Obstacle avoidance sweeping method and system of automatic driving sweeper

Abstract

The invention discloses an obstacle avoidance sweeping method and system of an automatic driving sweeping vehicle, and aims to improve the obstacle avoidance sweeping coverage rate and the sweeping effect, optimize the path planning and improve the overall sweeping efficiency. The method comprises the steps that the surrounding environment of the automatic driving sweeper is monitored in real time based on the sensor fusion technology, when an obstacle is detected, the automatic driving sweeper is controlled to avoid the obstacle, obstacle avoidance coordinate points are recorded, and the automatic driving sweeper is controlled to return to an original sweeping route after obstacle avoidance is completed. Recording all obstacle avoidance coordinate points on the original cleaning route as a cleaning obstacle avoidance data set; according to the sweeping obstacle avoidance data set and the vehicle body width of the automatic driving sweeping vehicle, the area of a non-sweeping area on the original sweeping route is calculated; according to the area of the non-sweeping area, the total sweeping area, a preset sweeping threshold value and the single-time non-sweeping maximum area, whether sweeping needs to be conducted again or not is judged, a sweeping strategy is made, and the automatic driving sweeper is controlled to conduct selective sweeping on the non-sweeping area according to the sweeping strategy.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous driving sweepers, and more specifically, to an obstacle avoidance and cleaning method and system for an autonomous driving sweeper. Background Art

[0002] With the widespread use of unmanned road sweepers, the market's requirements for the cleaning effect and cleaning cleanliness rate of such products are getting higher and higher. In order to ensure the driving safety of unmanned road sweepers, unmanned road sweepers in the prior art are usually integrated with a variety of sensors, such as lidar, infrared sensors and cameras, to sense the surrounding environment. Unmanned road sweepers can detect and avoid obstacles through these sensors and perform automatic cleaning tasks. However, due to the complexity of the cleaning environment, various emergencies often occur when cleaning the road surface, such as pedestrians or other vehicles, road occupation, potholes, etc., which will cause the unmanned road sweeper to be unable to completely cover the cleaning. The area that was originally required to be cleaned during the obstacle avoidance process may not be cleaned, which leads to unsatisfactory cleaning effects. Summary of the invention

[0003] The present application provides an obstacle avoidance and cleaning method and system for an autonomous driving sweeper, which improves the cleaning effect and cleaning cleanliness rate by recording uncleaned areas and deciding whether re-cleaning is needed after the task is completed, thereby solving the problem of unsatisfactory cleaning effect due to obstacle avoidance in the prior art.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides an obstacle avoidance and cleaning method for an autonomous driving cleaning vehicle, comprising:

[0006] Based on sensor fusion technology, the surrounding environment of the autonomous driving sweeper is monitored in real time. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. After the obstacle avoidance is completed, the autonomous driving sweeper is controlled to return to the original sweeping route, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group;

[0007] Calculating the area of ​​the uncleaned region on the original cleaning route according to the cleaning obstacle avoidance data set and the body width of the automatic driving cleaning vehicle;

[0008] According to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area not cleaned at a single time, it is determined whether re-cleaning is needed, and a sweeping strategy is formulated to control the automatic driving sweeper to selectively clean the uncleaned area on the original cleaning route according to the sweeping strategy.

[0009] In some embodiments of the present application, the real-time monitoring of the surrounding environment of the autonomous driving sweeper based on the sensor fusion technology specifically includes:

[0010] The navigation parameters of the autonomous driving sweeper are obtained through an inertial navigation system, the point cloud position information of the autonomous driving sweeper is obtained through a laser radar, the surrounding environment video information of the autonomous driving sweeper is obtained through a camera, and the distance information of obstacles around the autonomous driving sweeper is obtained through an ultrasonic sensor; wherein the navigation parameters include the position information, speed information, heading and attitude angle information of the autonomous driving sweeper;

[0011] Based on the sensor fusion technology, the navigation parameters, the point cloud position information, the surrounding environment video information and the surrounding obstacle distance information are fused to obtain the surrounding obstacle information of the autonomous driving sweeper. The surrounding environment of the autonomous driving sweeper is monitored in real time according to the surrounding obstacle information to detect whether there are obstacles on the original cleaning route.

[0012] In some embodiments of the present application, the obstacle avoidance coordinate point includes an obstacle avoidance start coordinate point and an obstacle avoidance end coordinate point; wherein the first obstacle avoidance coordinate point is recorded as M1[(x 1_s ,y 1_s ), (x 1_e ,y 1_e )],(x 1_s ,y 1_s ) represents the starting coordinate point of the first obstacle avoidance, (x 1_e ,y 1_e ) represents the coordinate point of the end of the first obstacle avoidance, and the coordinate point of the Nth obstacle avoidance is recorded as MN[(x N_s ,y N_s ), (x N_e ,y N_e )],(x N_s ,y N_s ) represents the starting coordinate point of the Nth obstacle avoidance, (x N_e ,y N_e ) represents the obstacle avoidance ending coordinate point of the Nth obstacle avoidance.

[0013] In some embodiments of the present application, the calculating the area of ​​the uncleaned area on the original cleaning route according to the cleaning obstacle avoidance data set and the body width of the autonomous driving cleaning vehicle specifically includes:

[0014] According to the original cleaning route, all path points included between each group of the obstacle avoidance start coordinate points and the obstacle avoidance end coordinate points are retrieved, and the distances between the two adjacent path points are calculated one by one, and the uncleaned distance corresponding to each group of the obstacle avoidance coordinate points is calculated according to the distances between the two adjacent path points; wherein the calculation formula of the uncleaned distance is:

[0015]

[0016] Among them, S1 represents the uncleared distance of the first obstacle avoidance group, Indicates the 0th path point of the first obstacle avoidance group. Indicates the first path point of the first obstacle avoidance group. Indicates the second path point of the first obstacle avoidance group. represents the k-1th path point of the first obstacle avoidance group, represents the kth path point of the first obstacle avoidance group;

[0017] S2 represents the uncleared distance of the second obstacle avoidance group. Indicates the 0th path point of the second obstacle avoidance group. Indicates the first path point of the second obstacle avoidance group. Indicates the second path point of the second obstacle avoidance group. represents the k-1th path point of the second obstacle avoidance group, represents the kth path point of the second obstacle avoidance group;

[0018] SN represents the uncleared distance of the Nth obstacle avoidance group. represents the 0th path point of the Nth obstacle avoidance group, Indicates the first path point of the Nth obstacle avoidance group, Indicates the second path point of the Nth obstacle avoidance group, represents the k-1th path point of the Nth obstacle avoidance group, represents the kth path point of the Nth obstacle avoidance group;

[0019] According to the uncleaned distances corresponding to the obstacle avoidance coordinate points of all groups, the area of ​​the uncleaned area on the original cleaning route is calculated; the calculation formula of the area of ​​the uncleaned area is:

[0020] SU=S1×w+S2×w+…+SN×w

[0021] Among them, SU represents the area of ​​the uncleaned area, w represents the body width of the autonomous driving sweeper, S1×w represents the uncleaned area of ​​the first obstacle avoidance group, S2×w represents the uncleaned area of ​​the second obstacle avoidance group, and SN×w represents the uncleaned area of ​​the Nth obstacle avoidance group.

[0022] In some embodiments of the present application, judging the area that needs to be re-cleaned according to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area that is not cleaned in a single time specifically includes:

[0023] Determine whether the area of ​​the uncleaned region is greater than the maximum area of ​​the single uncleaned region;

[0024] If the area of ​​the uncleaned area is not greater than the maximum area of ​​the single uncleaned area, determining whether the area of ​​the uncleaned area divided by the total cleaned area is greater than the preset cleaning threshold;

[0025] If it is not greater than the preset cleaning threshold, it is determined that re-cleaning is not necessary;

[0026] If the area of ​​the uncleaned region is larger than the maximum area of ​​the single uncleaned region, or the area of ​​the uncleaned region divided by the total cleaned area is larger than the preset cleaning threshold, it is determined that re-cleaning is required.

[0027] In some embodiments of the present application, judging the area that needs to be re-cleaned according to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area that is not cleaned in a single time specifically includes:

[0028] The standard driving time of the uncleaned area is calculated using the following formula:

[0029] t=(SU / w) / ms

[0030] Among them, t represents the standard driving time of the uncleaned area, and ms represents the standard driving speed of the autonomous sweeper;

[0031] It is determined whether the standard driving time of the uncleaned area is greater than the preset supported patrol sweeping time. If not, it is determined to perform re-cleaning; otherwise, it is determined not to perform re-cleaning.

[0032] In some embodiments of the present application, the formulation of the sweeping strategy specifically includes:

[0033] The area between each group of the obstacle avoidance start coordinate points and the obstacle avoidance end coordinate points of the original cleaning route is set as the area to be cleaned, and the driving state of the automatic driving cleaning vehicle in the area to be cleaned is set as the cleaning working state;

[0034] The remaining areas of the original cleaning route are set as areas that do not require cleaning, and the driving state of the automatic driving cleaning vehicle in the areas that do not require cleaning is set to a driving state; wherein the driving speed of the driving state is greater than the driving speed of the cleaning working state.

[0035] In a second aspect, an embodiment of the present application provides an obstacle avoidance and cleaning system for an autonomous driving cleaning vehicle, comprising:

[0036] The obstacle avoidance recording module is used to monitor the surrounding environment of the autonomous driving sweeper in real time based on sensor fusion technology. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. The autonomous driving sweeper is controlled to return to the original sweeping route after the obstacle avoidance is completed, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group.

[0037] An uncleaned area calculation module, used to calculate the area of ​​the uncleaned area on the original cleaning route according to the cleaning obstacle avoidance data group and the body width of the automatic driving cleaning vehicle;

[0038] The patrol and sweeping decision-making planning module is used to determine whether re-cleaning is needed based on the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area of ​​a single uncleaned area, and to formulate a patrol and sweeping strategy to control the automatic driving sweeper to selectively clean the uncleaned area on the original cleaning route according to the patrol and sweeping strategy.

[0039] In a third aspect, an embodiment of the present application provides an obstacle avoidance and cleaning device for an autonomous driving sweeper, comprising a processor, a memory, and a computer program stored in the memory, wherein when the processor executes the computer program, it executes the obstacle avoidance and cleaning method for the autonomous driving sweeper as described in the first aspect.

[0040] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the obstacle avoidance and cleaning method of the autonomous driving sweeper as described in the first aspect.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the obstacle avoidance and cleaning method of the autonomous driving sweeper as described in the first aspect.

[0042] The beneficial effects of the embodiments of the present application are as follows:

[0043] By recording the uncleaned areas in real time and calculating the area of ​​the uncleaned areas after the cleaning task is completed, it is determined whether to clean again, which ensures the thoroughness and efficiency of the cleaning task, solves the problem of insufficient cleaning coverage in the existing technology, and improves the cleaning coverage and cleaning effect. In addition, combined with global and local path planning algorithms, the path is dynamically adjusted during the obstacle avoidance process, the path planning is optimized, the path loss and cleaning time are reduced, and the overall cleaning efficiency of the cleaning task is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic diagram of a flow chart of an obstacle avoidance and cleaning method for an automatic driving cleaning vehicle provided in an embodiment of the present application;

[0046] Figure 2 A schematic block diagram of the components of an obstacle avoidance and cleaning system for an autonomous driving sweeper provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0049] The embodiment of the present application discloses an obstacle avoidance cleaning method for an autonomous driving cleaning vehicle, which solves the problem of low cleaning coverage due to obstacle avoidance in the prior art by recording and processing uncleaned areas and optimizing the path planning of the cleaning. Detailed descriptions are given below.

[0050] Figure 1 An obstacle avoidance and cleaning method for an automatic driving cleaning vehicle according to an embodiment of the present application is shown. Figure 1 As shown, the obstacle avoidance and cleaning method includes the following steps:

[0051] Step S110: Based on the sensor fusion technology, the surrounding environment of the autonomous driving sweeper is monitored in real time. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. The autonomous driving sweeper is controlled to return to the original sweeping route after the obstacle avoidance is completed, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group.

[0052] This application collects the surrounding environment data of the autonomous driving sweeper through a variety of sensors (including but not limited to inertial navigation systems, lidars, cameras, and ultrasonic sensors), and integrates all collected data to obtain comprehensive and more accurate environmental data.

[0053] In some embodiments, the navigation parameters of the autonomous driving sweeper are obtained through an inertial navigation system, the point cloud position information of the autonomous driving sweeper is obtained through a laser radar, the surrounding environment video information of the autonomous driving sweeper is obtained through a camera, and the surrounding obstacle distance information of the autonomous driving sweeper is obtained through an ultrasonic sensor, wherein the navigation parameters include the position information, speed information, heading and attitude angle information of the autonomous driving sweeper; based on the sensor fusion technology, the navigation parameters, point cloud position information, surrounding environment video information and surrounding obstacle distance information are fused to obtain the surrounding obstacle information of the autonomous driving sweeper, and the surrounding environment of the autonomous driving sweeper is monitored in real time according to the surrounding obstacle information to detect whether there are obstacles on the original cleaning route. It should be noted that the sensor fusion technology in this application adopts the multi-sensor data fusion algorithm in the prior art, which will not be described in detail.

[0054] Furthermore, the obstacle avoidance coordinate point includes the obstacle avoidance start coordinate point and the obstacle avoidance end coordinate point. When an obstacle is detected, the obstacle will be avoided and the coordinate point where the obstacle avoidance starts (i.e., the obstacle avoidance start coordinate point) is recorded. This coordinate point is the original path planning point. At the same time, when the obstacle avoidance ends, the original cleaning route is returned. At this time, the coordinate point where the obstacle avoidance ends (i.e., the obstacle avoidance end coordinate point) is recorded. There may be multiple obstacle avoidance points on the original cleaning route. The cleaning obstacle avoidance data group is composed of all obstacle avoidance coordinate point data recorded for multiple obstacle avoidances. Specifically, the first obstacle avoidance coordinate point is recorded as M1[(x 1_s ,y 1_s ), (x 1_e ,y 1_e )],(x 1_s ,y 1_s ) represents the starting coordinate point of the first obstacle avoidance, (x 1_e ,y 1_e ) represents the coordinate point of the end of the first obstacle avoidance, and the coordinate point of the Nth obstacle avoidance is recorded as MN[(x N_s ,y N_s ), (x N_e ,y n_e )],(xN_s ,y n_s ) represents the starting coordinate point of the Nth obstacle avoidance, (x N_e ,y N_e ) represents the obstacle avoidance ending coordinate point of the Nth obstacle avoidance.

[0055] During the obstacle avoidance process, the present application records the coordinate information of the uncleaned area in real time, and after the cleaning task is completed, determines whether re-cleaning is needed based on the recorded uncleaned area, thereby improving the cleaning coverage and cleaning effect, and solves the problem in the prior art that obstacle avoidance may miss cleaning the area around the obstacle, resulting in unsatisfactory cleaning effect and insufficient cleaning coverage.

[0056] Step S120: Calculate the area of ​​the uncleaned region on the original cleaning route according to the cleaning obstacle avoidance data set and the body width of the automatic driving cleaning vehicle.

[0057] The present application calculates the obstacle avoidance distance generated by each set of obstacle avoidance coordinate points based on the multiple sets of obstacle avoidance coordinate point data obtained in the above step S110. In some embodiments, all path points included between each set of obstacle avoidance start coordinate points and obstacle avoidance end coordinate points are retrieved according to the original cleaning route, and the distance between two adjacent path points is calculated one by one. The uncleaned distance corresponding to each set of obstacle avoidance coordinate points is calculated based on the distance between two adjacent path points. Among them, the calculation formula of the uncleaned distance is:

[0058]

[0059] Among them, S1 represents the uncleared distance of the first obstacle avoidance group, Indicates the 0th path point of the first obstacle avoidance group. Indicates the first path point of the first obstacle avoidance group. Indicates the second path point of the first obstacle avoidance group. represents the k-1th path point of the first obstacle avoidance group, represents the kth path point of the first obstacle avoidance group;

[0060] S2 represents the uncleared distance of the second obstacle avoidance group. Indicates the 0th path point of the second obstacle avoidance group. Indicates the first path point of the second obstacle avoidance group. Indicates the second path point of the second obstacle avoidance group. represents the k-1th path point of the second obstacle avoidance group, represents the kth path point of the second obstacle avoidance group;

[0061] SN represents the uncleared distance of the Nth obstacle avoidance group. represents the 0th path point of the Nth obstacle avoidance group, Indicates the first path point of the Nth obstacle avoidance group, Indicates the second path point of the Nth obstacle avoidance group, represents the k-1th path point of the Nth obstacle avoidance group, represents the kth path point of the Nth obstacle avoidance group;

[0062] According to the uncleaned distances corresponding to all groups of obstacle avoidance coordinate points, the area of ​​the uncleaned area on the original cleaning route is calculated. The calculation formula for the area of ​​the uncleaned area is:

[0063] SU=S1×w+S2×w+…+SN×w

[0064] Among them, SU represents the area of ​​the uncleaned area, w represents the body width of the autonomous driving sweeper, S1×w represents the uncleaned area of ​​the first obstacle avoidance group, S2×w represents the uncleaned area of ​​the second obstacle avoidance group, and SN×w represents the uncleaned area of ​​the Nth obstacle avoidance group.

[0065] This application retrieves two points (x N_s ,y N_s )、(x N_e ,y N_e ) are recorded as k path points in the data format of (x, y). The distance between each adjacent point on the k path points is calculated one by one, and then the area of ​​the uncleaned area on the original cleaning route is calculated based on the calculated distance.

[0066] Step S130: determine whether re-cleaning is needed based on the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area not cleaned at a single time, formulate a patrol strategy, and control the automatic driving sweeper to selectively clean the uncleaned area on the original cleaning route according to the patrol strategy.

[0067] This application presets the preset cleaning threshold and the maximum area not cleaned in a single time according to the total cleaning area, and the total cleaning area is ST, the area of ​​the uncleaned area is SU, the preset cleaning threshold is Theta, and the maximum area not cleaned in a single time is s. It should be understood that the "total cleaning area" in this application refers to the total area that needs to be cleaned without obstacle avoidance on the original cleaning route, and the "uncleaned area" refers to the total area that is not cleaned due to obstacle avoidance on the original cleaning route.

[0068] In some specific embodiments, the steps of determining whether re-cleaning is required are as follows:

[0069] Determine whether the area SU of the uncleaned region is greater than the maximum area s of the single uncleaned region;

[0070] If the area of ​​the uncleaned area SU is not greater than the maximum area s of the single uncleaned area, then determine whether the area of ​​the uncleaned area SU divided by the total cleaned area ST is greater than the preset cleaning threshold Theta;

[0071] If it is not greater than the preset cleaning threshold Theta, it is determined that re-cleaning is not necessary;

[0072] If the area of ​​the uncleaned region SU is larger than the maximum area s of the single uncleaned region, or the area of ​​the uncleaned region SU divided by the total cleaned area ST is larger than the preset cleaning threshold Theta, it is determined that re-cleaning is required.

[0073] The embodiment of the present application sets the maximum area that cannot be cleaned at a single time to prevent large areas from being uncleaned and avoids too large an area being missed at a single time. At the same time, by setting a preset cleaning threshold, it prevents too large a proportion of uncleaned areas from being occupied.

[0074] After the application determines that the original cleaning route needs to be cleaned again, it is also necessary to calculate the standard driving time of the uncleaned area. The calculation formula is:

[0075] t=(SU / w) / ms

[0076] Among them, t represents the standard driving time of the uncleaned area, ms represents the standard driving speed of the autonomous sweeper, SU represents the area of ​​the uncleaned area, and w represents the body width of the autonomous sweeper;

[0077] It is determined whether the standard driving time of the uncleaned area is greater than the preset supported patrol time. If not, it is determined to be re-cleaned, otherwise it is determined not to be re-cleaned, thereby ensuring that the cleaning is carried out within the limited cleaning time. Furthermore, the patrol speed of the autonomous driving sweeper can be specifically set to ensure that it can effectively clean within the limited cleaning time.

[0078] Furthermore, the present application formulates a patrol sweeping strategy, which specifically includes: setting the area between each set of obstacle avoidance start coordinate points and obstacle avoidance end coordinate points of the original cleaning route as the area to be cleaned, and setting the driving state of the autonomous driving sweeper in the area to be cleaned to the cleaning working state; setting the remaining areas of the original cleaning route as areas that do not need to be cleaned, and setting the driving state of the autonomous driving sweeper in the area that does not need to be cleaned to the driving state; wherein the driving speed in the driving state is greater than the driving speed in the cleaning working state.

[0079] According to the multiple groups of obstacle avoidance coordinate point data obtained in the above step S110, the routes that need to be cleaned and those that do not need to be cleaned are calculated, and the path points that need to be cleaned again are navigated through route planning. By adjusting the operating mechanism (such as water spraying, sweeping brush), and setting it to the patrol mode, in the patrol mode, the route that does not need to be cleaned is set to the driving state, in this state, the relevant operating mechanism is turned off, and only the driving is retained, and its speed is higher, and the route that needs to be cleaned is set to the cleaning working state, in this state, the relevant operating mechanism is turned on, and its speed is lower, and by adjusting the operating mechanism and the driving speed, the cleaning efficiency is optimized.

[0080] In a specific embodiment, the driving speeds of the area to be cleaned and the area not to be cleaned are set respectively according to the cleaning obstacle avoidance data group and the preset supported patrol time. The driving speed of the area to be cleaned is lower than the driving speed of the area not to be cleaned. Under the premise of ensuring the cleaning effect of re-cleaning the uncleaned area, the cleaning efficiency is improved, and the path loss and cleaning time are reduced.

[0081] This application combines global path planning and local path planning algorithms to achieve planned cleaning of uncleaned areas and planned driving in areas that do not need to be cleaned on the optimized patrol route, thereby improving the efficiency of the overall cleaning task and reducing path loss and cleaning time.

[0082] Corresponding to the above method embodiment, the present application embodiment also provides an obstacle avoidance cleaning system for an autonomous driving sweeper, which is used to execute the obstacle avoidance cleaning method steps of the autonomous driving sweeper in the above embodiment. Figure 2 As shown, the obstacle avoidance and cleaning system 200 of the autonomous driving cleaning vehicle includes: an obstacle avoidance recording module 210, an uncleaned area calculation module 220 and a patrol and cleaning decision planning module 230.

[0083] Specifically, the obstacle avoidance recording module 210 is used to record the coordinate information of the uncleaned area during the obstacle avoidance process, and is specifically used to monitor the surrounding environment of the autonomous driving sweeper in real time based on sensor fusion technology. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points, and the autonomous driving sweeper is controlled to return to the original cleaning route after the obstacle avoidance is completed, and all obstacle avoidance coordinate points on the original cleaning route are recorded as a cleaning obstacle avoidance data group.

[0084] The uncleaned area calculation module 220 is used to calculate the area of ​​the uncleaned area according to the recorded coordinates, and is specifically used to calculate the area of ​​the uncleaned area on the original cleaning route according to the cleaning obstacle avoidance data group and the body width of the automatic driving cleaning vehicle.

[0085] The patrol and sweeping decision-making planning module 230 is used to determine whether re-cleaning is needed and formulate a patrol and sweeping strategy. Specifically, it is used to determine whether re-cleaning is needed and formulate a patrol and sweeping strategy based on the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area not cleaned at a single time, and control the automatic driving sweeper to select and clean the uncleaned area on the original cleaning route according to the patrol and sweeping strategy.

[0086] It should be noted that the obstacle avoidance and cleaning system of the autonomous driving sweeper provided in the embodiment of the present application is based on the same concept as the obstacle avoidance and cleaning method embodiment of the autonomous driving sweeper of the present application, and the technical effects it brings are the same as those of the obstacle avoidance and cleaning method embodiment of the autonomous driving sweeper of the present application. For specific contents, please refer to the description in the obstacle avoidance and cleaning method embodiment of the autonomous driving sweeper of the present application, which will not be repeated here.

[0087] The embodiment of the present application also provides an obstacle avoidance and cleaning device for an autonomous driving sweeper, comprising a processor, a memory, and a computer program stored in the memory, the computer program being executable on the processor. When the processor executes the computer program, the steps in the obstacle avoidance and cleaning method for the autonomous driving sweeper described in the above embodiment are implemented. Alternatively, when the processor executes the computer program, the functions of each module in the obstacle avoidance and cleaning system for the autonomous driving sweeper described in the above embodiment are implemented.

[0088] In a specific embodiment, the computer program can be divided into one or more modules, one or more modules are stored in a memory and executed by a processor to complete the embodiment of the present application. One or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the obstacle avoidance and cleaning device of the autonomous driving sweeper. For example, the computer program can be divided into an obstacle avoidance recording module, an uncleaned area area calculation module, and a patrol and sweeping decision planning module. The specific functions of each module are as follows:

[0089] The obstacle avoidance recording module is used to monitor the surrounding environment of the autonomous driving sweeper in real time based on sensor fusion technology. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. The autonomous driving sweeper is controlled to return to the original sweeping route after the obstacle avoidance is completed, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group.

[0090] The uncleaned area calculation module is used to calculate the area of ​​the uncleaned area on the original cleaning route according to the cleaning obstacle avoidance data group and the body width of the automatic driving cleaning vehicle;

[0091] The patrol and sweeping decision-making and planning module is used to determine whether re-cleaning is needed based on the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area that is not cleaned at a single time, and to formulate a patrol and sweeping strategy to control the autonomous driving sweeper to select and clean the uncleaned areas on the original cleaning route according to the patrol and sweeping strategy.

[0092] The obstacle avoidance and cleaning device of the autonomous driving sweeper can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud management server. Those skilled in the art can understand that the obstacle avoidance and cleaning device of the autonomous driving sweeper can include but is not limited to a processor and a memory, and can also include more or fewer components, or a combination of certain components, or different components. For example, the obstacle avoidance and cleaning device of the autonomous driving sweeper can also include input and output devices, network access devices, buses, etc.

[0093] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0094] The memory may be an internal storage unit of the obstacle avoidance cleaning device of the autonomous driving sweeper, for example, a hard disk or memory of the obstacle avoidance cleaning device of the autonomous driving sweeper. The memory may also be an external storage device of the obstacle avoidance cleaning device of the autonomous driving sweeper, for example, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital card (Secure Digital Card, referred to as SD card), a flash card (Flash Card), etc. equipped on the obstacle avoidance cleaning device of the autonomous driving sweeper. Furthermore, the memory may also include both an internal storage unit of the obstacle avoidance cleaning device of the autonomous driving sweeper and an external storage device. The memory is used to store computer programs and other programs or data required by the obstacle avoidance cleaning device of the autonomous driving sweeper. The memory may also be used to temporarily store data that has been output or is to be output.

[0095] In the above embodiments, the description of each embodiment has different emphases. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of the various embodiments described in conjunction with the embodiments disclosed in this application 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. Those skilled in the art may use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present invention.

[0097] In addition, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and the computer program can be executed by a processor to complete the obstacle avoidance and cleaning method of the automatic driving sweeper as described in the above embodiment. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), etc.

[0098] An embodiment of the present application also provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the obstacle avoidance and cleaning method of the autonomous driving sweeper described in the above embodiment.

[0099] In summary, the present application discloses an obstacle avoidance and cleaning method and system for an autonomous driving sweeper, which records the uncleaned area in real time and calculates the area of ​​the uncleaned area after the cleaning task is completed, and judges whether to clean again based on this, thereby ensuring the thoroughness and efficiency of the cleaning task, solving the problem of insufficient cleaning coverage in the prior art, and improving the cleaning coverage and cleaning effect. In addition, by combining global and local path planning algorithms, the path is dynamically adjusted during the obstacle avoidance process, the path planning is optimized, the path loss and cleaning time are reduced, and the overall cleaning efficiency of the cleaning task is significantly improved.

[0100] It will be understood by those skilled in the art that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present invention. The step flow diagrams disclosed in the present application and the above method descriptions are only illustrative examples, and are not intended to require or imply that the steps of each embodiment must be performed in the order given. As will be appreciated by those skilled in the art, the order of the steps in the above embodiments can be performed in any order. Words such as "thereafter", "then", "next", etc. are not intended to limit the order of the steps; these words are only used to guide the reader through the description of these methods. In addition, any reference to a singular element, such as using the article "one", "one" or "the", is not to be construed as limiting the element to the singular.

[0101] It will be appreciated by those skilled in the art that the modules in the device in the embodiment may be distributed in the device in the embodiment according to the description of the embodiment, or may be changed accordingly and located in one or more devices different from the present embodiment. The modules in the above-mentioned embodiments may be combined into one module, or may be further split into multiple submodules. The block diagrams of the devices and systems involved in the present application are only illustrative examples, and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these modules may be connected, arranged, or configured in any manner. Words such as "including", "comprising", "having", etc. are open words, meaning "including but not limited to", and may be used interchangeably therewith.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An obstacle avoidance cleaning method for an automatic driving cleaning vehicle, characterized in that: include: Based on sensor fusion technology, the surrounding environment of the autonomous driving sweeper is monitored in real time. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. After the obstacle avoidance is completed, the autonomous driving sweeper is controlled to return to the original sweeping route, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group; Calculating the area of ​​the uncleaned region on the original cleaning route according to the cleaning obstacle avoidance data set and the body width of the automatic driving cleaning vehicle; According to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area not cleaned at a single time, it is determined whether re-cleaning is needed, and a sweeping strategy is formulated to control the automatic driving sweeper to selectively clean the uncleaned area on the original cleaning route according to the sweeping strategy.

2. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 1, characterized in that: The sensor fusion technology is used to monitor the surrounding environment of the autonomous driving road sweeper in real time, including: The navigation parameters of the autonomous driving sweeper are obtained through an inertial navigation system, the point cloud position information of the autonomous driving sweeper is obtained through a laser radar, the surrounding environment video information of the autonomous driving sweeper is obtained through a camera, and the distance information of obstacles around the autonomous driving sweeper is obtained through an ultrasonic sensor; wherein the navigation parameters include the position information, speed information, heading and attitude angle information of the autonomous driving sweeper; Based on the sensor fusion technology, the navigation parameters, the point cloud position information, the surrounding environment video information and the surrounding obstacle distance information are fused to obtain the surrounding obstacle information of the autonomous driving sweeper. The surrounding environment of the autonomous driving sweeper is monitored in real time according to the surrounding obstacle information to detect whether there are obstacles on the original cleaning route.

3. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 1, characterized in that: The obstacle avoidance coordinate points include an obstacle avoidance start coordinate point and an obstacle avoidance end coordinate point; wherein the first obstacle avoidance coordinate point is recorded as M1[(x 1_s ,y 1_s ), (x 1_e ,y 1_e )],(x 1_s ,y 1_s ) represents the starting coordinate point of the first obstacle avoidance, (x 1_e ,y 1_e ) represents the coordinate point of the end of the first obstacle avoidance, and the coordinate point of the Nth obstacle avoidance is recorded as MN[(x N_s ,y N_s ), (x N_e ,y N_e )],(x N_s ,y N_s ) represents the starting coordinate point of the Nth obstacle avoidance, (x N_e ,y N_e ) represents the obstacle avoidance ending coordinate point of the Nth obstacle avoidance.

4. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 3, characterized in that: The calculating, according to the cleaning obstacle avoidance data set and the body width of the automatic driving cleaning vehicle, the area of ​​the uncleaned region on the original cleaning route specifically includes: According to the original cleaning route, all path points included between each group of the obstacle avoidance start coordinate points and the obstacle avoidance end coordinate points are retrieved, and the distances between the two adjacent path points are calculated one by one, and the uncleaned distance corresponding to each group of the obstacle avoidance coordinate points is calculated according to the distances between the two adjacent path points; wherein the calculation formula of the uncleaned distance is: … Among them, S1 represents the uncleared distance of the first obstacle avoidance group, Indicates the 0th path point of the first obstacle avoidance group. Indicates the first path point of the first obstacle avoidance group. Indicates the second path point of the first obstacle avoidance group. represents the k-1th path point of the first obstacle avoidance group, represents the kth path point of the first obstacle avoidance group; S2 represents the uncleared distance of the second obstacle avoidance group. Indicates the 0th path point of the second obstacle avoidance group. Indicates the first path point of the second obstacle avoidance group. Indicates the second path point of the second obstacle avoidance group. represents the k-1th path point of the second obstacle avoidance group, represents the kth path point of the second obstacle avoidance group; SN represents the uncleared distance of the Nth obstacle avoidance group. represents the 0th path point of the Nth obstacle avoidance group, Indicates the first path point of the Nth obstacle avoidance group, Indicates the second path point of the Nth obstacle avoidance group, represents the k-1th path point of the Nth obstacle avoidance group, represents the kth path point of the Nth obstacle avoidance group; According to the uncleaned distances corresponding to the obstacle avoidance coordinate points of all groups, the area of ​​the uncleaned area on the original cleaning route is calculated; the calculation formula of the area of ​​the uncleaned area is: SU=S1×w+S2×w+…+SN×w Among them, SU represents the area of ​​the uncleaned area, w represents the body width of the autonomous driving sweeper, S1×w represents the uncleaned area of ​​the first obstacle avoidance group, S2×w represents the uncleaned area of ​​the second obstacle avoidance group, and SN×w represents the uncleaned area of ​​the Nth obstacle avoidance group.

5. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 4, characterized in that: The determining of the area that needs to be re-cleaned according to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area that is not cleaned at a single time specifically includes: Determine whether the area of ​​the uncleaned region is greater than the maximum area of ​​the single uncleaned region; If the area of ​​the uncleaned area is not greater than the maximum area of ​​the single uncleaned area, determining whether the area of ​​the uncleaned area divided by the total cleaned area is greater than the preset cleaning threshold; If it is not greater than the preset cleaning threshold, it is determined that re-cleaning is not necessary; If the area of ​​the uncleaned region is larger than the maximum area of ​​the single uncleaned region, or the area of ​​the uncleaned region divided by the total cleaned area is larger than the preset cleaning threshold, it is determined that re-cleaning is required.

6. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 5, characterized in that: The determining of the area that needs to be cleaned again according to the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area that is not cleaned at a single time specifically includes: The standard driving time of the uncleaned area is calculated using the following formula: t=(SU / w) / ms Among them, t represents the standard driving time of the uncleaned area, and ms represents the standard driving speed of the autonomous sweeper; It is determined whether the standard driving time of the uncleaned area is greater than the preset supported patrol sweeping time. If not, it is determined to perform re-cleaning; otherwise, it is determined not to perform re-cleaning.

7. The obstacle avoidance cleaning method of the automatic driving cleaning vehicle according to claim 6, characterized in that: The formulation of the patrol and sweeping strategy specifically includes: The area between each group of the obstacle avoidance start coordinate points and the obstacle avoidance end coordinate points of the original cleaning route is set as the area to be cleaned, and the driving state of the automatic driving cleaning vehicle in the area to be cleaned is set as the cleaning working state; The remaining areas of the original cleaning route are set as areas that do not require cleaning, and the driving state of the automatic driving cleaning vehicle in the areas that do not require cleaning is set to a driving state; wherein the driving speed of the driving state is greater than the driving speed of the cleaning working state.

8. An obstacle avoidance cleaning system for an automatic driving cleaning vehicle, characterized in that: include: The obstacle avoidance recording module is used to monitor the surrounding environment of the autonomous driving sweeper in real time based on sensor fusion technology. When an obstacle is detected, the autonomous driving sweeper is controlled to avoid the obstacle and record the obstacle avoidance coordinate points. The autonomous driving sweeper is controlled to return to the original sweeping route after the obstacle avoidance is completed, and all the obstacle avoidance coordinate points on the original sweeping route are recorded as a sweeping obstacle avoidance data group. An uncleaned area calculation module, used to calculate the area of ​​the uncleaned area on the original cleaning route according to the cleaning obstacle avoidance data group and the body width of the automatic driving cleaning vehicle; The patrol and sweeping decision-making planning module is used to determine whether re-cleaning is needed based on the area of ​​the uncleaned area, the total cleaned area, the preset cleaning threshold and the maximum area of ​​a single uncleaned area, and to formulate a patrol and sweeping strategy to control the automatic driving sweeper to selectively clean the uncleaned area on the original cleaning route according to the patrol and sweeping strategy.

9. An obstacle avoidance cleaning device for an automatic driving cleaning vehicle, characterized in that: It includes a processor, a memory, and a computer program stored in the memory. When the processor executes the computer program, it executes the obstacle avoidance and cleaning method of the automatic driving sweeper as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the obstacle avoidance and cleaning method of the automatic driving sweeper as described in any one of claims 1-7 is implemented.

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