A cleaning vehicle navigation method, device and equipment in a garage scene and a storage medium

Abstract

The application discloses a garage scene cleaning vehicle navigation method and device, equipment and storage medium, relates to the cleaning vehicle control technical field, and includes: determining a target area from a garage map of a target garage; the target area is a single parking space area or a combined area, and the combined area is an area generated by combining a plurality of continuous single parking space areas; determining a starting point and an ending point of the cleaning vehicle in the target area, and determining a target area size of the target area based on the distance between the starting point and the ending point; matching a target navigation path template from a preset navigation path template library based on the target area size, and deploying the target navigation path template to the target area of the garage map; the preset navigation path template library saves navigation path templates corresponding to the area size of the parking area; based on the navigation path information recorded in the target navigation path template deployed on the target area, the cleaning vehicle is controlled to perform a path navigation operation. The application can deploy the navigation route of the cleaning vehicle in the garage scene.

Description

Technical Field

[0001] This invention relates to the field of cleaning vehicle control technology, and in particular to a cleaning vehicle navigation method, device, equipment and storage medium in a garage setting. Background Technology

[0002] Currently, before intelligent cleaning vehicles can be officially put into operation, they generally need to complete pre-deployment work such as scene design, map editing, semantic information annotation, and path implementation. In garage scenarios, there are many structurally identical parking space units; however, existing mainstream deployment solutions treat this as a universal scene, employing a serial, area-by-area deployment mode. Semantic information annotation requires manual operation, which is not only difficult and inefficient, but also highly susceptible to human error in accuracy. Inconsistent standards for parking spaces across different garages further complicate the quality of annotation. Furthermore, garages typically have hundreds of parking spaces, and area-by-area deployment results in a huge amount of repetitive work. Differences in manually selected cleaning areas also lead to inconsistent path planning quality. In addition, traditional deployments lack verifiable data records, making it difficult to verify the effectiveness of annotations. Repeated trial runs are required for validation, further increasing implementation and verification costs.

[0003] In summary, how to deploy navigation routes for cleaning vehicles in garage scenarios, while reducing costs and improving deployment efficiency and quality, is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, device, equipment, and storage medium for navigating cleaning vehicles in a garage setting, enabling the deployment of navigation routes for cleaning vehicles in a garage setting, and improving deployment efficiency and quality while reducing costs. The specific solution is as follows:

[0005] Firstly, this application provides a method for navigating a cleaning vehicle in a garage scenario, including:

[0006] The target area to be cleaned is determined from the garage map of the target garage; the target area is a single parking space area or a combination area, and the combination area is an area generated by combining a number of consecutive single parking space areas;

[0007] Determine the target starting point and target ending point of the cleaning vehicle in the target area, and determine the target area size based on the distance between the target starting point and the target ending point;

[0008] Based on the target area size, a target navigation path template is matched from the preset navigation path template library, and the target navigation path template is deployed to the target area of ​​the garage map; the preset navigation path template library is used to store a first navigation path template corresponding to the area size of a single parking space area and a second navigation path template corresponding to the area size of the combined area.

[0009] Based on the navigation path information recorded in the target navigation path template deployed on the target area, the cleaning vehicle is controlled to perform the corresponding path navigation operation.

[0010] Optional navigation methods for cleaning vehicles in garage scenarios also include:

[0011] Using the RGB camera in front of the cleaning vehicle, first image data corresponding to the four vertices of a single parking space in the target garage is acquired, and second image data corresponding to the boundary contour of a first obstacle in the single parking space is acquired; wherein, the first obstacle is a preset obstacle that exists in each parking space of the target garage;

[0012] The first image data and the second image data are mapped from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and then mapped from the coordinate system corresponding to the cleaning vehicle to the world coordinate system corresponding to the garage map to obtain a single parking space area.

[0013] Optionally, before matching the target navigation path template from the preset navigation path template library based on the target area size, the method further includes:

[0014] The first navigation path information of the cleaning vehicle in the single parking space area is generated based on the full-coverage path planning algorithm and the area size of the single parking space area.

[0015] The second navigation path information of the cleaning vehicle in the combined area is generated based on the full-coverage path planning algorithm and the area size of the combined area.

[0016] The preset navigation path template library is constructed based on the first navigation path information and the second navigation path information.

[0017] Optionally, constructing the preset navigation path template library based on the first navigation path information and the second navigation path information includes:

[0018] A first initial navigation path template is generated based on the first navigation path information, and a second initial navigation path template is generated based on the second navigation path information.

[0019] The cleaning vehicle is controlled to clean the single parking space area in the target garage according to the first navigation path information recorded in the first initial navigation path template, and checks for any abnormalities during the cleaning process to obtain the first inspection result.

[0020] Based on the first inspection results and the first manual correction opinion, the first initial navigation path template is corrected to obtain the first navigation path template corresponding to the area size of a single parking space area;

[0021] The cleaning vehicle is controlled to clean the combined area in the target garage according to the second navigation path information recorded in the second initial navigation path template, and to check for any abnormalities during the cleaning process to obtain a second inspection result;

[0022] Based on the second inspection results and the second manual correction opinions, the second initial navigation path template is corrected to obtain the second navigation path template corresponding to the area size of the combined area;

[0023] The preset navigation path template library is constructed based on the first navigation path template and the second navigation path template.

[0024] Optionally, after matching the target navigation path template from the preset navigation path template library based on the target area size, the method further includes:

[0025] The target running direction of the cleaning vehicle is determined based on the target running start point and the target running end point, and it is determined whether the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction.

[0026] Accordingly, deploying the target navigation path template to the target area of ​​the garage map includes:

[0027] If the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction, then the target navigation path template is directly deployed to the target area of ​​the garage map, so that the cleaning vehicle can be controlled to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed in the target area;

[0028] If the running direction corresponding to the navigation path information recorded in the target navigation path template is inconsistent with the target running direction, the target navigation path template is rotated and adjusted until the running direction corresponding to the navigation path information recorded in the adjusted template is consistent with the target running direction. The adjusted template is then deployed to the target area of ​​the garage map so that the cleaning vehicle can be controlled to perform corresponding path navigation operations based on the navigation path information recorded in the adjusted template deployed in the target area.

[0029] Optionally, after deploying the target navigation path template to the target area of ​​the garage map, the method further includes:

[0030] Noise points in the target area of ​​the garage map are removed to obtain an updated garage map. Based on the navigation path information recorded in the target navigation path template deployed on the target area of ​​the updated garage map, the cleaning vehicle is controlled to perform corresponding path navigation operations.

[0031] Optionally, before controlling the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed on the target area, the method further includes:

[0032] The cleaning vehicle is used to identify whether a second obstacle exists in the target area; the second obstacle is different from the first obstacle.

[0033] If such a target area exists and is a single-parking-space area, then the cleaning vehicle is controlled to stop performing path navigation operations within the target area.

[0034] If such an obstacle exists and the target area is a combined area, then the parking space area containing the second obstacle is removed from the target area to obtain a new target area. Based on the size of the new target area, a new target navigation path template is matched from the preset navigation path template library so that the cleaning vehicle can perform the corresponding path navigation operation based on the navigation path information recorded in the new target navigation path template.

[0035] Secondly, this application provides a navigation device for a cleaning vehicle in a garage setting, comprising:

[0036] The target area determination module is used to determine the target area to be cleaned from the garage map of the target garage; the target area is a single parking space area or a combination area, and the combination area is an area generated by combining several consecutive single parking space areas;

[0037] The area size determination module is used to determine the target running start point and target running end point of the cleaning vehicle in the target area, and to determine the target area size corresponding to the target area based on the distance between the target running start point and the target running end point;

[0038] The template matching module is used to match a target navigation path template from a preset navigation path template library based on the target area size, and deploy the target navigation path template to the target area of ​​the garage map; the preset navigation path template library is used to store a first navigation path template corresponding to the area size of a single parking space area and a second navigation path template corresponding to the area size of the combined area.

[0039] The path navigation module is used to control the cleaning vehicle to perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area.

[0040] Thirdly, this application provides an electronic device, comprising:

[0041] Memory, used to store computer programs;

[0042] A processor is used to execute the computer program to implement the aforementioned cleaning vehicle navigation method in a garage scenario.

[0043] Fourthly, this application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned cleaning vehicle navigation method in a garage scenario.

[0044] In this application, the target area to be cleaned is first determined from the garage map of the target garage; the target area is a single parking space area or a combination area, wherein the combination area is an area generated by combining several consecutive single parking space areas; then, the target starting point and target ending point of the cleaning vehicle in the target area are determined, and the target area size corresponding to the target area is determined based on the distance between the target starting point and the target ending point; subsequently, a target navigation path template is matched from a preset navigation path template library based on the target area size, and the target navigation path template is deployed to the target area of ​​the garage map; the preset navigation path template library is used to store a first navigation path template corresponding to the area size of the single parking space area and a second navigation path template corresponding to the area size of the combination area; finally, based on the navigation path information recorded in the target navigation path template deployed on the target area, the cleaning vehicle is controlled to perform the corresponding path navigation operation. As can be seen from the above, this application first determines the target area to be cleaned from the garage map of the target garage. The target area is either a single parking space area or a combination parking space area composed of several consecutive single parking spaces. Next, the starting point and ending point of the cleaning vehicle's operation in the target area are determined, and the size of the target area is determined based on the distance between the starting point and the ending point. Then, a target navigation path template corresponding to the size of the target area is matched from a preset navigation path template library that stores a first navigation path template adapted to the size of a single parking space area and a second navigation path template adapted to the size of a combination area. The successfully matched target navigation path template is then deployed to the target area in the garage map. Finally, according to the navigation path information recorded in the target navigation path template, the cleaning vehicle is controlled to perform path navigation operations, thereby completing the cleaning of the target area. In this way, this application can make full use of the patterned characteristics of parking spaces in a garage scenario, replacing traditional manual planning with template matching and batch deployment, which greatly improves the deployment efficiency of the cleaning vehicle's navigation route. Meanwhile, the navigation route templates stored in the preset navigation route template library, which are adapted to the size of the parking space area, ensure the rationality and consistency of the navigation route, reduce the problem of uneven cleaning effect caused by differences in manual operation, ensure cleaning coverage, reduce costs, and make cleaning operations more efficient, accurate and stable. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 This application provides a flowchart of a cleaning vehicle navigation method in a garage scenario;

[0047] Figure 2 This application provides a specific garage map and a schematic diagram of a combined area, wherein, Figure 2 (a) in the image is a garage map. Figure 2 (b) and Figure 2 (c) in the diagram represents the combined area to be cleaned;

[0048] Figure 3 A schematic diagram of a specific cleaning vehicle provided in this application;

[0049] Figure 4 This application provides a specific schematic diagram of a parking space vertex.

[0050] Figure 5 A schematic diagram of a specific limiter provided in this application;

[0051] Figure 6 This application provides a specific schematic diagram of a single parking space area;

[0052] Figure 7 This application provides a schematic diagram of navigation path information for a specific single parking space area;

[0053] Figure 8 This application provides a schematic diagram of navigation path information for a specific combined area, wherein... Figure 8 (a) in the diagram represents the navigation route information for the two-parking area. Figure 8 (b) in the diagram represents the navigation route information for the three-parking area;

[0054] Figure 9 A specific schematic diagram of several target areas provided in this application;

[0055] Figure 10 This application provides a specific diagram illustrating the deployment of a target navigation path template, wherein... Figure 10 (a) in the text indicates that the target navigation path template is deployed to the target area. Figure 10 (b) indicates that the adjusted target navigation path template will be deployed to the target area;

[0056] Figure 11 This application provides a specific diagram illustrating the deployment of a target navigation path template.

[0057] Figure 12 This application provides a specific illustration of a garage map with noise and a garage map after noise removal, wherein... Figure 12 (a) in the image is a garage map with noise. Figure 12 (b) in the image is the garage map after noise removal;

[0058] Figure 13 This application provides a specific schematic diagram for verifying a target navigation path template, wherein... Figure 13 (a) in the image represents the verification point captured during the photograph. Figure 13 (b) in the diagram represents the verification point mapped to the garage map;

[0059] Figure 14 This application provides a specific schematic diagram of the navigation path template switching result, wherein, Figure 14 (a) indicates switching to the navigation route template for two parking spaces. Figure 14 (b) in the text indicates switching to a navigation path template for two single parking spaces;

[0060] Figure 15 This application provides a schematic diagram of the structure of a cleaning vehicle navigation device in a garage setting;

[0061] Figure 16 This application provides a structural diagram of an electronic device. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Currently, intelligent cleaning vehicles typically require pre-deployment work such as scene mapping, map editing, semantic information annotation, and route implementation before formal operation. In garage scenarios, there are numerous structurally identical parking space units; however, existing mainstream deployment solutions treat this as a universal scene, employing a serial, area-by-area deployment model. Semantic information annotation requires manual operation, which is not only difficult and inefficient, but also highly susceptible to human error in accuracy. Inconsistent parking space standards across different garages further complicate the quality of annotation. Furthermore, garages often have hundreds of parking spaces, leading to a huge amount of repetitive work in area-by-area deployment. Differences in manually selected cleaning areas also result in inconsistent route planning quality. In addition, traditional deployments lack verifiable data records, making it difficult to verify the effectiveness of annotations, requiring repeated trial runs and further increasing implementation and verification costs. Therefore, this application provides a cleaning vehicle navigation solution for garage scenarios, enabling navigation route deployment for cleaning vehicles in garage environments while reducing costs and improving deployment efficiency and quality.

[0064] See Figure 1 As shown, this embodiment of the invention discloses a navigation method for a cleaning vehicle in a garage scenario, which may include:

[0065] Step S11: Determine the target area to be cleaned from the garage map of the target garage; the target area is a single parking space area or a combination area, and the combination area is an area generated by combining several consecutive single parking space areas.

[0066] In this embodiment, the target area to be cleaned first needs to be determined from the garage map of the target garage. The target area to be cleaned can be a single parking space area or a combined area generated by combining several consecutive single parking space areas. (See garage map for details.) Figure 2 As shown, Figure 2 (a) in the image is a garage map. Figure 2 (b) and Figure 2 (c) in the diagram represents the combined area to be cleaned.

[0067] It is understandable that a single parking space area is the basic unit of a combined area. To determine the single parking space area in the garage map, see [reference needed]. Figure 3 As shown, an RGB camera can be installed in front of the cleaning vehicle to collect local scene image data and perform semantic annotation of scene objects. The specific process may include: firstly, using the RGB camera in front of the cleaning vehicle, collecting first image data corresponding to the four vertices of a single parking space in the target garage, and collecting second image data corresponding to the boundary contour of a first obstacle in the single parking space; wherein, the first obstacle is a preset obstacle that exists in each parking space of the target garage; then, mapping the first image data and the second image data from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and mapping from the coordinate system corresponding to the cleaning vehicle to the world coordinate system corresponding to the garage map to obtain the single parking space area.

[0068] For details, see Figure 4 As shown, the RGB camera in front of the cleaning vehicle can be used to collect first image data corresponding to the four vertices of a single parking space. This first image data is then mapped from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and further mapped from the cleaning vehicle's coordinate system to the world coordinate system corresponding to the garage map, thus determining a rectangular single parking space based on the four vertices. Simultaneously, this embodiment can also use the RGB camera in front of the cleaning vehicle to collect second image data corresponding to the boundary contour of a first obstacle within the single parking space. Let the first obstacle be a limit switch present in each parking space of the target garage. See [link to relevant documentation]. Figure 5 As shown, the second image data is obtained by annotating the boundary contour of the parking limiter on the ground using polygons. This second image data is then mapped from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and further mapped from the cleaning vehicle's coordinate system to the world coordinate system corresponding to the garage map. This determines the position of the parking limiter within a single parking space and defines the single parking space area containing both the parking space's range and the parking limiter. A schematic diagram of the single parking space area can be found here. Figure 6 As shown.

[0069] In this embodiment, a navigation path template library can be pre-built. The specific process may include: first, generating first navigation path information for the cleaning vehicle in a single parking space area based on a full-coverage path planning algorithm and the area size of the combined area; then, generating second navigation path information for the cleaning vehicle in the combined area based on the full-coverage path planning algorithm and the area size of the combined area; finally, constructing the pre-built navigation path template library based on the first and second navigation path information. For details, see [link to documentation]. Figure 7 As shown, the first navigation path information is generated using a full-coverage path planning algorithm, and corresponds to the area size of a single parking space. See also... Figure 8 As shown, Figure 8 (a) in the diagram represents the second navigation path information corresponding to the area size of the two-parking-space area. Figure 8 (b) in the diagram represents the second navigation path information corresponding to the area size of the three-parking-space area. That is, the second navigation path information is generated using a full-coverage path planning algorithm and is the path information corresponding to the area size of the combined area.

[0070] It should be noted that the specific process of constructing the preset navigation path template library based on the first navigation path information and the second navigation path information may include: generating a first initial navigation path template based on the first navigation path information, and generating a second initial navigation path template based on the second navigation path information; controlling the cleaning vehicle to clean the single parking space area in the target garage according to the first navigation path information recorded in the first initial navigation path template, and checking for any abnormalities during the cleaning process to obtain a first inspection result; correcting the first initial navigation path template based on the first inspection result and a first manual correction opinion to obtain a first navigation path template corresponding to the area size of the single parking space area; controlling the cleaning vehicle to clean the combined area in the target garage according to the second navigation path information recorded in the second initial navigation path template, and checking for any abnormalities during the cleaning process to obtain a second inspection result; correcting the second initial navigation path template based on the second inspection result and a second manual correction opinion to obtain a second navigation path template corresponding to the area size of the combined area; and constructing the preset navigation path template library based on the first navigation path template and the second navigation path template.

[0071] Specifically, in this embodiment, a first initial navigation path template can be generated based on the first navigation path information, and a second initial navigation path template can be generated based on the second navigation path information. Then, the cleaning vehicle is controlled to clean the corresponding parking space area according to the navigation path information recorded in the initial navigation path templates, and checks for any abnormalities during the cleaning process to obtain corresponding inspection results. If the inspection results indicate an abnormality, the navigation path information can be corrected. Furthermore, if the generated navigation path information is not ideal, it can be manually corrected using editing tools to obtain a first navigation path template corresponding to the area size of a single parking space and a second navigation path template corresponding to the area size of a combined area. Finally, the first navigation path template and each of the second navigation path templates can be stored in a preset navigation path template library.

[0072] Step S12: Determine the target starting point and target ending point of the cleaning vehicle in the target area, and determine the target area size based on the distance between the target starting point and the target ending point.

[0073] In this embodiment, to determine the target navigation path template corresponding to the target area to be cleaned, it is first necessary to mark the target starting point and target ending point of the cleaning vehicle in the target area on the garage map. In one specific implementation, see... Figure 9 As shown, the area between the two pillars represents a target region. The arrow between the two pillars indicates the target direction of the cleaning vehicle, pointing from the starting point to the ending point. Therefore, the length of the target region can be determined based on the distance between the starting and ending points.

[0074] Step S13: Based on the target area size, match the target navigation path template from the preset navigation path template library, and deploy the target navigation path template to the target area of ​​the garage map; the preset navigation path template library is used to store the first navigation path template corresponding to the area size of a single parking space area and the second navigation path template corresponding to the area size of the combined area.

[0075] In this embodiment, a target navigation path template can be matched from a preset navigation path template library based on the length of the target area. For example, a target navigation path template corresponding to a three-car area can be matched from the preset navigation path template library based on the length of the target area.

[0076] It should be noted that after matching the target navigation path template from the preset navigation path template library based on the target area size, the process may further include: determining the target running direction of the cleaning vehicle based on the target running start point and the target running end point, and determining whether the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction; accordingly, the target navigation path template is deployed to the target area of ​​the garage map. Specifically, if the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction, then the target navigation path template is directly deployed to the target area of ​​the garage map. The system is configured to control the cleaning vehicle to perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area. If the running direction corresponding to the navigation path information recorded in the target navigation path template is inconsistent with the target running direction, the target navigation path template is rotated and adjusted until the running direction corresponding to the navigation path information recorded in the adjusted template is consistent with the target running direction. The adjusted template is then deployed to the target area of ​​the garage map so that the cleaning vehicle can perform corresponding path navigation operations based on the navigation path information recorded in the adjusted template deployed on the target area.

[0077] Specifically, in this embodiment, it is necessary to first determine whether the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction of the cleaning vehicle in the target area. See [link to documentation]. Figure 10 As shown, Figure 10 (a) indicates that if the running directions are consistent, the target navigation path template can be directly deployed to the target area of ​​the garage map; Figure 10 (b) indicates that if the running directions are inconsistent, the target navigation path template needs to be rotated and adjusted until the running direction corresponding to the navigation path information recorded in the adjusted template is consistent with the target running direction. The adjusted template is then deployed to the target area of ​​the garage map. The results of batch deployment of navigation path templates corresponding to each target area in the garage map are shown in [link to documentation]. Figure 11 As shown.

[0078] In addition, see Figure 12 As shown, Figure 12 In the image (a), the garage map contains noise. This embodiment can remove noise from each target area of ​​the garage map to obtain an updated garage map. Figure 12(b) shows the garage map after noise removal, so that the cleaning vehicle can perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area in the updated garage map. It should be noted that noise in the non-cleaned areas of the garage needs to be manually removed by setting a masking area, but the overall workload is not large.

[0079] In this embodiment, the target navigation path template deployed in the target area of ​​the garage map can be verified. See also Figure 13 As shown, Figure 13 In the diagram, (a) represents the image data of the left and right vertices of the target area, serving as verification points. The two vertex image data are then mapped from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and then from the coordinate system corresponding to the cleaning vehicle to the world coordinate system corresponding to the garage map, thus mapping the two vertex image data of the target area into the garage map. Figure 13 In the diagram, (b) represents the left and right vertices of the target area mapped onto the garage map. Finally, the accuracy of the target navigation path template is checked by verifying whether the left and right vertices of the target area match the left and right vertices of the target navigation path template.

[0080] Step S14: Based on the navigation path information recorded in the target navigation path template deployed on the target area, control the cleaning vehicle to perform the corresponding path navigation operation.

[0081] It should be noted that, before controlling the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed on the target area, the process may further include: firstly, using the cleaning vehicle to identify whether there is a second obstacle in the target area; the second obstacle is different from the first obstacle; if it exists, and the target area is a single parking space area, then controlling the cleaning vehicle to stop performing the path navigation operation in the target area; if it exists, and the target area is a combined area, then removing the parking space area with the second obstacle from the target area to obtain a new target area, and matching a new target navigation path template from the preset navigation path template library based on the size of the new target area, so as to control the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the new target navigation path template.

[0082] Specifically, before the cleaning vehicle enters the target area, it can identify whether a second obstacle, different from the first obstacle (such as a parking limiter), exists in the target area. In one embodiment, if a second obstacle exists in the target area, and the target area is a single-parking space area, the cleaning vehicle stops performing path navigation operations within the target area and skips cleaning the current single-parking space area. In another embodiment, if a second obstacle exists in the target area, and the target area is a combined area, the parking space area with the second obstacle is removed from the target area to obtain a new target area. A new target navigation path template is then matched from a preset navigation path template library based on the size of the new target area. See [link to relevant documentation]. Figure 14 As shown, Figure 14 (a) in the diagram indicates that the new target area is a two-car parking space, and the navigation route template is switched to a two-car parking space. Figure 14 (b) in the diagram indicates that the new target area is two single parking spaces. The navigation path template for two single parking spaces is switched to enable the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the new target navigation path template.

[0083] As can be seen from the above, in this embodiment, the target area to be cleaned is first determined from the garage map of the target garage; the target area is a single parking space area or a combination area, and the combination area is an area generated by combining several consecutive single parking space areas; then, the target starting point and target ending point of the cleaning vehicle in the target area are determined, and the target area size corresponding to the target area is determined based on the distance between the target starting point and the target ending point; subsequently, a target navigation path template is matched from a preset navigation path template library based on the target area size, and the target navigation path template is deployed to the target area of ​​the garage map; the preset navigation path template library is used to store a first navigation path template corresponding to the area size of the single parking space area and a second navigation path template corresponding to the area size of the combination area; finally, based on the navigation path information recorded in the target navigation path template deployed on the target area, the cleaning vehicle is controlled to perform the corresponding path navigation operation. As can be seen from the above, in this embodiment, the target area to be cleaned is first determined from the garage map of the target garage. The target area is either a single parking space area or a combination parking space area composed of several consecutive single parking spaces. Next, the starting point and ending point of the cleaning vehicle's operation in the target area are determined, and the size of the target area is determined based on the distance between the starting point and the ending point. Then, a target navigation path template corresponding to the size of the target area is matched from a preset navigation path template library that stores a first navigation path template adapted to the size of a single parking space area and a second navigation path template adapted to the size of a combination area. The successfully matched target navigation path template is then deployed to the target area in the garage map. Finally, according to the navigation path information recorded in the target navigation path template, the cleaning vehicle is controlled to perform path navigation operations, thereby completing the cleaning of the target area. In this way, this embodiment can make full use of the patterned characteristics of parking spaces in the garage scenario, and replace traditional manual planning with template matching and batch deployment, greatly improving the deployment efficiency of the cleaning vehicle's navigation route. Meanwhile, the navigation route templates stored in the preset navigation route template library, which are adapted to the size of the parking space area, ensure the rationality and consistency of the navigation route, reduce the problem of uneven cleaning effect caused by differences in manual operation, ensure cleaning coverage, reduce costs, and make cleaning operations more efficient, accurate and stable.

[0084] Accordingly, see Figure 15 As shown in the figure, this application embodiment also provides a cleaning vehicle navigation device in a garage scenario, which may include:

[0085] The target area determination module 11 is used to determine the target area to be cleaned from the garage map of the target garage; the target area is a single parking space area or a combination area, and the combination area is an area generated by combining a number of consecutive single parking space areas;

[0086] The area size determination module 12 is used to determine the target running start point and target running end point of the cleaning vehicle in the target area, and to determine the target area size corresponding to the target area based on the distance between the target running start point and the target running end point;

[0087] The template matching module 13 is used to match a target navigation path template from a preset navigation path template library based on the target area size, and deploy the target navigation path template to the target area of ​​the garage map; the preset navigation path template library is used to store a first navigation path template corresponding to the area size of a single parking space area and a second navigation path template corresponding to the area size of the combined area.

[0088] The path navigation module 14 is used to control the cleaning vehicle to perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area.

[0089] In some specific embodiments, the cleaning vehicle navigation device in the garage scenario may further include:

[0090] The image data acquisition module is used to acquire first image data corresponding to the four vertices of a single parking space in the target garage using an RGB camera in front of the cleaning vehicle, and to acquire second image data corresponding to the boundary contour of a first obstacle in the single parking space; wherein, the first obstacle is a preset obstacle that exists in each parking space of the target garage.

[0091] The single parking space area determination module is used to map the first image data and the second image data from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and from the coordinate system corresponding to the cleaning vehicle to the world coordinate system corresponding to the garage map, so as to obtain the single parking space area.

[0092] In some specific embodiments, the cleaning vehicle navigation device in the garage scenario may further include:

[0093] The first navigation path information generation module is used to generate the first navigation path information of the cleaning vehicle in the single parking space area based on the full coverage path planning algorithm and the area size of the single parking space area;

[0094] The second navigation path information generation module is used to generate the second navigation path information of the cleaning vehicle in the combined area based on the full coverage path planning algorithm and the area size of the combined area;

[0095] The template library construction module is used to construct the preset navigation path template library based on the first navigation path information and the second navigation path information.

[0096] In some specific implementations, the template library construction module may include:

[0097] A navigation path template generation unit is used to generate a first initial navigation path template based on the first navigation path information, and to generate a second initial navigation path template based on the second navigation path information;

[0098] The first inspection result determination unit is used to control the cleaning vehicle to clean the single parking space area in the target garage according to the first navigation path information recorded in the first initial navigation path template, and to check for any abnormalities during the cleaning process to obtain the first inspection result.

[0099] The first template correction unit is used to correct the first initial navigation path template based on the first inspection result and the first manual correction opinion, so as to obtain the first navigation path template corresponding to the area size of the single parking space area.

[0100] The second inspection result determination unit is used to control the cleaning vehicle to clean the combined area in the target garage according to the second navigation path information recorded in the second initial navigation path template, and to check for any abnormalities during the cleaning process to obtain the second inspection result.

[0101] The second template correction unit is used to correct the second initial navigation path template based on the second inspection result and the second manual correction opinion, so as to obtain the second navigation path template corresponding to the area size of the combined area;

[0102] The template library construction unit is used to construct the preset navigation path template library based on the first navigation path template and the second navigation path template.

[0103] In some specific embodiments, the cleaning vehicle navigation device in the garage scenario may further include:

[0104] The condition judgment module is used to determine the target running direction of the cleaning vehicle based on the target running start point and the target running end point, and to determine whether the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction;

[0105] Accordingly, the template matching module 13 may include:

[0106] The template deployment unit is used to directly deploy the target navigation path template to the target area of ​​the garage map if the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction, so as to control the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed in the target area;

[0107] The rotation adjustment unit is used to rotate and adjust the target navigation path template if the running direction corresponding to the navigation path information recorded in the target navigation path template is inconsistent with the target running direction, until the running direction corresponding to the navigation path information recorded in the adjusted template is consistent with the target running direction. The adjusted template is then deployed to the target area of ​​the garage map so that the cleaning vehicle can be controlled to perform corresponding path navigation operations based on the navigation path information recorded in the adjusted template deployed in the target area.

[0108] In some specific embodiments, the cleaning vehicle navigation device in the garage scenario may further include:

[0109] The noise removal module is used to remove noise in the target area of ​​the garage map to obtain an updated garage map, so as to control the cleaning vehicle to perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area of ​​the updated garage map.

[0110] In some specific embodiments, the cleaning vehicle navigation device in the garage scenario may further include:

[0111] An obstacle recognition module is used to identify whether a second obstacle exists in the target area using the cleaning vehicle; the second obstacle is different from the first obstacle;

[0112] The execution stop module is used to control the cleaning vehicle to stop performing path navigation operations within the target area if the target area exists and is a single parking space area.

[0113] The parking space area elimination module is used to eliminate the parking space area containing the second obstacle from the target area if it exists and the target area is a combined area, to obtain a new target area, and to match a new target navigation path template from the preset navigation path template library based on the size of the new target area, so as to control the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the new target navigation path template.

[0114] Furthermore, embodiments of this application also disclose an electronic device, Figure 16This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the cleaning vehicle navigation method in a garage scenario disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be a computer.

[0115] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0116] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0117] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the garage scene cleaning vehicle navigation method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.

[0118] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned cleaning vehicle navigation method in a garage scenario. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0119] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0120] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0121] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0122] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0123] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for navigating a cleaning vehicle in a garage scenario, characterized in that, include: Identify the target area to be cleaned from the garage map of the target garage; The target area is a single parking space area or a combination area, wherein the combination area is an area generated by combining several consecutive single parking space areas; Determine the target starting point and target ending point of the cleaning vehicle in the target area, and determine the target area size based on the distance between the target starting point and the target ending point; Based on the target area size, a target navigation path template is matched from the preset navigation path template library, and the target navigation path template is deployed to the target area of ​​the garage map; The preset navigation path template library is used to store a first navigation path template corresponding to the area size of a single parking space area and a second navigation path template corresponding to the area size of the combined area. Based on the navigation path information recorded in the target navigation path template deployed on the target area, the cleaning vehicle is controlled to perform the corresponding path navigation operation.

2. The cleaning vehicle navigation method in a garage scenario according to claim 1, characterized in that, Also includes: Using the RGB camera in front of the cleaning vehicle, first image data corresponding to the four vertices of a single parking space in the target garage is acquired, and second image data corresponding to the boundary contour of a first obstacle in the single parking space is acquired; wherein, the first obstacle is a preset obstacle that exists in each parking space of the target garage; The first image data and the second image data are mapped from the image coordinate system to the coordinate system corresponding to the cleaning vehicle, and then mapped from the coordinate system corresponding to the cleaning vehicle to the world coordinate system corresponding to the garage map to obtain a single parking space area.

3. The cleaning vehicle navigation method in a garage scenario according to claim 1, characterized in that, Before matching the target navigation path template from the preset navigation path template library based on the target region size, the method further includes: The first navigation path information of the cleaning vehicle in the single parking space area is generated based on the full-coverage path planning algorithm and the area size of the single parking space area. The second navigation path information of the cleaning vehicle in the combined area is generated based on the full-coverage path planning algorithm and the area size of the combined area. The preset navigation path template library is constructed based on the first navigation path information and the second navigation path information.

4. The cleaning vehicle navigation method in a garage scenario according to claim 3, characterized in that, The step of constructing the preset navigation path template library based on the first navigation path information and the second navigation path information includes: A first initial navigation path template is generated based on the first navigation path information, and a second initial navigation path template is generated based on the second navigation path information. The cleaning vehicle is controlled to clean the single parking space area in the target garage according to the first navigation path information recorded in the first initial navigation path template, and checks for any abnormalities during the cleaning process to obtain the first inspection result. Based on the first inspection results and the first manual correction opinion, the first initial navigation path template is corrected to obtain the first navigation path template corresponding to the area size of a single parking space area; The cleaning vehicle is controlled to clean the combined area in the target garage according to the second navigation path information recorded in the second initial navigation path template, and to check for any abnormalities during the cleaning process to obtain a second inspection result; Based on the second inspection results and the second manual correction opinions, the second initial navigation path template is corrected to obtain the second navigation path template corresponding to the area size of the combined area; The preset navigation path template library is constructed based on the first navigation path template and the second navigation path template.

5. The cleaning vehicle navigation method in a garage scenario according to claim 1, characterized in that, After matching the target navigation path template from the preset navigation path template library based on the target region size, the process further includes: The target running direction of the cleaning vehicle is determined based on the target running start point and the target running end point, and it is determined whether the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction. Accordingly, deploying the target navigation path template to the target area of ​​the garage map includes: If the running direction corresponding to the navigation path information recorded in the target navigation path template is consistent with the target running direction, then the target navigation path template is directly deployed to the target area of ​​the garage map, so that the cleaning vehicle can be controlled to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed in the target area; If the running direction corresponding to the navigation path information recorded in the target navigation path template is inconsistent with the target running direction, the target navigation path template is rotated and adjusted until the running direction corresponding to the navigation path information recorded in the adjusted template is consistent with the target running direction. The adjusted template is then deployed to the target area of ​​the garage map so that the cleaning vehicle can be controlled to perform corresponding path navigation operations based on the navigation path information recorded in the adjusted template deployed in the target area.

6. The cleaning vehicle navigation method in a garage scenario according to any one of claims 1 to 5, characterized in that, After deploying the target navigation path template to the target area of ​​the garage map, the method further includes: Noise points in the target area of ​​the garage map are removed to obtain an updated garage map. Based on the navigation path information recorded in the target navigation path template deployed on the target area of ​​the updated garage map, the cleaning vehicle is controlled to perform corresponding path navigation operations.

7. The cleaning vehicle navigation method in a garage scenario according to claim 2, characterized in that, Before controlling the cleaning vehicle to perform the corresponding path navigation operation based on the navigation path information recorded in the target navigation path template deployed on the target area, the method further includes: The cleaning vehicle is used to identify whether a second obstacle exists in the target area; the second obstacle is different from the first obstacle. If such a target area exists and is a single-parking-space area, then the cleaning vehicle is controlled to stop performing path navigation operations within the target area. If such an obstacle exists and the target area is a combined area, then the parking space area containing the second obstacle is removed from the target area to obtain a new target area. Based on the size of the new target area, a new target navigation path template is matched from the preset navigation path template library so that the cleaning vehicle can perform the corresponding path navigation operation based on the navigation path information recorded in the new target navigation path template.

8. A navigation device for a cleaning vehicle in a garage setting, characterized in that, include: The target area determination module is used to determine the target area to be cleaned from the garage map of the target garage; The target area is a single parking space area or a combination area, wherein the combination area is an area generated by combining several consecutive single parking space areas; The area size determination module is used to determine the target running start point and target running end point of the cleaning vehicle in the target area, and to determine the target area size corresponding to the target area based on the distance between the target running start point and the target running end point; The template matching module is used to match a target navigation path template from a preset navigation path template library based on the target area size, and deploy the target navigation path template to the target area of ​​the garage map; The preset navigation path template library is used to store a first navigation path template corresponding to the area size of a single parking space area and a second navigation path template corresponding to the area size of the combined area. The path navigation module is used to control the cleaning vehicle to perform corresponding path navigation operations based on the navigation path information recorded in the target navigation path template deployed on the target area.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory; wherein the memory is used to store a computer program, which is loaded and executed by the processor to implement the cleaning vehicle navigation method in a garage scenario as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, implements the cleaning vehicle navigation method in a garage scenario as described in any one of claims 1 to 7.

Images