Method and device for detecting water volume of water tank of unmanned sweeper, electronic equipment and medium

Abstract

The invention discloses a water tank water volume detection method and device of an unmanned sweeper, electronic equipment and a medium, and relates to the technical field of unmanned sweepers. The method comprises the following steps: in response to an alarm instruction of residual water quantity of a water tank of a target unmanned sweeper, determining whether the alarm instruction is mistakenly triggered or not; under the condition that it is determined that the alarm instruction is not triggered by mistake, the jitter degree of the target unmanned sweeper at the alarm moment is determined, and whether the alarm instruction is valid or not is determined based on the jitter degree; under the condition that it is determined that the alarm instruction is valid, the working water consumption of the target unmanned sweeper is determined, and the remaining water amount is determined according to the working water consumption; when the residual water amount is smaller than a set threshold value, a target water adding point is determined, and a target path for driving to the target water adding point is determined. According to the scheme, the remaining water amount of the water tank of the unmanned sweeper can be rapidly and accurately determined, and help is provided for smooth completion of a sweeping task.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned cleaning vehicles, and particularly to a method, device, electronic device and medium for detecting the water volume in the water tank of an unmanned cleaning vehicle. Background Art

[0002] As an automated cleaning device, unmanned cleaning vehicles are widely used in the cleaning work of public places such as urban streets and parks. To ensure the normal operation of unmanned cleaning vehicles, a water tank is usually installed on them to store cleaning water, and detecting the remaining water volume in the water tank can help to successfully complete the cleaning task.

[0003] At present, ultrasonic sensors and other sensors are mainly installed in the water tank to detect the remaining water volume; however, when the unmanned cleaning vehicle is driving, the vehicle body will be affected by various factors such as uneven road surfaces, turning, and acceleration, resulting in possible deviations in the remaining water volume detected by the sensors.

[0004] How to quickly and accurately determine the remaining water volume in the water tank of an unmanned cleaning vehicle is a key issue studied in the industry. Summary of the Invention

[0005] The present invention provides a method, device, electronic device and medium for detecting the water volume in the water tank of an unmanned cleaning vehicle to quickly and accurately determine the remaining water volume in the water tank of the unmanned cleaning vehicle and help to successfully complete the cleaning task.

[0006] According to one aspect of the present invention, there is provided a method for detecting the water volume in the water tank of an unmanned cleaning vehicle, the method comprising:

[0007] In response to an alarm instruction for the remaining water volume in the water tank of a target unmanned cleaning vehicle, determining whether the alarm instruction is mis-triggered;

[0008] In the case of determining that the alarm instruction is not mis-triggered, determining the degree of jitter of the target unmanned cleaning vehicle at the alarm moment and determining whether the alarm instruction is valid based on the degree of jitter;

[0009] In the case of determining that the alarm instruction is valid, determining the working water consumption of the target unmanned cleaning vehicle and determining the remaining water volume according to the working water consumption;

[0010] When the remaining water volume is less than a set threshold, determining a target water filling point and determining a target path to drive to the target water filling point.

[0011] According to another aspect of the present invention, there is provided a device for detecting the water volume in the water tank of an unmanned cleaning vehicle, the device comprising:

[0012] An alarm instruction response module, configured to respond to an alarm instruction regarding the remaining water volume in the water tank of a target unmanned sweeper, and determine whether the alarm instruction is a false trigger;

[0013] An alarm instruction verification module, configured to, when it is determined that the alarm instruction is not a false trigger, determine the degree of jitter of the target unmanned sweeper at the alarm moment, and determine whether the alarm instruction is valid based on the degree of jitter;

[0014] A remaining water volume determination module, configured to, when it is determined that the alarm instruction is valid, determine the working water consumption of the target unmanned sweeper, and determine the remaining water volume according to the working water consumption;

[0015] A target water filling point determination module, configured to, when the remaining water volume is less than a set threshold, determine a target water filling point and determine a target path to travel to the target water filling point.

[0016] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the method for detecting the water volume in the water tank of the unmanned sweeper according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for detecting the water volume in the water tank of the unmanned sweeper according to any embodiment of the present invention when executed.

[0021] According to another aspect of the present invention, there is provided a computer program product including a computer program, which implements the method for detecting the water volume in the water tank of the unmanned sweeper according to any embodiment of the present invention when executed by a processor.

[0022] The technical solution of the embodiment of the present invention determines whether the alarm instruction is a false trigger by responding to the alarm instruction of the remaining water volume in the water tank of the target unmanned cleaning vehicle; in the case of determining that the alarm instruction is not a false trigger, determining the degree of jitter of the target unmanned cleaning vehicle at the alarm moment, and determining whether the alarm instruction is valid based on the degree of jitter; in the case of determining that the alarm instruction is valid, determining the working water consumption of the target unmanned cleaning vehicle, and determining the remaining water volume according to the working water consumption; when the remaining water volume is less than the set threshold, determining the target water filling point and determining the target path to drive to the target water filling point, which can quickly and accurately determine the remaining water volume in the water tank of the unmanned cleaning vehicle and help to smoothly complete the cleaning task.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 is a flowchart of a method for detecting the water volume in the water tank of an unmanned cleaning vehicle according to Embodiment 1 of the present invention;

[0026] Figure 2 is a flowchart of a method for detecting the water volume in the water tank of an unmanned cleaning vehicle according to Embodiment 2 of the present invention;

[0027] Figure 3 is a flowchart of another method for detecting the water volume in the water tank of an unmanned cleaning vehicle according to Embodiment 2 of the present invention;

[0028] Figure 4 is a schematic structural diagram of a device for detecting the water volume in the water tank of an unmanned cleaning vehicle according to Embodiment 3 of the present invention;

[0029] Figure 5 is a schematic structural diagram of an electronic device for implementing the method for detecting the water volume in the water tank of the unmanned cleaning vehicle of the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 is a flowchart of a method for detecting the water volume in the water tank of an unmanned sweeper according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of detecting the remaining water volume in the water tank of an unmanned sweeper. This method can be executed by a water volume detection device for the water tank of the unmanned sweeper. The water volume detection device for the water tank of the unmanned sweeper can be implemented in the form of hardware and / or software, and the water volume detection device for the water tank of the unmanned sweeper can be configured in an in-vehicle computer or a vehicle control terminal and other electronic devices deployed on the unmanned sweeper. As Figure 1 shown, the method includes:

[0034] Step 110, in response to an alarm instruction for the remaining water volume in the water tank of the target unmanned sweeper, determine whether the alarm instruction is a false trigger.

[0035] Among them, the target unmanned sweeper can be any unmanned sweeper that is performing a cleaning operation, and it is not limited in this embodiment.

[0036] It can be understood that when the remaining water volume in the water tank of the unmanned sweeper is less than a set threshold, for example, less than 10 liters, 20 liters or 50 liters, etc., an alarm will be automatically triggered to prompt for water addition to prevent the subsequent cleaning task from not being completed due to insufficient water volume in the water tank.

[0037] Optionally, in this embodiment, when it is detected that the remaining water volume in the water tank of the target unmanned sweeper is less than the set threshold, the alarm system will be triggered to issue an alarm instruction indicating insufficient water volume in the water tank; after receiving this alarm instruction, it can be further determined whether this alarm instruction is a mis-triggered alarm instruction.

[0038] It can be understood that during the cleaning process of the unmanned sweeper, if it encounters road conditions such as bumps or turns on the road surface, the water surface in the water tank will fluctuate, resulting in a situation where the remaining water volume detected by the sensor is less than the set threshold, and in this case, the alarm instruction will be mis-triggered.

[0039] In an alternative implementation of this embodiment, after receiving the alarm about the remaining water volume in the water tank of the target unmanned sweeper, it can continue to determine the total number of alarm instructions received within a preset time (for example, 1 minute, 2 minutes, or 3 minutes, etc. after receiving the alarm instruction). If the number of all received alarm instructions is greater than the set number threshold (for example, three times, five times, or ten times, etc.), then this alarm instruction can be determined as a mis-triggered alarm instruction.

[0040] It can be understood that when the water surface in the water tank changes repeatedly or to a large extent, the remaining water volume detected by the sensor will repeatedly be less than the set threshold. At this time, the received alarm instruction can be determined as a mis-triggered alarm instruction.

[0041] Step 120, in the case of determining that the alarm instruction is not mis-triggered, determine the jitter degree of the target unmanned sweeper at the alarm moment, and determine whether the alarm instruction is valid based on the jitter degree.

[0042] Optionally, in this embodiment, in the case of determining that the received alarm instruction about the remaining water volume in the water tank is not a mis-triggered alarm instruction, that is, when the remaining water volume in the water tank is less than the set threshold, the jitter degree of the unmanned sweeper at the alarm moment, that is, at the moment of receiving the alarm instruction, can be further determined. Further, it can be determined whether the received alarm instruction is valid according to the jitter degree of the target unmanned sweeper at the alarm moment. It can be understood that the jitter degree of the unmanned sweeper can change for different reasons. Exemplarily, changes in driving speed or road surface conditions will cause the vehicle to jitter.

[0043] Optionally, in this embodiment, determining the degree of jitter of the target unmanned sweeper at the alarm moment may include: obtaining the target acceleration data of the acceleration sensor installed on the target unmanned sweeper at the alarm moment, and determining the degree of jitter according to the target acceleration data; or, obtaining the first rotation matrix of the gyroscope installed on the target unmanned sweeper at the alarm moment, and the second rotation matrix at the previous moment of the alarm moment, and determining the degree of jitter according to the difference between the first rotation matrix and the second rotation matrix.

[0044] Wherein, the acceleration sensor and the gyroscope can be installed on the chassis of the unmanned sweeper, or near the center of gravity, etc., and are not limited in this embodiment.

[0045] In an alternative implementation of this embodiment, the acceleration data of the acceleration sensor installed on the target unmanned sweeper at the alarm moment, that is, at the moment of receiving the alarm instruction, can be obtained. Further, feature extraction can be performed on the obtained acceleration data. For example, the root mean square value, vibration intensity, spectral analysis, or kurtosis, etc. can be extracted; further, the extracted feature data can be analyzed to obtain the degree of jitter of the target unmanned sweeper.

[0046] In an alternative implementation of this embodiment, the data of each attitude angle of the gyroscope installed on the target unmanned sweeper at the alarm moment, that is, at the moment of receiving the alarm instruction, can also be obtained, and the first rotation matrix can be determined according to the data of each attitude angle; further, the first rotation matrix can be compared with the second rotation matrix at the previous moment of the alarm moment (for example, the previous minute, the previous two minutes, or the previous three minutes, etc. of the alarm moment). Further, the difference between the first rotation matrix and the second rotation matrix can be determined, and the degree of jitter of the target unmanned sweeper can be determined according to the difference.

[0047] Further, it is possible to determine whether the alarm instruction for the remaining water volume of the water tank of the target unmanned sweeper that is not a false trigger is valid according to the degree of jitter determined above; optionally, determining whether the alarm instruction is valid based on the degree of jitter may include: if it is determined that the degree of jitter is less than the set jitter threshold, it is determined that the alarm instruction is valid; if it is determined that the degree of jitter is greater than or equal to the set jitter threshold, it is determined that the alarm instruction is invalid.

[0048] Wherein, the set jitter threshold can be an acceleration threshold or an angular velocity change threshold, etc., and is not limited in this embodiment.

[0049] In a specific implementation, if it is determined that the jitter degree of the target unmanned sweeper is less than the set jitter threshold, then it can be determined that the alarm instruction for the remaining water volume in the water tank of the non-falsely triggered target unmanned sweeper is valid; if it is determined that the jitter degree of the target unmanned sweeper is greater than or equal to the set jitter threshold, then it can be determined that the alarm instruction for the remaining water volume in the water tank of the non-falsely triggered target unmanned sweeper is invalid.

[0050] Step 130, when it is determined that the alarm instruction is valid, determine the working water consumption of the target unmanned sweeper, and determine the remaining water volume according to the working water consumption.

[0051] Among them, the working water consumption of the target unmanned sweeper is the working water consumption when the target unmanned sweeper starts the current cleaning task.

[0052] Optionally, in this embodiment, when it is determined that the alarm instruction for the remaining water volume in the water tank of the target unmanned sweeper is non-falsely triggered and valid, the working water consumption of the target unmanned sweeper can be further determined, that is, the water volume in the water tank used from the start of the current cleaning task of the target unmanned sweeper to the alarm moment.

[0053] In an alternative implementation manner of this embodiment, it can be based on the remaining water volume in the water tank when the target unmanned sweeper starts the current cleaning task (referred to as the first remaining water volume in this embodiment) and the water consumption required for the proportion of the current cleaning task completed at the alarm moment (referred to as the first water consumption in this embodiment); for example, if one-third of the current cleaning task is completed at the alarm moment, then the water consumption required to complete one-third of the current cleaning task can be further determined; further, the remaining water volume in the water tank of the target unmanned sweeper can be determined according to the first remaining water volume and the first water consumption; for example, if the first remaining water volume is 500 liters and the first water consumption is 200 liters, then it can be determined that the remaining water volume of the target unmanned sweeper is 500 - 200 = 300 liters.

[0054] It should be noted that in this embodiment, the actually remaining water volume in the water tank of the target unmanned sweeper is obtained based on the first remaining water volume and the first water consumption. Since the remaining water volume detected by the sensor is affected by the jitter degree of the vehicle, the actually remaining water volume in the water tank calculated is more accurate than the remaining water volume in the water tank obtained based on the sensor.

[0055] Step 140, when the remaining water volume is less than the set threshold, determine the target water filling point and determine the target path to drive to the target water filling point.

[0056] Among them, the set threshold can be 10 liters, 15 liters, 30 liters, etc., and it is not limited in this embodiment.

[0057] Optionally, in this embodiment, after determining the actual remaining water volume in the water tank of the target unmanned sweeper, it can be further determined whether the actual remaining water volume is less than the set threshold. If it is determined that the actual remaining water volume is less than the set threshold, that is, the target unmanned sweeper needs to perform a water filling operation to complete the subsequent cleaning task.

[0058] Furthermore, the target water filling point can be determined; for example, the target water filling point can be determined based on the current position information of the target unmanned sweeper. For example, the water filling point closest to the target unmanned sweeper can be determined as the target water filling point; or the water filling point with the shortest time consumption to reach the water filling point can be determined as the target water filling point.

[0059] Furthermore, the target path to the target water filling point can be determined; for example, the map data from the current position information of the target unmanned sweeper to the target water filling point can be obtained and analyzed, so as to determine the optimal path to the target water filling point and determine it as the target path.

[0060] The technical solution of this embodiment determines whether the alarm instruction is a false trigger by responding to the alarm instruction of the remaining water volume in the water tank of the target unmanned sweeper; in the case of determining that the alarm instruction is not a false trigger, determines the degree of jitter of the target unmanned sweeper at the alarm moment, and determines whether the alarm instruction is valid based on the degree of jitter; in the case of determining that the alarm instruction is valid, determines the working water consumption of the target unmanned sweeper, and determines the remaining water volume according to the working water consumption; when the remaining water volume is less than the set threshold, determines the target water filling point and determines the target path to the target water filling point, which can quickly and accurately determine the remaining water volume in the water tank of the unmanned sweeper and help to smoothly complete the cleaning task.

[0061] Embodiment 2

[0062] Figure 2 It is a flowchart of a method for detecting the water volume in the water tank of an unmanned sweeper according to Embodiment 2 of the present invention. This embodiment further refines the above technical solution, and the technical solution in this embodiment can be combined with each optional solution in the above one or more embodiments. As Figure 2 shown, the method includes:

[0063] Step 210, in response to an alarm instruction of the remaining water volume in the water tank of the target unmanned sweeper, determine whether the alarm instruction is a false trigger.

[0064] Optionally, in this embodiment, determining whether the alarm instruction is a false trigger may include: determining the target number of alarm instructions received within a preset time period starting from the alarm time of the alarm instruction. If it is determined that the target number is greater than or equal to the preset alarm number, then it is determined that the alarm instruction is a false trigger; alternatively, determining the target time interval between the alarm time of the alarm instruction and the cleaning time when the target unmanned sweeper starts cleaning work. When the target time interval is less than or equal to the set time interval, it is determined that the alarm instruction is a false trigger.

[0065] Among them, the preset time period may be 30 seconds, one minute, three minutes, etc., which is not limited in this embodiment; the preset alarm number may be three, five, ten, etc., which is not limited in this embodiment either; the set time interval may be one hour, two hours, three hours, etc., which is not limited in this embodiment either.

[0066] In an alternative implementation manner of this embodiment, after receiving the alarm instruction for the remaining water volume in the water tank of the target unmanned sweeper, the alarm time may be determined according to the received alarm instruction. Exemplarily, the determined alarm time may be 10:00:01; further, starting from this alarm time, the target number of alarm instructions received within the preset time period may be determined; Exemplarily, if the determined alarm time is 10:00:01, then the target number of alarm instructions received within the time period from 10:00:01 to 10:00:31 may be further determined.

[0067] Further, if it is determined that the target number is greater than or equal to the preset alarm number, then it may be determined that the received alarm instruction is a false trigger; Exemplarily, if the number of alarm instructions received within the preset time period starting from the alarm time is ten, which is greater than the preset alarm number (three), then it may be determined that the received alarm instruction is a false trigger; if it is determined that the target number is less than the preset alarm number, then it may be determined that the received alarm instruction is not a false trigger.

[0068] In another alternative implementation of this embodiment, after receiving the alarm instruction for the remaining water volume in the water tank of the target unmanned sweeper, the alarm time can be determined according to the received alarm instruction. Exemplarily, the determined alarm time can be 14:00:00. At the same time, the cleaning time when the target unmanned sweeper starts cleaning work can also be determined. Exemplarily, the cleaning time when the target unmanned sweeper starts cleaning work can be 12:00:00. Further, the target time interval between the alarm time and the start cleaning time can be determined (14:00:00 - 12:00:00 = 2 hours). Further, it can be determined whether the target time interval is less than or equal to the set time interval. Exemplarily, in the above example, the target time interval is equal to 2 hours, which is equal to the set time interval of 2 hours, then it can be determined that the alarm instruction is triggered.

[0069] It can be understood that if the time when the target unmanned sweeper starts the cleaning task is short, that is, the working time is less than the set time interval, at this time, it can be considered that the remaining water volume in the water tank of the target unmanned sweeper is sufficient, and at this time, it can be undoubtedly determined that the received alarm instruction is a false trigger. The advantage of such a setting is that it can quickly determine whether the received alarm instruction is a false trigger according to the time when the alarm instruction is received, improving the execution efficiency of the algorithm.

[0070] Step 220: In the case of determining that the alarm instruction is not a false trigger, determine the degree of jitter of the target unmanned sweeper at the alarm time, and determine whether the alarm instruction is valid based on the degree of jitter.

[0071] Step 230: Determine that the alarm instruction is valid.

[0072] Step 240: Determine the target cleaning task completed by the target unmanned sweeper from the start of cleaning to the alarm time; determine the water consumption of the target unmanned sweeper according to the target cleaning task; determine the remaining water volume based on the difference between the initial water volume of the target unmanned sweeper and the water consumption.

[0073] Optionally, in this embodiment, in the case of determining that the received alarm instruction is not a false trigger and is valid, the target cleaning task completed by the target unmanned sweeper from the start of cleaning to the alarm time can be further determined, that is, the workload completed by the target unmanned sweeper. For example, it has cleaned 2 kilometers or 5 kilometers, etc. Further, the water consumption of the target unmanned sweeper can be determined according to the target cleaning task completed by the target unmanned sweeper. In this embodiment, the corresponding relationship between the completed target cleaning task and the water consumption can be queried from the work manual of the target unmanned sweeper. For example, the water consumption for completing a 5-kilometer cleaning task is 1 ton.

[0074] Furthermore, the remaining water volume of the target unmanned sweeper can be determined based on the difference between the initial water volume of the target unmanned sweeper before the target unmanned sweeper starts the cleaning task and the determined working water consumption; for example, if the initial water volume of the target unmanned sweeper before the cleaning task is 2 tons and the working water consumption is 1 ton, then the remaining water volume is 1 ton.

[0075] Step 250: Determine whether the remaining water volume is less than a set threshold.

[0076] Step 260, obtain the current position information of the target unmanned sweeper, and determine the target water adding point according to the current position information; obtain the map data between the current position information and the target water adding point, and generate the target path of the current position information value to the target water adding point based on the map data.

[0077] Optionally, in the present embodiment, after determining that the remaining water volume of the target unmanned sweeper is less than a set threshold, the current position information of the target unmanned sweeper can be obtained, and further, the target water-adding point can be determined based on the obtained current position information. For example, the water-adding point closest to the current position information can be determined as the target water-adding point; the currently idle water-adding point can also be determined as the target water-adding point; the water-adding point closest to the end point of the cleaning task can also be determined as the target water-adding point, so that the target unmanned sweeper can clean from the end point to the current position after water-adding is completed, thereby speeding up the operation efficiency of the cleaning task; further, the map data between the current position information and the target water-adding point can be obtained, and the target path of the target water-adding point with the current position information value can be generated based on the map data.

[0078] In another optional implementation of this embodiment, after obtaining the current location information and the target water-adding point, the current location information and the location information of the target water-adding point can be further input into a map service, for example, in a large model related to the map data. Furthermore, the target path for the target unmanned sweeper to travel to the target water-adding point can be determined based on the map service.

[0079] The solution of this embodiment, after determining that the remaining water volume of the target unmanned sweeper is less than a set threshold, can obtain the current position information of the target unmanned sweeper, and determine the target water adding point based on the current position information; obtain map data between the current position information and the target water adding point, and generate a target path from the current position information value to the target water adding point based on the map data, so that the target unmanned sweeper can travel to the target water adding point according to the target path to add water, thereby helping the target unmanned sweeper to complete subsequent cleaning tasks.

[0080] Based on the above technical solution, after determining the remaining water volume according to the working water consumption, it may further include: determining the remaining cleaning tasks based on the target cleaning tasks, and determining whether the remaining water volume can complete the remaining cleaning tasks; when it is determined that the remaining water volume can complete the remaining cleaning tasks, continue to execute the cleaning tasks; otherwise, determine the target water filling point and send the target path for the target unmanned cleaning vehicle to drive to the target water filling point.

[0081] Optionally, in this embodiment, after determining the working water consumption of the target unmanned cleaning vehicle, the remaining cleaning tasks may be further determined based on the target cleaning tasks. For example, if the total cleaning task is ten kilometers and the target completed cleaning task is eight kilometers, then the remaining cleaning task is two kilometers; further, it can be determined whether the remaining water volume of the target unmanned cleaning vehicle can complete the remaining cleaning tasks; exemplarily, if the remaining cleaning task is 100 meters and the remaining water volume is 200 liters, by querying the operation manual of the target unmanned cleaning vehicle, it is determined that the water volume required to complete the cleaning task of 100 meters is 100 liters, then it can be determined that the remaining water volume of the target unmanned cleaning vehicle can complete the remaining cleaning tasks.

[0082] Further, the cleaning tasks can be continuously executed until the remaining cleaning tasks are completed, and then go to the water filling point for water filling treatment.

[0083] In another example of this embodiment, if the remaining cleaning task is 100 meters and the remaining water volume is 20 liters, by querying the operation manual of the target unmanned cleaning vehicle, it is determined that the water volume required to complete the cleaning task of 100 meters is 100 liters, then it can be determined that the remaining water volume of the target unmanned cleaning vehicle cannot complete the remaining cleaning tasks; at this time, the target water filling point can be continuously determined, and the target path for the target unmanned cleaning vehicle to drive to the target water filling point can be sent, so that the target unmanned cleaning vehicle can continue to complete the remaining cleaning tasks after filling water.

[0084] The advantage of such a setting is that when the remaining water volume can complete the remaining cleaning tasks, there is no need to go to the water filling point for water filling and the remaining cleaning tasks can be continuously completed, which can improve the completion efficiency of the cleaning tasks and avoid the phenomenon of low cleaning task efficiency caused by receiving an alarm instruction to fill water when the remaining water volume is sufficient.

[0085] To better understand the method for detecting the water volume in the water tank of the unmanned cleaning vehicle involved in this embodiment, Figure 3 is a flowchart of another method for detecting the water volume in the water tank of an unmanned cleaning vehicle provided according to Embodiment 2 of the present invention. Refer to Figure 3 , which may include:

[0086] Step 310, water level acquisition by the water level sensor.

[0087] Step 320: Whether the set alarm threshold is reached;

[0088] If yes, execute Step 330;

[0089] Otherwise, execute Step 300;

[0090] Step 300: No alarm is generated;

[0091] Step 330: Whether there is an alarm cache within the specified time;

[0092] If yes, execute Step 340;

[0093] Otherwise, execute Step 300;

[0094] Step 340: Whether the real-time jitter coefficient exceeds the set threshold;

[0095] If yes, execute Step 350;

[0096] Otherwise, execute Step 300;

[0097] Step 350: Whether the tilt angle exceeds the set threshold;

[0098] If yes, execute Step 360;

[0099] Otherwise, execute Step 300;

[0100] Step 360: Report to the cloud.

[0101] Step 361: Obtain the water consumption coefficient per working time unit of the sweeper.

[0102] Step 362: Obtain the working duration.

[0103] Step 363: Obtain the working water consumption.

[0104] Step 364: Determine the difference between the initial water volume and the working water consumption.

[0105] Step 370: Whether the water addition condition is met;

[0106] If it is met, execute Step 371;

[0107] Otherwise, execute Step 372.

[0108] Step 371: Trigger the water addition scheduling.

[0109] Step 372: Do not process.

[0110] In this embodiment, a multi-level alarm mechanism can be adopted. After receiving an alarm instruction for the remaining water volume in the water tank, the number of times the same alarm instruction is received within a preset time is determined. Exemplarily, the preset time is 1 minute and the set threshold is 3 times. In a specific implementation, if the same alarm instruction is received more than 3 times within 1 minute, it is determined that the alarm instruction is a false trigger and no response is made to it.

[0111] Furthermore, after receiving an alarm instruction for the remaining water volume in the water tank, the degree of vehicle body jitter at the same moment corresponding to the alarm instruction can be determined. Exemplarily, the degree of vehicle body jitter is detected by an acceleration sensor installed on the vehicle body. The vehicle body acceleration data collected by the acceleration sensor is processed by a data processing unit to obtain the degree of vehicle body jitter.

[0112] Furthermore, it can be determined whether the alarm instruction is valid according to the degree of jitter. Exemplarily, when the degree of vehicle body jitter is less than a preset threshold (for example, 0.1g), and the inclination angles of the x, y, and z axes measured by the sensor are within a reasonable range, it is determined that the alarm instruction is valid and a water addition operation is required. When the degree of vehicle body jitter is greater than the preset threshold, it is determined that the alarm instruction is a false trigger and no response is made to it.

[0113] Furthermore, after the low water volume alarm is reported, the working water consumption is obtained by multiplying the water consumption per unit time of the vehicle by the working (performing the water spraying action) duration of the vehicle. Based on the water volume in the water tank after the last water addition, if the remaining water volume is within the alarm range and the alarm condition is satisfied, the nearest water addition point is automatically selected for water addition. Exemplarily, the intelligent water addition system determines the nearest water addition point through a positioning module and a water addition point database, and controls the water addition device to perform a water addition operation through a control module.

[0114] The technical solution of this embodiment can effectively improve the accuracy of detecting the remaining water volume in the water tank of the unmanned sweeper, reduce the occurrence of false alarms, and ensure the normal operation of the unmanned sweeper.

[0115] Embodiment III

[0116] Figure 4 is a schematic structural diagram of a water tank water volume detection device for an unmanned sweeper according to Embodiment III of the present invention. As Figure 4 shown, the device includes: an alarm instruction response module 410, an alarm instruction verification module 420, a remaining water volume determination module 430, and a target water addition point determination module 440.

[0117] Among them, the alarm instruction response module 410 is configured to respond to an alarm instruction for the remaining water volume in the water tank of the target unmanned sweeper and determine whether the alarm instruction is a false trigger;

[0118] An alarm instruction verification module 420, configured to determine the degree of jitter of the target unmanned sweeper at the alarm moment when it is determined that the alarm instruction is not a false trigger, and determine whether the alarm instruction is valid based on the degree of jitter;

[0119] A remaining water volume determination module 430, configured to determine the working water consumption of the target unmanned sweeper when it is determined that the alarm instruction is valid, and determine the remaining water volume according to the working water consumption;

[0120] A target water filling point determination module 440, configured to determine a target water filling point and determine a target path to the target water filling point when the remaining water volume is less than a set threshold.

[0121] The solution of this embodiment responds to the alarm instruction of the remaining water volume in the water tank of the target unmanned sweeper through the alarm instruction response module to determine whether the alarm instruction is a false trigger; the alarm instruction verification module determines the degree of jitter of the target unmanned sweeper at the alarm moment, and determines whether the alarm instruction is valid based on the degree of jitter; the remaining water volume determination module determines the working water consumption of the target unmanned sweeper, and determines the remaining water volume according to the working water consumption; the target water filling point determination module determines the target water filling point and determines the target path to the target water filling point, which can quickly and accurately determine the remaining water volume in the water tank of the unmanned sweeper and help to smoothly complete the cleaning task.

[0122] In an optional implementation manner of this embodiment, the alarm instruction response module 410 is specifically configured to determine the target number of received alarm instructions within a preset time period starting from the alarm moment of the alarm instruction. If it is determined that the target number is greater than or equal to the preset alarm number, it is determined that the alarm instruction is a false trigger;

[0123] Alternatively, determine the target time interval between the alarm moment of the alarm instruction and the cleaning moment when the target unmanned sweeper starts cleaning work. When the target time interval is less than or equal to the set time interval, it is determined that the alarm instruction is a false trigger.

[0124] In an optional implementation manner of this embodiment, the alarm instruction verification module 420 is specifically configured to obtain the target acceleration data of the acceleration sensor installed on the target unmanned sweeper at the alarm moment, and determine the degree of jitter according to the target acceleration data;

[0125] Alternatively, obtain the first rotation matrix of the gyroscope installed on the target unmanned sweeper at the alarm moment and the second rotation matrix at the previous moment of the alarm moment, and determine the degree of jitter according to the difference between the first rotation matrix and the second rotation matrix.

[0126] In an alternative implementation of this embodiment, the alarm instruction verification module 420 is further specifically configured to determine that the alarm instruction is valid if it is determined that the degree of jitter is less than a set jitter threshold;

[0127] If it is determined that the degree of jitter is greater than or equal to the set jitter threshold, it is determined that the alarm instruction is invalid.

[0128] In an alternative implementation of this embodiment, the remaining water volume determination module 430 is specifically configured to determine the target cleaning task completed by the target unmanned sweeper from the start of cleaning to the alarm moment;

[0129] Determine the water consumption of the target unmanned sweeper according to the target cleaning task;

[0130] Determine the remaining water volume based on the difference between the initial water volume of the target unmanned sweeper and the water consumption.

[0131] In an alternative implementation of this embodiment, the water tank water volume detection device of the unmanned sweeper further includes: a remaining cleaning task determination module, configured to determine the remaining cleaning task based on the target cleaning task, and determine whether the remaining water volume can complete the remaining cleaning task;

[0132] If it is determined that the remaining water volume can complete the remaining cleaning task, continue to execute the cleaning task;

[0133] Otherwise, determine the target water filling point, and send a target path for the target unmanned sweeper to drive to the target water filling point.

[0134] In an alternative implementation of this embodiment, the target water filling point determination module 440 is specifically configured to obtain the current position information of the target unmanned sweeper, and determine the target water filling point according to the current position information;

[0135] Obtain the map data between the current position information and the target water filling point, and generate a target path from the current position information to the target water filling point based on the map data.

[0136] The water tank water volume detection device of the unmanned sweeper provided by the embodiments of the present invention can execute the water tank water volume detection method of the unmanned sweeper provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0137] Embodiment 4

[0138] Figure 5The structural schematic diagram of an electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0139] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0140] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0141] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for detecting the water volume in the water tank of an unmanned sweeper, which includes: in response to an alarm instruction for the remaining water volume in the water tank of a target unmanned sweeper, determining whether the alarm instruction is a false trigger; in the case where it is determined that the alarm instruction is not a false trigger, determining the degree of jitter of the target unmanned sweeper at the alarm moment, and determining whether the alarm instruction is valid based on the degree of jitter; in the case where it is determined that the alarm instruction is valid, determining the water consumption of the target unmanned sweeper during operation, and determining the remaining water volume based on the water consumption; when the remaining water volume is less than a set threshold, determining a target water filling point and determining a target path to travel to the target water filling point.

[0142] In some embodiments, the method for detecting the water volume in the water tank of an unmanned sweeper can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for detecting the water volume in the water tank of the unmanned sweeper described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for detecting the water volume in the water tank of the unmanned sweeper by any other suitable means (e.g., by means of firmware).

[0143] The various embodiments of the systems and technologies described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0144] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing device, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0145] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0146] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0147] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0148] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0149] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0150] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0151] An embodiment of the present invention also provides a computer program product, including a computer program which, when executed by a processor, implements the detection method of the database provided in any embodiment of the present application.

[0152] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0153] It should be noted that in the embodiments of the present application, certain industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be considered exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0154] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for detecting the water level in a water tank of an unmanned sweeper, characterized in that: include: In response to an alarm instruction of the amount of water remaining in the water tank of the target unmanned sweeper, determining whether the alarm instruction is triggered by mistake; In the case where it is determined that the alarm instruction is not triggered by mistake, determining the shaking degree of the target unmanned sweeper at the alarm time, and determining whether the alarm instruction is valid based on the shaking degree; When it is determined that the alarm instruction is valid, determining the working water consumption of the target unmanned sweeper, and determining the remaining water volume according to the working water consumption; When the remaining water volume is less than a set threshold, a target water filling point is determined, and a target route to the target water filling point is determined.

2. The method for detecting the water level in the water tank of an unmanned sweeper according to claim 1, characterized in that: The determining whether the alarm instruction is a false trigger comprises: Determining a target number of times the alarm instruction is received within a preset time period starting from the alarm time of the alarm instruction, and if it is determined that the target number is greater than or equal to the preset alarm number, determining that the alarm instruction is falsely triggered; or, Determine a target time interval between the alarm time of the alarm instruction and the cleaning time when the target unmanned sweeper starts cleaning work. When the target time interval is less than or equal to the set time interval, determine that the alarm instruction is falsely triggered.

3. The method for detecting the water level in the water tank of an unmanned sweeper according to claim 1, characterized in that: Determining the vibration degree of the target unmanned sweeper at the alarm time includes: Acquire target acceleration data of an acceleration sensor installed on the target unmanned sweeper at the alarm time, and determine the degree of jitter according to the target acceleration data; or, The first rotation matrix of the gyroscope installed on the target unmanned sweeper at the alarm moment and the second rotation matrix at the previous moment of the alarm moment are obtained, and the degree of jitter is determined according to the difference between the first rotation matrix and the second rotation matrix.

4. The method for detecting the water level in the water tank of an unmanned sweeper according to claim 3, characterized in that: The determining whether the alarm instruction is valid based on the jitter degree includes: If it is determined that the jitter degree is less than the set jitter threshold, then the alarm instruction is determined to be valid; If it is determined that the jitter degree is greater than or equal to the set jitter threshold, it is determined that the alarm instruction is invalid.

5. The method for detecting the water level in the water tank of an unmanned sweeper according to claim 1, characterized in that: The step of determining the working water consumption of the target unmanned sweeper and determining the remaining water volume according to the working water consumption includes: Determine the target cleaning task completed by the target unmanned cleaning vehicle from the start of cleaning to the alarm moment; Determining the working water consumption of the target unmanned sweeper according to the target cleaning task; The remaining water volume is determined based on the difference between the initial water volume of the target unmanned sweeper and the working water consumption.

6. The method for detecting the water level in the water tank of an unmanned sweeper according to claim 5, characterized in that: After determining the remaining water volume according to the working water consumption, the method further includes: Determine a remaining cleaning task based on the target cleaning task, and determine whether the remaining water volume can complete the remaining cleaning task; After determining that the remaining water volume can complete the remaining cleaning task, continue to perform the cleaning task; Otherwise, a target watering point is determined, and a target path for the target unmanned sweeper to travel to the target watering point is set.

7. The method for detecting water volume in a water tank of an unmanned sweeper according to claim 1 or 6, characterized in that: The step of determining a target water-adding point and providing a target path for the target unmanned sweeper to travel to the target water-adding point includes: Acquire the current position information of the target unmanned sweeper, and determine the target water adding point according to the current position information; The map data between the current position information and the target water-adding point is acquired, and a target path between the current position information and the target water-adding point is generated based on the map data.

8. A water tank water level detection device for an unmanned sweeper, characterized in that: include: An alarm instruction response module, used to respond to an alarm instruction of the remaining water amount in the water tank of the target unmanned sweeper and determine whether the alarm instruction is triggered by mistake; An alarm instruction verification module is used to determine the degree of shaking of the target unmanned sweeper at the alarm time when it is determined that the alarm instruction is not falsely triggered, and determine whether the alarm instruction is valid based on the degree of shaking; A remaining water volume determination module, used to determine the working water consumption of the target unmanned sweeper when it is determined that the alarm instruction is valid, and determine the remaining water volume according to the working water consumption; The target water filling point determination module is used to determine the target water filling point when the remaining water volume is less than a set threshold value, and determine the target path for driving to the target water filling point.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for detecting the water level in the water tank of the unmanned sweeper according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for detecting the water level in a water tank of an unmanned sweeper according to any one of claims 1 to 7 when executed.

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