to complete the cleaning of the area to be cleaned.

[0016] In an embodiment of the present application, the cleaning starting point of each cleaning path in the cleaning path set is determined according to the current position, including: for the cleaning path ranked first in the cleaning order, the feature point closest to the current position among multiple feature points is determined as the cleaning starting point; for any cleaning path except the cleaning path ranked first in the cleaning order, the feature point closest to the previous cleaning starting point among the multiple feature points of any cleaning path is determined as the cleaning starting point.

[0017] A second aspect of the present application provides a processor configured to execute the above-mentioned cleaning method for unmanned sanitation equipment.

[0018] A third aspect of the present application provides an unmanned sanitation device, comprising the processor according to the above.

[0019] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned cleaning method for unmanned sanitation equipment.

[0020] Through the above technical solution, firstly, based on the pre-acquired grid map of the area to be cleaned, the outline of the area to be cleaned and the outline of the area where the obstacles are located in the area to be cleaned are extracted to obtain the outline of the area to be cleaned and the outline of the obstacle area. Then, the outline of the area to be cleaned is shrunk by a preset width to obtain the updated outline of the area to be cleaned, and the outline of the obstacle area is expanded by a preset width to obtain the processed outline of the obstacle area. Then, the first feature point of the updated outline of the area to be cleaned and the second feature point of the processed outline of the obstacle area are respectively extracted, and a cleaning path is generated based on the first feature point and the second feature point. The updated outline of the area to be cleaned is repeatedly shrunk until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold, so as to obtain a cleaning path set including multiple cleaning paths. Finally, the area to be cleaned is cleaned according to the multiple cleaning paths in the cleaning path set, without dividing the entire area to be cleaned into multiple sub-areas, which effectively improves the cleaning efficiency.

[0021] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0023] Figure 1A flow chart of a cleaning method for unmanned sanitation equipment according to an embodiment of the present application is schematically shown;

[0024] Figure 2 A contour extraction diagram according to an embodiment of the present application is schematically shown;

[0025] Figure 3 A diagram schematically showing an obstacle area expansion processing diagram according to an embodiment of the present application;

[0026] Figure 4 A contour feature point extraction diagram according to a specific embodiment of the present application is schematically shown;

[0027] Figure 5 A contour feature point extraction diagram according to another specific embodiment of the present application is schematically shown;

[0028] Figure 6 A contour feature point extraction diagram according to another specific embodiment of the present application is schematically shown;

[0029] Figure 7 A full coverage path diagram of an area to be cleaned according to an embodiment of the present application is schematically shown;

[0030] Figure 8 A connection diagram of adjacent cleaning path starting points according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. 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 this application.

[0032] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0034] Figure 1 The flowchart of a cleaning method for unmanned sanitation equipment according to an embodiment of the present application is schematically shown. Figure 1 As shown, the embodiment of the present application provides a cleaning method for unmanned sanitation equipment. Taking the method applied to a processor as an example, the method may include the following steps:

[0035] Step S101: based on the pre-acquired grid map of the area to be cleaned, extracting the outline of the area to be cleaned and the outline of the area where obstacles are located in the area to be cleaned, so as to obtain the outline of the area to be cleaned and the outline of the obstacle area.

[0036] Step S102: performing an indentation process on the outline of the area to be cleaned by a preset width to obtain an updated outline of the area to be cleaned.

[0037] Step S103: performing an outward expansion process on the obstacle area contour by a preset width to obtain a processed obstacle area contour.

[0038] Step S104: extracting the updated first feature points of the outline of the area to be cleaned and the processed second feature points of the outline of the obstacle area respectively.

[0039] Step S105: Generate a cleaning path based on the first feature point and the second feature point, and repeatedly shrink the updated outline of the area to be cleaned until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than a preset area threshold, so as to obtain a cleaning path set including multiple cleaning paths.

[0040] Step S106: Clean the area to be cleaned according to the multiple cleaning paths in the cleaning path set.

[0041] It can be understood that in the prior art, the area to be cleaned is first divided into multiple sub-areas according to the location of the obstacle distribution, and then the sub-area is moved to the next sub-area to be cleaned according to the navigation algorithm after the sub-area is cleaned, and all sub-areas are traversed according to the relevant business travel algorithm until the cleaning of the entire scene is completed. However, in actual applications, when there are too many obstacles, it is more troublesome to divide the sub-areas, and the transfer of vehicles from each sub-area is also more complicated, resulting in low cleaning efficiency. At the same time, for some relatively small sub-areas, when the cleaning vehicle is an Ackerman vehicle, it is difficult to clean because it cannot turn in place. Based on this, the embodiment of the present application proposes a cleaning method for unmanned sanitation equipment, which first selects feature points for the area to be cleaned, and after the contour of the cleaning area is formed according to the feature points, it is retracted at intervals of a certain width. If an obstacle is encountered, the feature points of the intersection of the contour and the obstacle near the intersection are added to the original feature point group to form a new contour, and the process is repeated until the cleaning area is fully covered. In the embodiment of the present application, the preset width is half the width of the sanitation vehicle for explanation.

[0042] Figure 2 A contour extraction diagram according to an embodiment of the present application is schematically shown. Figure 2As shown, specifically, the processor can construct a grid map of the area to be cleaned in advance. When it is necessary to plan the cleaning path for the area to be cleaned, the processor directly obtains the grid map of the area to be cleaned, and then extracts the outline of the area to be cleaned and the outline of the area where the obstacles are located in the area to be cleaned, thereby obtaining the outline of the area to be cleaned and the outline of the obstacle area. Among them, the obstacle area refers to the area where the obstacles are located in the area to be cleaned. For obstacles without other obstacles around, the minimum rectangular frame can be directly used to wrap them to form an obstacle area; for obstacles that are close, the small gaps between obstacles that cannot be cleaned, such as parking gaps between vehicles, can be fused with the obstacles, and the minimum rectangular frame is used to wrap the expanded and fused obstacle area. In an embodiment of the present application, the first feature point is the feature point of the target area outline, and the second feature point is the feature point of the obstacle area outline. After extracting the outline of the obstacle area and the outline of the area to be cleaned, the processor first shrinks the outline of the area to be cleaned inward by half the width of the sanitation vehicle, that is, half the width of the sanitation vehicle, to obtain the updated outline of the area to be cleaned, and expands the outline of the obstacle area outward by half the width of the sanitation vehicle to obtain the processed outline of the obstacle area. Then, the feature points of the updated outline of the area to be cleaned and the feature points of the processed outline of the obstacle area are extracted respectively, and connected with straight lines to obtain the initial path and the obstacle edge cleaning path respectively. Repeat the shrinking process of the updated outline of the area to be cleaned until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold. In this way, a cleaning path set including multiple cleaning paths can be obtained, and finally the unmanned sanitation vehicle is controlled to clean in sequence according to the cleaning paths in the cleaning path set to complete the cleaning of the area to be cleaned.

[0043] Through the above technical solution, firstly, based on the pre-acquired grid map of the area to be cleaned, the outline of the area to be cleaned and the outline of the area where the obstacles are located in the area to be cleaned are extracted to obtain the outline of the area to be cleaned and the outline of the obstacle area. Then, the outline of the area to be cleaned is shrunk by a preset width to obtain the updated outline of the area to be cleaned, and the outline of the obstacle area is expanded by a preset width to obtain the processed outline of the obstacle area. Then, the first feature point of the updated outline of the area to be cleaned and the second feature point of the processed outline of the obstacle area are respectively extracted, and a cleaning path is generated based on the first feature point and the second feature point. The updated outline of the area to be cleaned is repeatedly shrunk until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold, so as to obtain a cleaning path set including multiple cleaning paths. Finally, the area to be cleaned is cleaned according to the multiple cleaning paths in the cleaning path set, without dividing the entire area to be cleaned into multiple sub-areas, which effectively improves the cleaning efficiency.

[0044] Figure 3A diagram schematically shows an obstacle area expansion process according to an embodiment of the present application. Figure 3 As shown, in an embodiment of the present application, before extracting the outline of the area to be cleaned and the outline of the area where obstacles are located in the area to be cleaned based on a pre-acquired raster map of the area to be cleaned to obtain the outline of the area to be cleaned and the outline of the obstacle area, the cleaning method may also include: expanding the obstacles in the area to be cleaned whose interval distance is less than a preset distance threshold; wrapping the expanded obstacles with a minimum rectangular frame to obtain the obstacle area in the area to be cleaned.

[0045] Specifically, for obstacles in the area to be cleaned, there are situations where the gaps between obstacles are relatively small and cannot be cleaned, such as parking gaps between vehicles. Therefore, a preset distance threshold can be set first, and for obstacles whose distance between obstacles is less than the preset distance threshold, the obstacle and the gap are merged. In other words, obstacles whose interval distance is less than the preset distance threshold are expanded, and the expanded obstacles are wrapped with a minimum rectangular frame to obtain the obstacle area in the area to be cleaned. In this way, the cleaning efficiency can be effectively improved.

[0046] Figure 4 A contour feature point extraction diagram according to a specific embodiment of the present application is schematically shown. Figure 5 A contour feature point extraction diagram according to another specific embodiment of the present application is schematically shown. Figure 4 Shown and Figure 5 As shown, in an embodiment of the present application, respectively extracting the first feature point of the updated contour of the area to be cleaned and the second feature point of the processed contour of the obstacle area can include: determining the contour corner point of the updated contour of the area to be cleaned as the first feature point; determining the contour corner point of the processed contour of the obstacle area as the second feature point; or determining multiple feature points on the contour line of the updated contour of the area to be cleaned to obtain the first feature point, and the distance between two adjacent first feature points is the first preset interval distance; determining multiple feature points on the contour line of the processed contour of the obstacle area to obtain the second feature point, and the distance between two adjacent second feature points is the second preset interval distance.

[0047] Specifically, the first feature point is the feature point of the contour of the area to be cleaned, and the second feature point is the feature point of the contour of the obstacle area; the first preset interval distance is the distance between the feature points of the contour of the area to be cleaned, and the second preset interval distance is the distance between the feature points of the contour of the obstacle area, and the two can be set according to actual conditions and can be equal or unequal. In an example, Figure 4As shown in , the contours of the area to be cleaned and the obstacle area are relatively simple, or the cleaning edge accuracy requirement is low. In this case, the contour corner points can be directly used as feature points to improve efficiency. In another example, Figure 5 As shown in the figure, the contours of the area to be cleaned and the obstacle area are relatively complex, or the cleaning edge accuracy requirement is high. At this time, you can select a contour point as a feature point at every interval in the contour line. The smaller the interval, the higher the accuracy of the planned path, and the larger the interval, the higher the efficiency.

[0048] In an embodiment of the present application, generating a cleaning path based on a first feature point and a second feature point may include: connecting the first feature point and the second feature point respectively to obtain a first cleaning path and a second cleaning path; determining whether the first cleaning path and the second cleaning path intersect; and if it is determined that the first cleaning path and the second cleaning path do not intersect, adding the first cleaning path to the path set.

[0049] Figure 6 A contour feature point extraction diagram according to another specific embodiment of the present application is schematically shown. Figure 7 A full coverage path diagram of a region to be cleaned according to an embodiment of the present application is schematically shown. Figure 6 and Figure 7 As shown, in an embodiment of the present application, the method may further include: when it is determined that the first cleaning path intersects with the second cleaning path, the intersection of the first cleaning path and the second cleaning path, and the second feature point located between the intersection points are added to the feature point group, the feature point group also includes the first feature point that is not inside the processed obstacle area contour; the points in the feature point group are connected to obtain a third cleaning path, and the third cleaning path is added to the cleaning path set, and the third cleaning path does not pass through the processed obstacle contour.

[0050] Specifically, the first cleaning path is a path obtained by connecting the feature points of the updated outline of the area to be cleaned with a straight line; the second cleaning path is a path obtained by connecting the feature points of the processed obstacle area with a straight line. After extracting the outline of the obstacle area and the outline of the area to be cleaned, the processor extracts the feature points of the updated outline of the area to be cleaned and the feature points of the processed obstacle area outline respectively, and connects them with straight lines to obtain a new path, namely the first cleaning path, and an obstacle-adjacent cleaning path, namely the second cleaning path. Determine whether the new cleaning path intersects with the obstacle-adjacent cleaning path. If they do not intersect, it means that the new cleaning path will not encounter obstacles, and the new cleaning path is added to the path set. If they intersect, the intersection of the new cleaning path and the obstacle-adjacent cleaning path is used as a new feature point ( Figure 6 The square punctuation marks in the figure) are added as new feature points to the feature point group, and then the obstacle contour feature points within the square punctuation marks ( Figure 6The first feature point that is not inside the processed obstacle area contour is added to the feature point group, and finally the feature points are sorted counterclockwise, and the new cleaning path, namely the third cleaning path, is connected with a straight line, and added to the path set. The third cleaning path generated in this way does not pass through the processed obstacle contour. Repeat the above process until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold, that is, the generated cleaning path can complete the full coverage of the area to be cleaned. The full coverage path of the area to be cleaned is as follows Figure 7 shown.

[0051] In an embodiment of the present application, cleaning the area to be cleaned according to multiple cleaning paths in a cleaning path set can include: obtaining the current position of the unmanned sanitation equipment; sorting the multiple cleaning paths in the cleaning path set in ascending order according to the time of joining the cleaning path set to obtain the cleaning order of the multiple cleaning paths; determining the cleaning starting point of each cleaning path in the cleaning path set according to the current position; controlling the unmanned sanitation equipment to traverse all the cleaning paths in the cleaning path set in the cleaning order, starting from the cleaning starting point of each cleaning path, and traversing all the cleaning paths in the cleaning path set in turn to complete the cleaning of the area to be cleaned.

[0052] Specifically, the unmanned sanitation equipment can be an unmanned sanitation vehicle, which is provided with a positioning module, and the current position of the vehicle can be obtained in real time through the positioning module. When the area to be cleaned needs to be cleaned, the processor first obtains the cleaning path set of the area to be cleaned and the current position of the vehicle, and then determines the cleaning starting point of each cleaning path in the cleaning path set according to the current position. The path set includes multiple cleaning paths, and the unmanned sanitation vehicle performs cleaning operations along the cleaning paths in turn to complete the cleaning of the entire area to be cleaned. The processor first sorts the multiple cleaning paths in the cleaning path set in ascending order according to the time of joining the cleaning path set to obtain the cleaning order of the multiple cleaning paths, that is, starting from the outermost cleaning path of the area to be cleaned, and reaching the next cleaning path inward in turn, until the last cleaning path. For each cleaning path, there is a cleaning starting point. The unmanned sanitation vehicle starts cleaning along the cleaning path from the cleaning starting point, then returns to the starting point, and then drives from the starting point to the starting point of the next cleaning path. In this way, all cleaning paths in the cleaning path set are traversed in turn to complete the cleaning of the area to be cleaned.

[0053] Figure 8 A schematic diagram of the connection of adjacent cleaning path starting points according to an embodiment of the present application is shown. Figure 8As shown, in an embodiment of the present application, determining the cleaning starting point of each cleaning path in the cleaning path set according to the current position may include: for the cleaning path ranked first in the cleaning order, determining the feature point closest to the current position among multiple feature points as the cleaning starting point; for any cleaning path except the cleaning path ranked first in the cleaning order, determining the feature point closest to the previous cleaning starting point among multiple feature points of any cleaning path as the cleaning starting point.

[0054] Specifically, for the first cleaning path, i.e., the outermost cleaning path, first determine the feature point closest to the unmanned sanitation vehicle among the multiple feature points of the cleaning path, use the closest feature point as the cleaning starting point, and then control the unmanned sanitation vehicle to start cleaning along the first cleaning path from the cleaning starting point, and then return to the cleaning starting point. After returning to the cleaning starting point, determine the feature point closest to the cleaning starting point of the first cleaning path among the multiple feature points of the next cleaning path, i.e., the second cleaning path, as the cleaning starting point of the second cleaning path, and connect the cleaning starting points of the two cleaning paths through a Bezier curve to obtain the moving route of the unmanned sanitation vehicle.

[0055] An embodiment of the present application provides a processor configured to execute the above-mentioned cleaning method for unmanned sanitation equipment.

[0056] Specifically, in an embodiment of the present application, the processor can be configured to: based on a pre-acquired grid map of the area to be cleaned, extract the outline of the area to be cleaned and the outline of the area where the obstacle in the area to be cleaned is located to obtain the outline of the area to be cleaned and the outline of the obstacle area; perform an inward shrinking processing on the outline of the area to be cleaned by a preset width to obtain an updated outline of the area to be cleaned; perform an outward expansion processing on the outline of the obstacle area by a preset width to obtain a processed outline of the obstacle area; respectively extract the first feature point of the updated outline of the area to be cleaned and the second feature point of the processed outline of the obstacle area; generate a cleaning path based on the first feature point and the second feature point, and repeatedly perform the inward shrinking processing on the updated outline of the area to be cleaned until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold value to obtain a cleaning path set including multiple cleaning paths; and clean the area to be cleaned according to the multiple cleaning paths in the cleaning path set.

[0057] In an embodiment of the present application, the processor can also be configured to: connect the first feature point and the second feature point respectively to obtain the first cleaning path and the second cleaning path; determine whether the first cleaning path and the second cleaning path intersect; if it is determined that the first cleaning path and the second cleaning path do not intersect, add the first cleaning path to the cleaning path set.

[0058] In an embodiment of the present application, the processor can also be configured to: when it is determined that the first cleaning path intersects with the second cleaning path, add the intersection of the first cleaning path and the second cleaning path, and the second feature point located between the intersection points to the feature point group, the feature point group also includes the first feature point that is not inside the processed obstacle area contour; connect the points in the feature point group to obtain a third cleaning path, and add the third cleaning path to the cleaning path set, the third cleaning path does not pass through the processed obstacle contour.

[0059] In an embodiment of the present application, the processor can also be configured to: determine the contour corner points of the updated contour of the area to be cleaned as the first feature points; determine the contour corner points of the processed obstacle area contour as the second feature points; or determine multiple feature points on the contour line of the updated contour of the area to be cleaned to obtain the first feature point, and the distance between two adjacent first feature points is the first preset interval distance; determine multiple feature points on the contour line of the processed obstacle area contour to obtain the second feature point, and the distance between two adjacent second feature points is the second preset interval distance.

[0060] In an embodiment of the present application, the processor can also be configured to: expand obstacles in the area to be cleaned whose interval distance is less than a preset distance threshold; wrap the expanded obstacles with a minimum rectangular frame to obtain the obstacle area in the area to be cleaned.

[0061] In an embodiment of the present application, the processor can also be configured to: obtain the current position of the unmanned sanitation equipment; sort the multiple cleaning paths in the cleaning path set in ascending order according to the time of joining the cleaning path set to obtain the cleaning order of the multiple cleaning paths; determine the cleaning starting point of each cleaning path in the cleaning path set according to the current position; control the unmanned sanitation equipment in the cleaning order, starting from the cleaning starting point of each cleaning path, and traversing all the cleaning paths in the cleaning path set in turn to complete the cleaning of the area to be cleaned.

[0062] In an embodiment of the present application, the processor can also be configured to: for the cleaning path ranked first in the cleaning order, determine the feature point among multiple feature points that is closest to the current position as the cleaning starting point; for any cleaning path other than the cleaning path ranked first in the cleaning order, determine the feature point among multiple feature points of any cleaning path that is closest to the previous cleaning starting point as the cleaning starting point.

[0063] Through the above technical solution, firstly, based on the pre-acquired grid map of the area to be cleaned, the outline of the area to be cleaned and the outline of the area where the obstacles are located in the area to be cleaned are extracted to obtain the outline of the area to be cleaned and the outline of the obstacle area. Then, the outline of the area to be cleaned is shrunk by a preset width to obtain the updated outline of the area to be cleaned, and the outline of the obstacle area is expanded by a preset width to obtain the processed outline of the obstacle area. Then, the first feature point of the updated outline of the area to be cleaned and the second feature point of the processed outline of the obstacle area are respectively extracted, and a cleaning path is generated based on the first feature point and the second feature point. The updated outline of the area to be cleaned is repeatedly shrunk until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than the preset area threshold, so as to obtain a cleaning path set including multiple cleaning paths. Finally, the area to be cleaned is cleaned according to the multiple cleaning paths in the cleaning path set, without dividing the entire area to be cleaned into multiple sub-areas, which effectively improves the cleaning efficiency.

[0064] An embodiment of the present application also provides an unmanned sanitation device, which may include: a processor according to the above.

[0065] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned cleaning method for unmanned sanitation equipment.

[0066] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0067] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0071] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0072] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, 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 process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0074] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A cleaning method for unmanned sanitation equipment, characterized in that: include: Based on the pre-acquired grid map of the area to be cleaned, extracting the outline of the area to be cleaned and the outline of the area where the obstacles in the area to be cleaned are located, so as to obtain the outline of the area to be cleaned and the outline of the obstacle area; Performing an indentation process on the outline of the area to be cleaned by a preset width to obtain an updated outline of the area to be cleaned; Performing an outward expansion process on the obstacle area contour by a preset width to obtain a processed obstacle area contour; Respectively extracting the first feature points of the updated outline of the area to be cleaned and the second feature points of the processed outline of the obstacle area; Generate a cleaning path based on the first feature point and the second feature point, and repeatedly perform the shrinking process on the updated outline of the area to be cleaned until the area of ​​the area to be cleaned within the updated outline of the area to be cleaned is less than a preset area threshold, so as to obtain a cleaning path set including the plurality of cleaning paths; The area to be cleaned is cleaned according to the multiple cleaning paths in the cleaning path set.

2. The cleaning method according to claim 1, characterized in that: The generating a cleaning path based on the first feature point and the second feature point comprises: Connecting the first characteristic point and the second characteristic point respectively to obtain a first cleaning path and a second cleaning path; determining whether the first cleaning path intersects with the second cleaning path; When it is determined that the first cleaning path does not intersect with the second cleaning path, the first cleaning path is added to the cleaning path set.

3. The cleaning method according to claim 2, characterized in that: The cleaning method also includes: In the case where it is determined that the first cleaning path intersects with the second cleaning path, adding the intersection of the first cleaning path and the second cleaning path and the second feature point located between the intersection points to a feature point group, wherein the feature point group also includes the first feature point that is not located within the processed obstacle area contour; The points in the feature point group are connected to obtain a third cleaning path, and the third cleaning path is added to the cleaning path set, and the third cleaning path does not pass through the processed obstacle contour.

4. The cleaning method according to claim 1, characterized in that: The step of respectively extracting the updated first feature points of the outline of the area to be cleaned and the processed second feature points of the outline of the obstacle area comprises: Determine the contour corner points of the updated contour of the area to be cleaned as the first feature points; Determine the contour corner points of the processed obstacle area contour as the second feature points; or Determine a plurality of feature points on the contour line of the updated contour of the area to be cleaned to obtain the first feature point, wherein the distance between two adjacent first feature points is a first preset interval distance; A plurality of feature points are determined on the contour line of the processed obstacle area contour to obtain the second feature points, and the distance between two adjacent second feature points is a second preset interval distance.

5. The cleaning method according to claim 1, characterized in that: Before extracting the contour of the area to be cleaned and the contour of the area where obstacles are located in the area to be cleaned based on the pre-acquired grid map of the area to be cleaned to obtain the contour of the area to be cleaned and the contour of the obstacle area, the cleaning method further includes: Expanding obstacles in the area to be cleaned whose interval distance is less than a preset distance threshold; The obstacles after the expansion process are wrapped with a minimum rectangular frame to obtain the obstacle area in the area to be cleaned.

6. The cleaning method according to claim 1, characterized in that: The step of cleaning the area to be cleaned according to the plurality of cleaning paths in the cleaning path set includes: Obtaining the current position of the unmanned sanitation equipment; Sorting the plurality of cleaning paths in the cleaning path set in ascending order according to the time of joining the cleaning path set to obtain a cleaning order of the plurality of cleaning paths; Determining a cleaning starting point of each cleaning path in the cleaning path set according to the current position; The unmanned sanitation equipment is controlled to clean the area to be cleaned in the cleaning order, starting from the cleaning starting point of each cleaning path, and traversing all cleaning paths in the cleaning path set in sequence.

7. The cleaning method according to claim 6, characterized in that: The step of determining a cleaning starting point of each cleaning path in the cleaning path set according to the current position includes: For the cleaning path ranked first in the cleaning sequence, determining the feature point closest to the current position among the multiple feature points as the cleaning starting point; For any cleaning path except the cleaning path ranked first in the cleaning order, the feature point closest to the previous cleaning starting point among the multiple feature points of any cleaning path is determined as the cleaning starting point.

8. A processor, characterized in that: It is configured to implement the cleaning method for unmanned sanitation equipment according to any one of claims 1 to 7 when executing the instructions.

9. An unmanned sanitation equipment, characterized in that: Comprising a processor according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling the machine to execute the cleaning method for unmanned sanitation equipment according to any one of claims 1 to 7.

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