CN110187704A - The method and device of garage automated cleaning - Google Patents
The method and device of garage automated cleaning Download PDFInfo
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- CN110187704A CN110187704A CN201910370838.2A CN201910370838A CN110187704A CN 110187704 A CN110187704 A CN 110187704A CN 201910370838 A CN201910370838 A CN 201910370838A CN 110187704 A CN110187704 A CN 110187704A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 275
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- 239000011538 cleaning material Substances 0.000 claims abstract description 52
- 239000013589 supplement Substances 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 21
- 230000005611 electricity Effects 0.000 claims description 17
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The application provides a kind of method and device of garage automated cleaning, this method comprises: obtaining the cleaning strategy in garage；The cleaning mode in garage is obtained, garage is cleaned according to cleaning strategy using cleaning mode；Current garage information of road surface and pre- parking garge information of road surface are compared, when the two is consistent, cleaned according to the default cleaning strategy of current road segment；It when the two is inconsistent, obtains and strategy is cleaned to the barrier of barrier, barrier region is cleaned according to barrier cleaning strategy；Traveling time needed for estimation mobile object reaches current cleaning position, avoids mobile object according to traveling time automatically；When completing garage cleaning according to cleaning strategy, scheduled parking area is automatically moved into according to garage map information and is charged, and/or supplement cleaning material.The present invention realizes automation, intelligent cleaning to garage.
Description
Technical field
This application involves the clean technical field in garage more particularly to a kind of method and devices of garage automated cleaning.
Background technique
With economic development, vehicle has been increasingly becoming the daily transportation of people, and just needs to configure vehicle for it therewith
Library is so as to car stowage.Therefore, garage is increasingly becoming the setting of the standard configuration of each cell and mall, especially underground garage, both
The space of aerial part can be saved, and convenient for being directly entered floor after user's storage of cars.
The underground parking of now many cell and mall all uses epoxy floor, and this ground is wear-resisting, anti-
It rolls, is anticorrosion, antiseep, smooth clean and tidy, rich in color.If the parking lot to epoxy resin ground is not swept, Jiu Huirang
Beautiful ground is in eclipse, also will affect user and parks cars.If some area of parking lots are big, just using artificial cleaning
It needs a large amount of cleaner to take a long time to complete clean up task, expends biggish manpower and financial resources.In addition, artificial clear
The clean garage that cannot hold needs clean opportunity, requires artificial detection every time, cleaning efficiency is low.Wash ground using drive type
Machine cleans the channel in parking lot, and cleaning effect is better, also can save the regular hour, still, many parking
Field is all mounted with car stopping rod or adhesive tape of keeping off a car on parking stall, and some is locked with being also mounted, and this adds increased the clear of floor-cleaning machine
Clean difficulty needs artificial careful driving floor-cleaning machine to be cleaned, and careless manipulation will damage cleaner.
Therefore, how to provide one kind can automatic identification garage scene, according to the scheme in actual state automated cleaning garage
It is this field technical problem urgently to be resolved.
Summary of the invention
A kind of method and device for being designed to provide garage automated cleaning of the application solves in the prior art without intelligence
Energyization automatically cleans the technical issues of garage.
In order to achieve the above objectives, the application provides a kind of method of garage automated cleaning, comprising:
Garage map information is received, compares to obtain vehicle according to preset garage map information and the tactful table of comparisons of cleaning
The cleaning strategy in library；
Current environmental information is obtained, compares to obtain the garage according to preset environmental information and the cleaning mode table of comparisons
Cleaning mode, the garage is cleaned according to cleaning strategy using the cleaning mode；
Using image recognition and radar detection peripheral information, obtains in the pre-determined distance of present position periphery and work as front truck
Library information of road surface；
The current garage information of road surface and pre- parking garge information of road surface are compared, when the two is consistent, according to current road
The default cleaning strategy of section is cleaned；When the two is inconsistent, is obtained in current garage information of road surface and hindered using image recognition
The type and size for hindering object clean the tactful table of comparisons with preset obstacle identity, size and barrier and compare, obtain to described
The barrier of barrier cleans strategy, is cleaned according to barrier cleaning strategy to the barrier region；
Based on barrier described in radar detection be mobile object when, obtain the current speed, acceleration of the mobile object
And the distance to current cleaning position, strategy, which is estimated, according to preset movement estimates that the mobile object reaches the current cleaning
Traveling time needed for position avoids the mobile object according to the traveling time automatically；
When completing garage cleaning according to the cleaning strategy, it is automatically moved into according to the garage map information predetermined
Parking area charge, and/or supplement cleaning material.
Optionally, wherein this method further include:
Electricity and usable cleaning material amount can be used in automatic detect, and when the usable electricity, and/or cleaning can be used
It when quantity of material meets or exceeds usable threshold range, is automatically moved into the scheduled parking area and charges, and/or mend
Fill cleaning material；
After completing charging, and/or supplement cleaning material, continue garage cleaning according to the cleaning strategy.
Optionally, wherein when completing garage cleaning according to the cleaning strategy, certainly according to the garage map information
It is dynamic to be moved to scheduled parking area and charge, and/or supplement cleaning material, are as follows:
When completing garage cleaning according to the cleaning strategy, it is automatically moved into according to the garage map information predetermined
Parking area；
The relative position for obtaining with charging and filling cleaning material equipment according to image recognition and radar detection, when described opposite
When position is within the scope of the normal place prestored, connects and filled with cleaning material supplement connection type according to preset charging
Electricity, and/or supplement cleaning material.
Optionally, wherein this method further include:
When the type and size of barrier in current garage information of road surface can not be obtained, clapped according to current environmental condition
The barrier picture of preset quantity is taken the photograph, and the barrier picture is sent to controller；
When not receiving the control command of the controller by preset interval time, automatically bypassed according to default around strategy
The barrier continues to clean.
Optionally, wherein this method further include:
Evacuation time point, the mobile object type for storing the mobile object avoided automatically, according to preset week time
Phase is analyzed to obtain the mobile object information table in the garage；
Best cleaning strategy is planned automatically according to the time needed for the mobile object information table and the cleaning garage, and
By the best cleaning policy update into the cleaning strategy in the garage.
On the other hand, the present invention also provides a kind of devices of garage automated cleaning, comprising: cleaning analysis of strategies processor,
Cleaning mode analysis processor, cleaning controller, automatic evacuation controller and playback controller；Wherein,
The cleaning analysis of strategies processor is connected with the cleaning controller, receives garage map information, according to
Preset garage map information and the tactful table of comparisons of cleaning compare to obtain the cleaning strategy in garage；
The cleaning mode analysis processor is connected with the cleaning controller, obtains current environmental information, according to
Preset environmental information and the cleaning mode table of comparisons compare to obtain the cleaning mode in the garage, using the cleaning mode according to
The cleaning strategy cleans the garage；
The cleaning controller is controlled with the cleaning analysis of strategies processor, cleaning mode analysis processor, automatic evacuation
Device processed and playback controller are connected, and using image recognition and radar detection peripheral information, it is pre- to obtain present position periphery
If the current garage information of road surface in distance；
The automatic evacuation controller is connected with the cleaning controller, by the current garage information of road surface and in advance
The comparison of parking garge information of road surface, when the two is consistent, is cleaned according to the default cleaning strategy of current road segment；When the two is different
When cause, the type and size of barrier in current garage information of road surface are obtained using image recognition, with preset obstacle identity,
Size and barrier clean the tactful table of comparisons and compare, and obtain and clean strategy to the barrier of the barrier, according to the obstacle
Object cleaning strategy cleans the barrier region；
Based on barrier described in radar detection be mobile object when, obtain the current speed, acceleration of the mobile object
And the distance to current cleaning position, strategy, which is estimated, according to preset movement estimates that the mobile object reaches the current cleaning
Traveling time needed for position avoids the mobile object according to the traveling time automatically；
The playback controller is connected with the cleaning controller, cleans when completing garage according to the cleaning strategy
When, scheduled parking area is automatically moved into according to the garage map information and is charged, and/or supplement cleaning material.
Optionally, wherein the device further include: supply controller is connected with the cleaning controller, and automatic detection can
Using electricity and usable cleaning material amount, when the usable electricity and/or usable cleaning material amount are met or exceeded can
It when using threshold range, is automatically moved into the scheduled parking area and charges, and/or supplement cleaning material；
After completing charging, and/or supplement cleaning material, continue garage cleaning according to the cleaning strategy.
Optionally, wherein the playback controller, comprising: park control unit and supply control unit；Wherein,
It is described to park control unit, it is connected with the cleaning controller and supply control unit, when according to the cleaning
When strategy completes garage cleaning, scheduled parking area is automatically moved into according to the garage map information；
The supply control unit is connected with the control unit of parking, and is obtained according to image recognition and radar detection
With charge and fill the relative position of cleaning material equipment, when the relative position is within the scope of the normal place prestored, according to
Preset charging is connected with cleaning material supplement connection type and is charged, and/or supplement cleaning material.
Optionally, wherein the device further include: abnormal barrier processor is connected with the automatic evacuation controller,
When the type and size of barrier in current garage information of road surface can not be obtained, present count is shot according to current environmental condition
The barrier picture of amount, and the barrier picture is sent to controller；
When not receiving the control command of the controller by preset interval time, automatically bypassed according to default around strategy
The barrier continues to clean.
Optionally, wherein the device further include: cleaning policy update analyzer, with the cleaning analysis of strategies processor
And automatic evacuation controller is connected, and stores evacuation time point, the mobile object type of the mobile object avoided automatically, presses
It analyzes to obtain the mobile object information table in the garage according to the preset time cycle；
Best cleaning strategy is planned automatically according to the time needed for the mobile object information table and the cleaning garage, and
By the best cleaning policy update into the cleaning strategy in the garage.
The method and device of the garage automated cleaning of the application, realization have the beneficial effect that:
(1) method and device of the garage automated cleaning of the application is set in conjunction with garage layouts figure, environmental condition control cleaning
Standby automated intelligent garage is cleaned, using image recognition combination detections of radar disturbance of analysis object information, automatically to obstacle
Object area is cleaned or is avoided, and automation, intelligent cleaning to garage are realized.
(2) method and device of the garage automated cleaning of the application controls cleaning equipment automated cleaning garage, also sets
Be automatically replenished electricity and cleaning material, and with abnormal barrier reporting functions, avoid during cleaning to exception
The problem of situation can not be handled improves the stability and safety in automated cleaning garage.
(3) method and device of the garage automated cleaning of the application, the data in storage cleaning garage, cleans number based on garage
According to analysis garage cleaning rule, and automatically, planning cleaning strategy is updated, and the personalized cleaning side in different garages may be implemented
Case improves the clean flexibility in garage and cleaning efficiency.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application can also be obtained according to these attached drawings other attached for those skilled in the art
Figure.
Fig. 1 is a kind of flow diagram of the method for garage automated cleaning in the embodiment of the present invention；
Fig. 2 is the flow diagram of the method for second of garage automated cleaning in the embodiment of the present invention；
Fig. 3 is the flow diagram of the method for the third garage automated cleaning in the embodiment of the present invention；
Fig. 4 is the flow diagram of the method for the 4th kind of garage automated cleaning in the embodiment of the present invention；
Fig. 5 is the flow diagram of the method for the 5th kind of garage automated cleaning in the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the device of garage automated cleaning in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the device of second of garage automated cleaning in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the device of the third garage automated cleaning in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the device of the 4th kind of garage automated cleaning in the embodiment of the present invention；
Figure 10 is the structural schematic diagram of the device of the 5th kind of garage automated cleaning in the embodiment of the present invention.
Specific embodiment
Below with reference to the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on the application
In embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the range of the application protection.
Embodiment
As shown in Figure 1, for a kind of flow diagram of the method for garage automated cleaning in the present embodiment.Pass through internet knot
Closing automation control and image recognition technology, the radar exploration technique realizes the function to garage automated cleaning, saves garage
Clean cost.Also by automatic identification of obstacles, automatically feed and automatically update cleaning strategy realize it is automatic to garage
Change, intelligentized cleaning.Specifically, this method comprises the following steps:
Step 101 receives garage map information, according to preset garage map information and cleans the tactful table of comparisons pair
Than obtaining the cleaning strategy in garage.
There are parking stall layout, lane route and line of demarcation in each garage in design Shi Douhui, big for lane route and parking stall
Small layout can cook up cleaning vehicle traveling cleaning route in advance and the cleaning appliance type of each different location forms cleaning
Strategy.Garage can be divided into ground garage and underground garage, for the different structure type of the two, clean the cleaning mode of vehicle
The two feature setting can be in advance based on.Regular road surface and irregular corner, barrier situation can be set in garage
Set in garage layout, and based on garage layout pre-set cleaning mode, clean vehicle reach current location when according to
The cleaning strategy of the position is cleaned.
Step 102 obtains current environmental information, compares to obtain according to preset environmental information and the cleaning mode table of comparisons
The cleaning mode in garage cleans garage according to cleaning strategy using cleaning mode.
Environmental condition also has a certain impact to garage cleaning, for example in rain and snow, the vehicle for passing in and out garage can carry
More soil need the cleaning mode of more great dynamics relative to fine day, automatically select cleaning mode according to environmental condition, greatly
Ground improves the clean mobility of cleaning equipment and cleaning efficiency.
Step 103, using image recognition and radar detection peripheral information, obtain in the pre-determined distance of present position periphery
Current garage information of road surface.
Step 104 compares current garage information of road surface and pre- parking garge information of road surface, when the two is consistent, according to working as
The default cleaning strategy in preceding section is cleaned；When the two is inconsistent, current garage information of road surface is obtained using image recognition
The type and size of middle barrier clean the tactful table of comparisons with preset obstacle identity, size and barrier and compare, acquisition pair
The barrier of barrier cleans strategy, is cleaned according to barrier cleaning strategy to barrier region.
Optionally, the information of road surface setting road surface that can also be in advance based on image recognition and detections of radar acquisition need to be clean
Grade separation, and set grade separation and clean burnisher and the corresponding relationship of cleaning dynamics on vehicle, according to current garage road
The cleaning requirements of face information analysis current region, and then suitable burnisher and cleaning dynamics is selected to be cleaned, Neng Goujin
Improve the efficiency of automated cleaning to one step.
Step 105 when based on radar detection barrier being mobile object, obtains the current speed, acceleration of mobile object
And the distance to current cleaning position, strategy estimation mobile object, which is estimated, according to preset movement reaches needed for current cleaning position
Traveling time, mobile object is avoided according to traveling time automatically.
Optionally, the priority in each control stage can also be preset, for example, evacuation function priority is higher than automatically
The priority of the functions such as cleaning vehicle supply, in this case cleaning vehicle will not be because of arrival supply state without endangering caused by evacuation
Danger, improves the safety and stability of automated cleaning.
Step 106, when according to cleaning strategy complete garage cleaning when, be automatically moved into according to garage map information predetermined
Parking area charge, and/or supplement cleaning material.
Optionally, for this cleaning solution, periodic maintenance and maintenance function can also be set, when reaching preset maintenance
It imitates or using after the time, automatically generates maintenance and prompt and feed back to controller, thus improve cleaning equipment uses the longevity
Life.
In some alternative embodiments, as shown in Fig. 2, for the method for second of garage automated cleaning in the present embodiment
Flow diagram.Unlike Fig. 1, further includes:
Electricity and usable cleaning material amount can be used in step 201, automatic detect, and when usable electricity, and/or can be used
It when cleaning material amount meets or exceeds usable threshold range, is automatically moved into scheduled parking area and charges, and/or mend
Fill cleaning material.
Step 202 after completing charging, and/or supplement cleaning material, continues garage cleaning according to cleaning strategy.
In some alternative embodiments, as shown in figure 3, for the method for the third garage automated cleaning in the present embodiment
Flow diagram.Unlike Fig. 1, step 106, when according to cleaning strategy complete garage cleaning when, be laid out according to garage
Figure information is automatically moved into scheduled parking area and charges, and/or supplement cleaning material, are as follows:
Step 301, when according to cleaning strategy complete garage cleaning when, be automatically moved into according to garage map information predetermined
Parking area.
Step 302, the relative position for obtaining with charging and filling cleaning material equipment according to image recognition and radar detection, when
When relative position is within the scope of the normal place prestored, progress is connected with cleaning material supplement connection type according to preset charging
Charging, and/or supplement cleaning material.
When relative position is not within the scope of the normal place prestored, by with charge and fill the opposite position of cleaning material equipment
It sets image to analyze to obtain the adjustment information for needing to adjust with the normal place image and equipment standard image comparison prestored, and accordingly
Adjustment instruction is generated, according to the position of adjustment instruction adjust automatically cleaning equipment until reaching within the scope of normal place, thus may be used
To realize function that cleaning equipment is parked and fed automatically, the clean intelligence in garage is further improved.
In some alternative embodiments, as shown in figure 4, for the method for the 4th kind of garage automated cleaning in the present embodiment
Flow diagram.Unlike Fig. 1, further includes:
Step 401, when the type and size of barrier in current garage information of road surface can not be obtained, according to current ring
Border condition shoots the barrier picture of preset quantity, and barrier picture is sent to controller.
Step 402, when not receiving the control command of controller by preset interval time, according to default automatic around strategy
Cut-through object continues to clean.
In some alternative embodiments, as shown in figure 5, for the method for the 5th kind of garage automated cleaning in the present embodiment
Flow diagram.Unlike Fig. 1, further includes:
Evacuation time point of mobile object that step 501, storage avoid automatically, mobile object type, according to it is preset when
Between cycle analysis obtain the mobile object information table in garage.
Step 502, the time according to needed for mobile object information table and cleaning garage plan best cleaning strategy automatically, and
By best cleaning policy update into the cleaning strategy in garage.
In some alternative embodiments, as shown in fig. 6, for a kind of device 600 of garage automated cleaning in the present embodiment
Structural schematic diagram, which can be used for implementing the method for above-mentioned garage automated cleaning.Specifically, which includes: clear
Clean analysis of strategies processor 601, cleaning controller 603, avoids controller 604 automatically and returns cleaning mode analysis processor 602
Level controller 605.
Wherein, analysis of strategies processor 601 is cleaned, is connected with cleaning controller 603, receives garage map information,
It compares to obtain the cleaning strategy in garage according to preset garage map information and the tactful table of comparisons of cleaning.
Cleaning mode analysis processor 602 is connected with cleaning controller 603, current environmental information is obtained, according to pre-
If environmental information and the cleaning mode table of comparisons compare to obtain the cleaning mode in garage, using cleaning mode according to cleaning strategy it is right
It is cleaned in garage.
Controller 603 is cleaned, with cleaning analysis of strategies processor 601, cleaning mode analysis processor 602, automatic evacuation
Controller 604 and playback controller 605 are connected, and using image recognition and radar detection peripheral information, acquisition is currently located position
Set the current garage information of road surface in the pre-determined distance of periphery.
Automatic evacuation controller 604, is connected, by current garage information of road surface and pre- parking garge with cleaning controller 603
Information of road surface comparison, when the two is consistent, is cleaned according to the default cleaning strategy of current road segment；When the two is inconsistent,
The type and size that barrier in current garage information of road surface is obtained using image recognition, with preset obstacle identity, size
The tactful table of comparisons is cleaned with barrier to compare, and obtains and strategy is cleaned to the barrier of barrier, it is right according to barrier cleaning strategy
It is cleaned barrier region.
When based on radar detection barrier being mobile object, the current speed, acceleration of mobile object is obtained and to current
The distance of cleaning position, according to preset movement estimate strategy estimation mobile object reach mobile needed for current cleaning position when
Between, mobile object is avoided according to traveling time automatically.
Playback controller 605, is connected with cleaning controller 603, when completing garage cleaning according to cleaning strategy, according to
Garage map information is automatically moved into scheduled parking area and charges, and/or supplement cleaning material.
In some alternative embodiments, as shown in fig. 7, being the device of second of garage automated cleaning in the present embodiment
700 structural schematic diagram, unlike Fig. 6, further includes: supply controller 701 is connected with cleaning controller 603, from
Electricity and usable cleaning material amount can be used in dynamic detect, when usable electricity and/or usable cleaning material amount reach or surpass
It when crossing usable threshold range, is automatically moved into scheduled parking area and charges, and/or supplement cleaning material.Completion is filled
After electricity, and/or supplement cleaning material, continue garage cleaning according to cleaning strategy.
In some alternative embodiments, as shown in figure 8, being the device of the third garage automated cleaning in the present embodiment
800 structural schematic diagram, unlike Fig. 6, playback controller 605, comprising: parks control unit 651 and supply control
Unit 652.
Wherein, control unit 651 is parked, is connected with cleaning controller 603 and supply control unit 652, when according to clear
When clean strategy completes garage cleaning, scheduled parking area is automatically moved into according to garage map information.
Feed control unit 652, be connected with control unit 651 is parked, according to image recognition and radar detection obtain with
It charges and fills the relative position of cleaning material equipment, when relative position is within the scope of the normal place prestored, according to preset
Charging is connected with cleaning material supplement connection type and is charged, and/or supplement cleaning material.
In some alternative embodiments, as shown in figure 9, being the device of the 4th kind of garage automated cleaning in the present embodiment
900 structural schematic diagram, unlike Fig. 6, further includes: abnormal barrier processor 901, with automatic evacuation controller
604 are connected, when that can not obtain the type and size of barrier in current garage information of road surface, according to current environmental condition
The barrier picture of preset quantity is shot, and barrier picture is sent to controller.
When not receiving the control command of controller by preset interval time, obstacle is automatically bypassed around strategy according to default
Object continues to clean.
It in some alternative embodiments, as shown in Figure 10, is the device of the 5th kind of garage automated cleaning in the present embodiment
1000 structural schematic diagram, unlike Fig. 6, further includes: cleaning policy update analyzer 1001, with cleaning analysis of strategies
Processor 601 and automatic evacuation controller 603 are connected, and store evacuation time point, the motive objects of the mobile object avoided automatically
Body type was analyzed to obtain the mobile object information table in garage according to the preset time cycle.
Best cleaning strategy is planned automatically according to the time needed for mobile object information table and cleaning garage, and will be most preferably clear
Clean policy update is into the cleaning strategy in garage.
What the method and device of garage automated cleaning was realized in the present embodiment has the beneficial effect that:
(1) method and device of the garage automated cleaning of the application is set in conjunction with garage layouts figure, environmental condition control cleaning
Standby automated intelligent garage is cleaned, using image recognition combination detections of radar disturbance of analysis object information, automatically to obstacle
Object area is cleaned or is avoided, and automation, intelligent cleaning to garage are realized.
(2) method and device of the garage automated cleaning of the application controls cleaning equipment automated cleaning garage, also sets
Be automatically replenished electricity and cleaning material, and with abnormal barrier reporting functions, avoid during cleaning to exception
The problem of situation can not be handled improves the stability and safety in automated cleaning garage.
(3) method and device of the garage automated cleaning of the application, the data in storage cleaning garage, cleans number based on garage
According to analysis garage cleaning rule, and automatically, planning cleaning strategy is updated, and the personalized cleaning side in different garages may be implemented
Case improves the clean flexibility in garage and cleaning efficiency.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.Obviously, those skilled in the art can be to the application
Various modification and variations are carried out without departing from spirit and scope.If in this way, these modifications and variations of the application
Belong within the scope of the claim of this application and its equivalent technologies, then the application is also intended to encompass these modification and variations and exists
It is interior.
Claims (10)
1. a kind of method of garage automated cleaning characterized by comprising
Garage map information is received, compares to obtain garage according to preset garage map information and the tactful table of comparisons of cleaning
Cleaning strategy；
Current environmental information is obtained, is compared to obtain the clear of the garage with the cleaning mode table of comparisons according to preset environmental information
Clean mode cleans the garage according to the cleaning strategy using the cleaning mode；
Using image recognition and radar detection peripheral information, the current garage road in the pre-determined distance of present position periphery is obtained
Face information；
The current garage information of road surface and pre- parking garge information of road surface are compared, when the two is consistent, according to current road segment
Default cleaning strategy is cleaned；When the two is inconsistent, barrier in current garage information of road surface is obtained using image recognition
Type and size, clean the tactful table of comparisons with preset obstacle identity, size and barrier and compare, obtain to the obstacle
The barrier of object cleans strategy, is cleaned according to barrier cleaning strategy to the barrier region；
Based on barrier described in radar detection be mobile object when, obtain the current speed, acceleration of the mobile object and arrive
The distance of current cleaning position estimates strategy according to preset movement and estimates that the mobile object reaches the current cleaning position
Required traveling time avoids the mobile object according to the traveling time automatically；
When completing garage cleaning according to the cleaning strategy, scheduled stop is automatically moved into according to the garage map information
It puts region to charge, and/or supplement cleaning material.
2. the method for garage automated cleaning according to claim 1, which is characterized in that further include:
Electricity and usable cleaning material amount can be used in automatic detect, when the usable electricity and/or usable cleaning material
It when amount meets or exceeds usable threshold range, is automatically moved into the scheduled parking area and charges, and/or supplement is clear
Clean material；
After completing charging, and/or supplement cleaning material, continue garage cleaning according to the cleaning strategy.
3. the method for garage automated cleaning according to claim 1, which is characterized in that completed when according to the cleaning strategy
When garage cleans, scheduled parking area is automatically moved into according to the garage map information and is charged, and/or supplement is clear
Clean material, are as follows:
When completing garage cleaning according to the cleaning strategy, scheduled stop is automatically moved into according to the garage map information
Put region；
The relative position for obtaining with charging and filling cleaning material equipment according to image recognition and radar detection, when the relative position
When within the scope of the normal place prestored, connects and charge with cleaning material supplement connection type according to preset charging, and/
Or supplement cleaning material.
4. the method for garage automated cleaning according to claim 1, which is characterized in that further include:
When the type and size of barrier in current garage information of road surface can not be obtained, shot according to current environmental condition pre-
If the barrier picture of quantity, and the barrier picture is sent to controller；
When not receiving the control command of the controller by preset interval time, according to it is default automatically bypass around strategy it is described
Barrier continues to clean.
5. the method for garage automated cleaning according to claim 1, which is characterized in that further include:
Evacuation time point, the mobile object type for storing the mobile object avoided automatically, according to the preset time cycle point
Analysis obtains the mobile object information table in the garage；
Plan that best cleaning is tactful automatically according to the time needed for the mobile object information table and the cleaning garage, and by institute
Best cleaning policy update is stated into the cleaning strategy in the garage.
6. a kind of device of garage automated cleaning characterized by comprising cleaning analysis of strategies processor, cleaning mode analysis
Processor, cleaning controller, automatic evacuation controller and playback controller；Wherein,
The cleaning analysis of strategies processor is connected with the cleaning controller, receives garage map information, according to default
Garage map information and clean the tactful table of comparisons and compare to obtain the cleaning strategy in garage；
The cleaning mode analysis processor is connected with the cleaning controller, obtains current environmental information, according to default
Environmental information and the cleaning mode table of comparisons compare to obtain the cleaning mode in the garage, using the cleaning mode according to described
Cleaning strategy cleans the garage；
The cleaning controller, with the cleaning analysis of strategies processor, cleaning mode analysis processor, avoid controller automatically
And playback controller is connected, using image recognition and radar detection peripheral information, obtain present position periphery it is default away from
From interior current garage information of road surface；
The automatic evacuation controller is connected with the cleaning controller, by the current garage information of road surface and pre- bicycle parking
The comparison of library information of road surface, when the two is consistent, is cleaned according to the default cleaning strategy of current road segment；When the two is inconsistent
When, the type and size of barrier in current garage information of road surface are obtained using image recognition, with preset obstacle identity, ruler
It is very little to clean tactful table of comparisons comparison with barrier, it obtains and strategy is cleaned to the barrier of the barrier, according to the barrier
Cleaning strategy cleans the barrier region；
Based on barrier described in radar detection be mobile object when, obtain the current speed, acceleration of the mobile object and arrive
The distance of current cleaning position estimates strategy according to preset movement and estimates that the mobile object reaches the current cleaning position
Required traveling time avoids the mobile object according to the traveling time automatically；
The playback controller is connected with the cleaning controller, when completing garage cleaning according to the cleaning strategy, root
It is automatically moved into scheduled parking area according to the garage map information to charge, and/or supplement cleaning material.
7. the device of garage automated cleaning according to claim 6, which is characterized in that further include: supply controller, with institute
Cleaning controller to be stated to be connected, electricity and usable cleaning material amount can be used in automatic detect, when the usable electricity, and/
Or usable cleaning material amount is automatically moved into the scheduled parking area and carries out when meeting or exceeding usable threshold range
Charging, and/or supplement cleaning material；
After completing charging, and/or supplement cleaning material, continue garage cleaning according to the cleaning strategy.
8. the device of garage automated cleaning according to claim 6, which is characterized in that the playback controller, comprising: stop
Put control unit and supply control unit；Wherein,
It is described to park control unit, it is connected with the cleaning controller and supply control unit, when according to the cleaning strategy
When completing garage cleaning, scheduled parking area is automatically moved into according to the garage map information；
The supply control unit is connected with the control unit of parking, and obtains and fills according to image recognition and radar detection
Electricity and the relative position for filling cleaning material equipment, when the relative position is within the scope of the normal place prestored, according to default
Charging and cleaning material supplement connection type connect and charges, and/or supplement cleaning material.
9. the device of garage automated cleaning according to claim 6, which is characterized in that further include: abnormal barrier processing
Device is connected, when the type and size that can not obtain barrier in current garage information of road surface with the automatic evacuation controller
When, according to the barrier picture of current environmental condition shooting preset quantity, and the barrier picture is sent to control
Device processed；
When not receiving the control command of the controller by preset interval time, according to it is default automatically bypass around strategy it is described
Barrier continues to clean.
10. the device of garage automated cleaning according to claim 6, which is characterized in that further include: cleaning policy update point
Parser is connected with the cleaning analysis of strategies processor and automatic evacuation controller, stores the motive objects avoided automatically
The evacuation time point of body, mobile object type were analyzed to obtain the mobile object information in the garage according to the preset time cycle
Table；
Plan that best cleaning is tactful automatically according to the time needed for the mobile object information table and the cleaning garage, and by institute
Best cleaning policy update is stated into the cleaning strategy in the garage.
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