Processing method and device based on automatic driving sweeping system

Abstract

The invention provides a processing method and device based on an automatic driving cleaning system. The method comprises the steps that an area cleaning task for an operation area is acquired; segmenting the operation area to obtain a plurality of cleaning sections, and determining local configuration parameters of each cleaning section; creating a local cleaning task for each cleaning section according to the position parameters and the cleaning parameters, and determining a cleaning task sequence according to the position parameters and the priority parameters; the sweeping task sequence is sent to the automatic driving sweeping vehicle, so that local sweeping tasks in the sweeping task sequence are executed in sequence; in the process of executing the local cleaning task, in response to a task updating operation of a user, updating the local cleaning task in the cleaning task sequence, and synchronizing the updating content to the automatic driving cleaning vehicle, so that the automatic driving cleaning vehicle updates the local task; refining, intelligentization and high efficiency of the operation of the automatic driving sweeping vehicle are realized.

Description

Technical Field

[0001] This invention relates to the field of autonomous cleaning vehicle technology, and in particular to a processing method and apparatus based on an autonomous cleaning system. Background Technology

[0002] With the development of smart cities and sanitation automation, autonomous cleaning vehicles have been applied in semi-closed or closed scenarios such as parks and municipal roads to automate cleaning operations.

[0003] In existing technologies, cleaning tasks can be assigned to autonomous cleaning vehicles, which then perform the cleaning tasks according to preset routes and parameters.

[0004] However, when using the above method, due to the dynamic changes in the actual scene (such as the appearance of temporary obstacles, changes in cleaning requirements, etc.), it is impossible to dynamically adjust the work tasks according to the actual scene and carry out refined operations, resulting in a decrease in work efficiency. Summary of the Invention

[0005] In view of the above problems, a processing method and apparatus based on an autonomous driving cleaning system are proposed to overcome or at least partially solve the above problems, comprising: A processing method based on an autonomous driving cleaning system, the autonomous driving cleaning system including a cloud dispatching platform, a mobile interactive terminal, and an in-vehicle control system, the method comprising: Obtain area cleaning tasks for the work area; The work area is divided into multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined. The local configuration parameters include position parameters, cleaning parameters, and priority parameters. Based on the location parameters and cleaning parameters, local cleaning tasks are created for each cleaning segment under the area cleaning task, and the local cleaning tasks are arranged according to the location parameters and priority parameters to obtain a cleaning task sequence. The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence. During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local tasks.

[0006] Optionally, the cleaning task sequence is sent to the onboard control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to sequentially execute partial cleaning tasks in the cleaning task sequence, including: Obtain the current status information of multiple candidate autonomous cleaning vehicles; Based on the current status information, the autonomous cleaning vehicle assigned to each local cleaning task is determined from the plurality of candidate autonomous cleaning vehicles, and the local cleaning task is sent to the on-board control system of the corresponding autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning task according to the order of the local cleaning task in the cleaning task sequence.

[0007] Optionally, the current status information includes any one or more of the following: vehicle location, battery level, and task load.

[0008] Optionally, the work area is divided into multiple cleaning sections, including: The mobile interactive terminal displays map data of the work area; In response to the user's operation of dividing the map data through the mobile interactive terminal, the work area is segmented to obtain multiple cleaning segments.

[0009] Optionally, the work area is divided into multiple cleaning sections, including: Obtain map data of the work area; The map data is semantically recognized, and the work area is segmented based on the results of the semantic recognition to obtain multiple cleaning segments.

[0010] Optionally, it also includes: During the execution of a local cleaning task, if an abnormality is detected in the current autonomous cleaning vehicle, other autonomous cleaning vehicles will be dispatched to coordinate the execution of the local cleaning task.

[0011] Optionally, it also includes: Monitor the cleaning status of each local cleaning task, and display each local cleaning task differently through the mobile interactive terminal based on the cleaning status.

[0012] Optionally, based on the cleaning status, each local cleaning task is displayed differently via the mobile interactive terminal, including: The mobile interactive terminal displays color markers corresponding to the cleaning status for each local cleaning task. Alternatively, the mobile interactive terminal can display a progress bar corresponding to the cleaning status for each local cleaning task; Alternatively, the mobile interactive terminal can display a heat map corresponding to the cleaning status for each local cleaning task.

[0013] Optionally, it also includes: In response to manual takeover, the autonomous cleaning vehicle is controlled to pause the current local cleaning task, so that the autonomous cleaning vehicle can be controlled according to the user's manual operation; In response to the end of the manual takeover operation, the autonomous cleaning vehicle is controlled to continue performing the current local cleaning task or to perform the next local cleaning task after the current local cleaning task.

[0014] A processing device based on an autonomous driving cleaning system, the autonomous driving cleaning system including a cloud scheduling platform, a mobile interactive terminal, and an on-board control system, the device being used for: Obtain area cleaning tasks for the work area; The work area is divided into multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined. The local configuration parameters include position parameters, cleaning parameters, and priority parameters. Based on the location parameters and cleaning parameters, local cleaning tasks are created for each cleaning segment under the area cleaning task, and the local cleaning tasks are arranged according to the location parameters and priority parameters to obtain a cleaning task sequence. The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence. During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local tasks.

[0015] The embodiments of the present invention have the following advantages: In this embodiment of the invention, a regional cleaning task for a work area is obtained; the work area is segmented to obtain multiple cleaning segments, and local configuration parameters for each cleaning segment are determined; the local configuration parameters include position parameters, cleaning parameters, and priority parameters; based on the position parameters and cleaning parameters, local cleaning tasks for each cleaning segment are created under the regional cleaning task, and the multiple local cleaning tasks are arranged according to the position parameters and priority parameters to obtain a cleaning task sequence; the cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning tasks in the cleaning task sequence sequentially; during the execution of the local cleaning tasks, in response to the user's task update operation, the local cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle, so that the autonomous cleaning vehicle updates its local tasks, thereby realizing the refinement, intelligence, and efficiency of the autonomous cleaning vehicle's operation. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of the steps of a processing method based on an autonomous driving cleaning system provided in some embodiments of the present invention; Figure 2 This is a scheduling system architecture diagram provided by some embodiments of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] With the development of smart cities and sanitation automation, autonomous cleaning vehicles have been applied in semi-closed or closed scenarios such as parks and municipal roads to achieve autonomous cleaning operations, thereby reducing labor costs and improving operational efficiency.

[0020] In related technologies, administrators can delineate cleaning areas through a map interface on a PC, generate global paths, and then send them to autonomous cleaning vehicles. Basic information (such as battery level, speed, and current mode (automatic / manual)) can be displayed on the vehicle's touchscreen.

[0021] Furthermore, in related technologies, the method of implementing human-computer interaction by combining global one-time task planning with static state display has the following problems: 1. The task adjustment is inflexible. When a section of road suddenly accumulates garbage and needs to be cleaned up first, it is impossible to create a new task or skip the queue for that area. The task must be interrupted and replanned, which is time-consuming and prone to errors.

[0022] 2. Unclear status perception: Operators cannot intuitively know the cleaning status of each sub-area (such as "completed", "in progress", "abnormal interruption"), resulting in repeated cleaning or omissions.

[0023] 3. The high threshold for manual intervention makes it difficult for non-professionals to quickly and safely take over the vehicle and continue effective operation in emergency situations when faced with complex remote controls or back-end systems.

[0024] The aforementioned problems lead to decreased operational efficiency, increased labor costs, and low user satisfaction, thus limiting the large-scale promotion of autonomous cleaning vehicles.

[0025] In this embodiment of the invention, a cloud-based scheduling platform is used to perform refined segmented management of the work area. Combined with a mobile interactive terminal, dynamic task adjustment and status visualization are achieved, while reducing the difficulty of manual takeover. Specifically, the work area is first divided into multiple cleaning segments using semantic recognition or manual division. Each cleaning segment is configured with location, cleaning parameters, and priority parameters, forming flexibly adjustable local task units. When a sudden cleaning demand arises, the administrator can directly insert or modify tasks for specific cleaning segments via the mobile interactive terminal. The cloud-based scheduling platform will regenerate the cleaning task sequence and synchronize it to the vehicle control system without interrupting the overall task. During task execution, the system displays the status of each cleaning segment in real time via the mobile interactive terminal using color markers, progress bars, or heat maps, enabling the operator to quickly locate uncleaned or abnormal areas. If manual takeover is required, the operator only needs to trigger a takeover command via the mobile interactive terminal. The vehicle control system will immediately pause autonomous driving and switch to manual mode. After the takeover is completed, the task can be automatically resumed or the system can jump to the next task segment according to preset rules. This design retains the efficiency of autonomous driving while solving the problems of inflexible task adjustment, unclear state perception, and high threshold for manual intervention in traditional solutions through dynamic task scheduling, status visualization, and low-threshold manual intervention mechanisms. This significantly improves the adaptability and operational efficiency of autonomous cleaning vehicles in complex scenarios.

[0026] Reference Figure 1 The diagram illustrates a process flowchart of a cleaning method based on an autonomous driving cleaning system provided by some embodiments of the present invention. The autonomous driving cleaning system includes a cloud scheduling platform, a mobile interactive terminal, and an in-vehicle control system.

[0027] Among them, the mobile interactive terminal, the cloud dispatch platform, and the vehicle control system can communicate directly with each other. For example, the mobile interactive terminal can obtain high-precision map data based on the high-precision map service provided by the cloud dispatch platform; the mobile interactive terminal can also remotely send control commands to the vehicle control system to control the autonomous cleaning vehicle.

[0028] like Figure 2 The cloud-based scheduling platform may include a task management engine, high-precision map services, and a multi-vehicle collaborative scheduling module; the mobile interactive terminal can provide a visual map interface through an APP to perform task segmentation creation, sorting, cleaning status display, start and stop, etc.; the vehicle control system may include an autonomous driving controller, HMI (Human-Machine Interface), sensor fusion module, and execution unit.

[0029] The task management engine is responsible for task planning and dynamic adjustment. It automatically generates a cleaning task sequence based on the work area map data, cleaning parameters and priority requirements, and responds to task update instructions in real time during execution.

[0030] The high-precision map service module can provide centimeter-level positioning and semantic map support. By identifying information such as road boundaries, obstacle types, and special areas (such as no-sweeping zones), it provides basic data for task segmentation and path planning.

[0031] The multi-vehicle collaborative scheduling module can dynamically allocate cleaning resources based on the real-time status of vehicles (location, battery level, task load) and task priority. When an autonomous cleaning vehicle malfunctions, a backup vehicle is automatically triggered to take over, ensuring task continuity.

[0032] The mobile terminal's APP interface can adopt a layered visualization design. The upper layer displays the global work area and cleaning progress heatmap, the middle layer displays the boundaries of each cleaning segment and task status (color markers / progress bars) through a zoomable map, and the lower layer provides operation entry points such as task creation, sorting, and emergency queueing, supporting non-professionals to quickly complete task adjustments through touch gestures.

[0033] The autonomous driving controller of the vehicle control system can integrate SLAM (Simultaneous Localization and Mapping) algorithms and behavioral decision models, and combine real-time data from sensor fusion modules (such as LiDAR, cameras, and IMU (Inertial Measurement Unit)) to achieve autonomous obstacle avoidance and path tracking.

[0034] The HMI interface can simplify the display of key information such as current task status, remaining mileage, and abnormal warnings, reducing the operational complexity when manual takeover is required.

[0035] Specifically, it may include the following steps: Step 101: Obtain the area cleaning task for the work area.

[0036] As examples, the work area refers to the area that needs to be cleaned.

[0037] In practical applications, a zone cleaning task can be created for a specific area that needs to be cleaned, through a cloud-based scheduling platform or an app on a mobile interactive terminal.

[0038] As examples, voice assistants (such as "clean the East Gate Square") or gesture recognition devices can also be used to create area cleaning tasks for a specific area that needs to be cleaned.

[0039] Step 102: The work area is segmented to obtain multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined; the local configuration parameters include position parameters, cleaning parameters, and priority parameters.

[0040] As examples, segmented processing of work areas refers to a process that divides the work area into multiple cleaning segments based on high-precision map data of the work area through mobile interactive terminals or semantic recognition. Here, a cleaning segment refers to each sub-area after the work area is divided. High-precision map data can include environmental map information with centimeter-level accuracy, such as lane lines, road boundaries, obstacle distribution, and special areas (such as no-sweeping zones).

[0041] After dividing the work area into multiple cleaning segments, the location parameters (such as boundary coordinates) of each cleaning segment based on the geofence can be obtained. Based on the cleaning parameters set by the operator (such as cleaning mode: dry sweeping, wet sweeping, cleaning frequency) and priority parameters (such as low, medium and high priority), the local configuration parameters of each cleaning segment can be determined.

[0042] In some embodiments of the present invention, the work area is segmented to obtain multiple cleaning segments, including: displaying map data of the work area through the mobile terminal; and segmenting the work area to obtain multiple cleaning segments in response to a user's operation of dividing the map data through the mobile terminal.

[0043] After obtaining the area cleaning task for the work area, the high-precision map data of the work area can be displayed on the interactive interface of the mobile terminal, providing a visual basis for users to divide the area. Users (such as operators) can perform gesture operations (such as selection and dragging) on ​​the interactive interface to divide the high-precision map data, complete the splitting of the work area into multiple cleaning segments, generate geofences corresponding to each cleaning segment, and realize the fine planning of cleaning tasks.

[0044] For example, operators can view high-precision map data of the park (including park zones, trash can distribution, etc.) on their mobile phones (mobile interactive terminals) and manually drag and draw lines to divide the park into three cleaning sections: A, B, and C.

[0045] In some embodiments of the present invention, the work area is segmented to obtain multiple cleaning segments, including: acquiring map data of the work area; performing semantic recognition on the map data; and segmenting the work area according to the result of semantic recognition to obtain multiple cleaning segments.

[0046] As examples, effective semantic information in high-precision map data can be parsed through semantic recognition, and the work area can be divided into multiple cleaning sections based on the recognition results.

[0047] After obtaining the area cleaning task for the work area, it can also obtain high-precision map data combining the basic geographic base map and facility annotations of the work area, perform semantic recognition to extract key information, and automatically complete the segmentation of the work area based on the semantic recognition results, without the need for manual division, thus improving the efficiency and rationality of segmentation.

[0048] For example, in a shopping mall cleaning scenario, high-precision map data of the mall (including labels for shops, corridors, restrooms, etc.) can be obtained first. By using semantic recognition to distinguish the types of each area, restrooms and main corridors can be automatically divided into high-frequency cleaning sections, while the perimeter of shops can be divided into regular cleaning sections, resulting in multiple targeted cleaning sections.

[0049] Step 103: Based on the location parameters and cleaning parameters, create local cleaning tasks for each cleaning segment under the area cleaning task, and arrange the multiple local cleaning tasks according to the location parameters and priority parameters to obtain a cleaning task sequence.

[0050] In practical applications, the task range (i.e., the work boundary) defined by the location parameters of each cleaning segment can be used to plan the work route. Combined with the cleaning parameters, local cleaning tasks can be created. The order of each local cleaning task is determined according to the work route planned by the location parameters and the priority parameters, resulting in an ordered cleaning task sequence. Among them, the higher the priority parameter, the earlier the corresponding local cleaning task is arranged in the cleaning task sequence, to ensure that high-priority cleaning tasks are executed first.

[0051] For example, in a park cleaning scenario, the operation route can be planned and local cleaning tasks for each area can be created based on the location parameters of each cleaning section (such as the main square, playground, and forest trail) and the corresponding cleaning parameters (wet sweeping in playground and dry sweeping on trail). Combining the operation routes of each cleaning section, the local cleaning tasks can be sorted according to priority parameters (such as high priority playground, medium priority main square, and low priority forest trail) to generate a cleaning task sequence.

[0052] In some examples, if no priority parameter is set, the order of each local cleaning task can be determined based on the work route planned according to the location parameters, resulting in an ordered sequence of cleaning tasks. For example, the tasks can be sorted according to the distance between the location parameters of each cleaning segment and the preset starting point, with those closer being executed first.

[0053] Step 104: The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence.

[0054] Based on location and priority parameters, the multiple local cleaning tasks are arranged to obtain a cleaning task sequence. The mobile terminal can then send the cleaning task sequence to the cloud scheduling platform, which can schedule autonomous cleaning vehicles to execute the local cleaning tasks in the cleaning task sequence sequentially.

[0055] In some embodiments of the present invention, the cleaning task sequence is sent to the onboard control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to sequentially execute partial cleaning tasks in the cleaning task sequence, including: Sub-step 11: Obtain the current status information of multiple candidate autonomous cleaning vehicles.

[0056] In some embodiments of the present invention, the current status information includes any one or more of the following: vehicle location, battery level, and task load.

[0057] After receiving the cleaning task sequence sent by the mobile interactive terminal, the cloud scheduling platform can obtain the current status information of multiple candidate autonomous cleaning vehicles connected to the platform. By analyzing the current status information of each candidate autonomous cleaning vehicle, the matching and allocation of each local cleaning task in the cleaning task sequence can be determined.

[0058] Sub-step 12: Based on the current status information, determine the autonomous cleaning vehicle assigned to each local cleaning task from the multiple candidate autonomous cleaning vehicles, and send the local cleaning task to the on-board control system of the corresponding autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning task according to the order of the local cleaning task in the cleaning task sequence.

[0059] After obtaining the current status information of multiple candidate autonomous cleaning vehicles, the autonomous cleaning vehicle assigned to each local cleaning task in the cleaning task sequence can be determined based on the current status information of each autonomous cleaning vehicle.

[0060] For example, localized cleaning tasks can be assigned based on vehicle location: the park cleaning task sequence includes three localized tasks: the playground area, the main square, and the forest trail. The cloud retrieves the locations of three candidate cleaning vehicles: vehicle 1 is parked 50 meters north of the playground area, vehicle 2 is at the west gate of the park (800 meters from the playground area), and vehicle 3 is at the entrance of the forest trail. The cloud can assign the playground area task to vehicle 1, which is the closest in location, to reduce vehicle movement time.

[0061] The system can also allocate cleaning tasks based on vehicle battery level: In the above park cleaning task sequence, due to the large area of ​​the main square and the long cleaning time, vehicles need to maintain sufficient battery power. The cloud system determines the battery level of vehicle 1: 30% (low battery), vehicle 2: 85% (fully charged), and vehicle 3: 60%. If the cloud system determines that vehicle 2's battery level meets the requirements for long-term operation, the main square cleaning task can be assigned to vehicle 2, preventing the task from being interrupted due to power loss.

[0062] The system can also allocate cleaning tasks based on vehicle workload: In the above park cleaning task sequence, due to the park temporarily adding an emergency cleaning task around the restrooms, the cloud-based vehicle load is as follows: Vehicle 1 is performing a task in the playground (100% load), Vehicle 2 has just completed a task in the main square (0% load, idle), and Vehicle 3 is cleaning the forest trail (50% load, not completed). The cloud can then assign the emergency restroom cleaning task to Vehicle 2, which has no workload, to avoid task overlap affecting cleaning quality.

[0063] After assigning each localized cleaning task to an autonomous cleaning vehicle, the cloud-based dispatch platform sends the task to the corresponding vehicle's onboard control system. Upon receiving the task, the onboard control system creates a local task sequence, sorts the tasks according to the order in which they were received, and executes each task sequentially. During execution, the onboard control system provides real-time feedback on the task status (e.g., completed, in progress, interrupted) to the cloud-based dispatch platform and / or mobile terminal, allowing administrators or operators to stay informed about the task's progress.

[0064] Step 105: During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning task in the cleaning task sequence is updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local task.

[0065] As some examples, task update operations may include adding, deleting, pausing, and modifying partial cleaning tasks.

[0066] In practical applications, when a vehicle is performing a local cleaning task, the user can initiate a task update operation through a mobile interactive terminal. After the cloud scheduling platform responds, it updates the cleaning task sequence and then synchronizes the updated content to the vehicle's onboard control system. The vehicle can then update its local task sequence and adapt it for execution.

[0067] For example, in the above park cleaning scenario, vehicle 1 is performing a cleaning task in the amusement area. If the user discovers that there is temporary trash in the main square that needs to be cleaned urgently, the user can modify the priority of the main square task through the mobile device. After the task sequence is updated in the cloud, it is synchronized to the vehicle system of vehicle 2. Vehicle 2 adjusts the local task sequence and, after completing the current local cleaning task, prioritizes the main square cleaning task.

[0068] For example, during the execution of a partial cleaning task, the user can also create a new partial cleaning task. After the cloud scheduling platform responds, it updates the cleaning task sequence to rearrange the partial cleaning tasks that have not been executed in the cleaning task sequence, and synchronizes the updated content to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local task sequence and prioritizes the execution of the partial cleaning task created by the user.

[0069] In some embodiments of the present invention, the method further includes: during the execution of a local cleaning task, when an abnormality is detected in the current autonomous cleaning vehicle, scheduling other autonomous cleaning vehicles to collaboratively execute the local cleaning task.

[0070] As examples, during the execution of local cleaning tasks, the cloud-based scheduling platform can monitor the current status information of autonomous cleaning vehicles in real time. When an abnormality is detected in an autonomous cleaning vehicle (such as when vehicle A's battery is insufficient and it cannot continue to perform the task), other autonomous cleaning vehicles (such as vehicle B) can be scheduled to cooperate in performing local cleaning tasks.

[0071] In some examples, when an autonomous cleaning vehicle malfunctions, it can determine whether other autonomous cleaning vehicles need to take over the task completely or partially based on the current cleaning status of the local cleaning task, in order to avoid overlapping or omissions in the cleaning area.

[0072] If the current local cleaning task has been mostly completed, with only a few uncleaned areas remaining, other vehicles can be dispatched to clean the remaining areas. If the current local cleaning task has just started, the entire task can be transferred to other autonomous cleaning vehicles with good current status information to continue the task.

[0073] For example, during a large square cleaning operation, vehicle A suddenly alarms due to low battery while performing a partial cleaning task. At this point, only one-third of the task has been completed. After detecting this anomaly, the cloud-based dispatch platform can obtain the current status information of other vehicles. If vehicle B has sufficient battery power and is idle, the unfinished partial cleaning task of vehicle A can be assigned to vehicle B. Vehicle B can then proceed to the corresponding area to continue cleaning according to the task requirements, ensuring that the entire cleaning task is not affected.

[0074] In some embodiments of the present invention, the method further includes: monitoring the cleaning status of each local cleaning task, and displaying each local cleaning task differently through the mobile interactive terminal according to the cleaning status.

[0075] In some examples, the differentiated display of cleaning task status refers to the information presentation method that distinguishes and displays different task statuses on mobile interactive terminals based on the cleaning status of each local cleaning task, using visual forms such as color markings, progress bars, or heat maps.

[0076] In some embodiments of the present invention, each local cleaning task is displayed differently through the mobile interactive terminal according to the cleaning status, including: displaying a color mark corresponding to the cleaning status for each local cleaning task through the mobile interactive terminal; or, displaying a progress bar corresponding to the cleaning status for each local cleaning task through the mobile interactive terminal; or, displaying a heat map corresponding to the cleaning status for each local cleaning task through the mobile interactive terminal.

[0077] In practical applications, the cleaning status of each local task uploaded by each autonomous cleaning vehicle can be obtained. Then, on the mobile interactive terminal, users can select one or more methods, such as color marking, progress bar, or heat map, to display the corresponding status of each local cleaning task, making it convenient for users to view intuitively.

[0078] For example, in a park cleaning scenario, the visual interface of the mobile terminal can mark completed playground tasks in green, ongoing main square tasks in yellow, and unstarted forest trail tasks in red; at the same time, it can set progress bars for each local cleaning task and generate a heat map showing the cleaning coverage density to determine whether each area has been cleaned properly.

[0079] The heat map can reflect the cleaning coverage density through the color depth. Dark areas indicate that the cleaning is done frequently and the coverage is comprehensive, while light-colored areas may have been missed and need to be checked. Colorless areas represent areas that have not been cleaned.

[0080] In some embodiments of the present invention, the method further includes: in response to a manual takeover operation, controlling the autonomous cleaning vehicle to pause the current local cleaning task so as to control the autonomous cleaning vehicle according to the user's manual operation; in response to the end of the manual takeover operation, controlling the autonomous cleaning vehicle to continue to perform the current local cleaning task or to perform the next local cleaning task of the current local cleaning task.

[0081] In some examples, users can trigger a takeover command via the takeover button on the human-machine interface of the autonomous cleaning vehicle. The autonomous cleaning vehicle can respond to the manual takeover operation, pause the current local cleaning task, retain the current task context (such as the current cleaning segment and completed path), and enter a semi-autonomous guidance mode (i.e., the vehicle still retains some autonomous navigation capabilities, but the main operation is manually controlled by the user). In this mode, the user can directly control the autonomous cleaning vehicle using the joystick.

[0082] As examples, users can also remotely send takeover commands to the autonomous cleaning vehicle. The autonomous cleaning vehicle can respond to the manual takeover operation, pause the current local cleaning task, retain the current task context (such as the cleaning segment and completed path), and enter a semi-autonomous guidance mode. Users can also remotely obtain the sensor data of the autonomous cleaning vehicle in real time to determine the vehicle's 360-degree surrounding environment through the interactive interface, and control the autonomous cleaning vehicle through virtual control buttons (such as steering wheel / accelerator pedal) in the interactive interface.

[0083] As examples, based on sensors such as LiDAR, millimeter-wave radar, and cameras on the vehicle, an electronic fence can be preset around the vehicle body (e.g., when a person approaches within 1 meter) to trigger an automatic pause, send a prompt message to the cloud dispatch platform or mobile interactive terminal, and wait for manual confirmation to take over the operation.

[0084] After the user manually controls the autonomous cleaning vehicle, the user can end the takeover operation. The human-machine interface of the autonomous cleaning vehicle or the interactive interface of the mobile terminal can display a takeover end prompt, such as prompting to continue the original task or skip the current task.

[0085] When the user chooses to continue the original task, the vehicle can return to the paused position based on the previously saved task context and continue to complete the remaining cleaning work according to the original planned path. When the user chooses to skip the current task, the vehicle can determine the location information of the next local cleaning task based on the local task sequence, then plan the route to it, and start executing the new local cleaning task upon arrival.

[0086] In this embodiment of the invention, a regional cleaning task for a work area is obtained; the work area is segmented to obtain multiple cleaning segments, and local configuration parameters for each cleaning segment are determined; the local configuration parameters include position parameters, cleaning parameters, and priority parameters; based on the position parameters and cleaning parameters, local cleaning tasks for each cleaning segment are created under the regional cleaning task, and the multiple local cleaning tasks are arranged according to the position parameters and priority parameters to obtain a cleaning task sequence; the cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning tasks in the cleaning task sequence sequentially; during the execution of the local cleaning tasks, in response to the user's task update operation, the local cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle, so that the autonomous cleaning vehicle updates its local tasks, thereby realizing the refinement, intelligence, and efficiency of the autonomous cleaning vehicle's operation.

[0087] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0088] Some embodiments of the present invention also provide a processing device based on an autonomous driving cleaning system, the autonomous driving cleaning system including a cloud scheduling platform, a mobile interactive terminal, and an in-vehicle control system, the device being used for: Obtain area cleaning tasks for the work area; The work area is divided into multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined. The local configuration parameters include position parameters, cleaning parameters, and priority parameters. Based on the location parameters and cleaning parameters, local cleaning tasks are created for each cleaning segment under the area cleaning task, and the local cleaning tasks are arranged according to the location parameters and priority parameters to obtain a cleaning task sequence. The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence. During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local tasks.

[0089] In some embodiments of the present invention, the cleaning task sequence is sent to the onboard control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to sequentially execute partial cleaning tasks in the cleaning task sequence, including: Obtain the current status information of multiple candidate autonomous cleaning vehicles; Based on the current status information, the autonomous cleaning vehicle assigned to each local cleaning task is determined from the plurality of candidate autonomous cleaning vehicles, and the local cleaning task is sent to the on-board control system of the corresponding autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning task according to the order of the local cleaning task in the cleaning task sequence.

[0090] In some embodiments of the present invention, the current status information includes any one or more of the following: vehicle location, battery level, and task load.

[0091] In some embodiments of the present invention, the working area is segmented to obtain multiple cleaning segments, including: The mobile interactive terminal displays map data of the work area; In response to the user's operation of dividing the map data through the mobile interactive terminal, the work area is segmented to obtain multiple cleaning segments.

[0092] In some embodiments of the present invention, the working area is segmented to obtain multiple cleaning segments, including: Obtain map data of the work area; The map data is semantically recognized, and the work area is segmented based on the results of the semantic recognition to obtain multiple cleaning segments.

[0093] In some embodiments of the present invention, the device is further used for: During the execution of a local cleaning task, if an abnormality is detected in the current autonomous cleaning vehicle, other autonomous cleaning vehicles will be dispatched to coordinate the execution of the local cleaning task.

[0094] In some embodiments of the present invention, the device is further used for: Monitor the cleaning status of each local cleaning task, and display each local cleaning task differently through the mobile interactive terminal based on the cleaning status.

[0095] In some embodiments of the present invention, each local cleaning task is displayed differently via the mobile interactive terminal according to the cleaning status, including: The mobile interactive terminal displays color markers corresponding to the cleaning status for each local cleaning task. Alternatively, the mobile interactive terminal can display a progress bar corresponding to the cleaning status for each local cleaning task; Alternatively, the mobile interactive terminal can display a heat map corresponding to the cleaning status for each local cleaning task.

[0096] In some embodiments of the present invention, the device is further used for: In response to manual takeover, the autonomous cleaning vehicle is controlled to pause the current local cleaning task, so that the autonomous cleaning vehicle can be controlled according to the user's manual operation; In response to the end of the manual takeover operation, the autonomous cleaning vehicle is controlled to continue performing the current local cleaning task or to perform the next local cleaning task after the current local cleaning task.

[0097] In this embodiment of the invention, a regional cleaning task for a work area is obtained; the work area is segmented to obtain multiple cleaning segments, and local configuration parameters for each cleaning segment are determined; the local configuration parameters include position parameters, cleaning parameters, and priority parameters; based on the position parameters and cleaning parameters, local cleaning tasks for each cleaning segment are created under the regional cleaning task, and the multiple local cleaning tasks are arranged according to the position parameters and priority parameters to obtain a cleaning task sequence; the cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning tasks in the cleaning task sequence sequentially; during the execution of the local cleaning tasks, in response to the user's task update operation, the local cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle, so that the autonomous cleaning vehicle updates its local tasks, thereby realizing the refinement, intelligence, and efficiency of the autonomous cleaning vehicle's operation.

[0098] Some embodiments of the present invention also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0099] Some embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and which, when executed by a processor, implements the method described above.

[0100] Some embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0101] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0109] 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 terminal device 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 terminal device. 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 terminal device that includes the aforementioned element.

[0110] The above provides a detailed description of the processing method and apparatus based on an autonomous driving cleaning system. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. 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 the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A processing method based on an autonomous driving cleaning system, characterized in that, The autonomous driving cleaning system includes a cloud-based dispatch platform, a mobile interactive terminal, and an in-vehicle control system; the method includes: Obtain area cleaning tasks for the work area; The work area is divided into multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined. The local configuration parameters include position parameters, cleaning parameters, and priority parameters. Based on the location parameters and cleaning parameters, local cleaning tasks are created for each cleaning segment under the area cleaning task, and the local cleaning tasks are arranged according to the location parameters and priority parameters to obtain a cleaning task sequence. The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence. During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local tasks.

2. The method according to claim 1, characterized in that, The cleaning task sequence is sent to the onboard control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to sequentially execute partial cleaning tasks in the cleaning task sequence, including: Obtain the current status information of multiple candidate autonomous cleaning vehicles; Based on the current status information, the autonomous cleaning vehicle assigned to each local cleaning task is determined from the plurality of candidate autonomous cleaning vehicles, and the local cleaning task is sent to the on-board control system of the corresponding autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the local cleaning task according to the order of the local cleaning task in the cleaning task sequence.

3. The method according to claim 2, characterized in that, The current status information includes one or more of the following: vehicle location, battery level, and task load.

4. The method according to claim 1, characterized in that, The work area is divided into segments to obtain multiple cleaning sections, including: The mobile interactive terminal displays map data of the work area; In response to the user's operation of dividing the map data through the mobile interactive terminal, the work area is segmented to obtain multiple cleaning segments.

5. The method according to claim 1, characterized in that, The work area is divided into segments to obtain multiple cleaning sections, including: Obtain map data of the work area; The map data is semantically recognized, and the work area is segmented based on the results of the semantic recognition to obtain multiple cleaning segments.

6. The method according to any one of claims 1-5, characterized in that, Also includes: During the execution of a local cleaning task, if an abnormality is detected in the current autonomous cleaning vehicle, other autonomous cleaning vehicles will be dispatched to coordinate the execution of the local cleaning task.

7. The method according to any one of claims 1-5, characterized in that, Also includes: Monitor the cleaning status of each local cleaning task, and display each local cleaning task differently through the mobile interactive terminal based on the cleaning status.

8. The method according to claim 7, characterized in that, Based on the cleaning status, each local cleaning task is displayed differently via the mobile interactive terminal, including: The mobile interactive terminal displays color markers corresponding to the cleaning status for each local cleaning task. Alternatively, the mobile interactive terminal can display a progress bar corresponding to the cleaning status for each local cleaning task; Alternatively, the mobile interactive terminal can display a heat map corresponding to the cleaning status for each local cleaning task.

9. The method according to any one of claims 1-5, characterized in that, Also includes: In response to manual takeover, the autonomous cleaning vehicle is controlled to pause the current local cleaning task, so that the autonomous cleaning vehicle can be controlled according to the user's manual operation; In response to the end of the manual takeover operation, the autonomous cleaning vehicle is controlled to continue performing the current local cleaning task or to perform the next local cleaning task after the current local cleaning task.

10. A processing device based on an autonomous driving cleaning system, characterized in that, The autonomous driving cleaning system includes a cloud-based dispatch platform, a mobile interactive terminal, and an in-vehicle control system. The device is used for: Obtain area cleaning tasks for the work area; The work area is divided into multiple cleaning segments, and the local configuration parameters of each cleaning segment are determined. The local configuration parameters include position parameters, cleaning parameters, and priority parameters. Based on the location parameters and cleaning parameters, local cleaning tasks are created for each cleaning segment under the area cleaning task, and the local cleaning tasks are arranged according to the location parameters and priority parameters to obtain a cleaning task sequence. The cleaning task sequence is sent to the on-board control system of the autonomous cleaning vehicle to control the autonomous cleaning vehicle to execute the partial cleaning tasks in the cleaning task sequence in sequence. During the execution of a partial cleaning task, in response to the user's task update operation, the partial cleaning tasks in the cleaning task sequence are updated, and the updated content is synchronized to the autonomous cleaning vehicle so that the autonomous cleaning vehicle updates its local tasks.

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