CN113848917A - Sweeper operation control method and system and sweeper - Google Patents
Sweeper operation control method and system and sweeper Download PDFInfo
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- CN113848917A CN113848917A CN202111148277.5A CN202111148277A CN113848917A CN 113848917 A CN113848917 A CN 113848917A CN 202111148277 A CN202111148277 A CN 202111148277A CN 113848917 A CN113848917 A CN 113848917A
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000004140 cleaning Methods 0.000 claims abstract description 95
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 80
- 238000010408 sweeping Methods 0.000 claims abstract description 79
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 75
- 238000004891 communication Methods 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 3
- 238000010926 purge Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000003860 storage Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The application provides a sweeper operation control method, a sweeper operation control system and a sweeper, wherein the method comprises the following steps: controlling the sweeper to perform sweeping operation according to the global sweeping route according to the sweeping instruction; in the cleaning operation process, if the water carrying capacity of the vehicle is detected to be lower than a first threshold value, recording a first current position of the sweeper, and controlling the sweeper to run to a water adding station according to a water adding line generated in real time; after the water adding operation is finished, controlling the sweeper to return to the first current position for continuous sweeping operation; if the vehicle garbage amount exceeds a second threshold value, recording a second current position of the sweeper, and controlling the sweeper to drive to a garbage station according to a garbage dumping line generated in real time; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position for continuous sweeping operation until a sweeping task corresponding to a sweeping line is finished. This application can realize full flow automatic operation function, improves sanitation motor sweeper's the efficiency of cleaning.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a sweeper operation control method and system and a sweeper.
Background
In the existing sanitation intelligent cleaning operation robot control system, map information, position information of the robot and obstacle detection information are transmitted to a main controller through a navigation system and a detection module, so that local movement path planning is performed, and road cleaning operation and collection of garbage in a robot hand in the path planning are performed by controlling a walking system and an operation system. The mode only determines the cleaning operation path through local planning, and human participation is needed for processing when the water quantity is insufficient or the garbage is too much, so that the intelligent degree is insufficient, and the operation efficiency is low.
Disclosure of Invention
The application aims to provide a sweeper operation control method, a sweeper operation control system and a sweeper, which can plan an automatic cleaning route, an automatic water adding route, an automatic breakpoint continuous sweeping route and an automatic garbage dumping route, realize a full-flow automatic operation function and improve the cleaning efficiency of an environmental sanitation sweeper.
In a first aspect, an embodiment of the present application provides a method for controlling operation of a sweeper, which is applied to the sweeper; the sweeper is in communication connection with the remote server; the method comprises the following steps: receiving a cleaning instruction sent by a remote server; the sweeping instruction carries a global sweeping line; controlling the sweeper to perform sweeping operation according to the global sweeping route according to the sweeping instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation; in the cleaning operation process, if the water carrying capacity of the vehicle is detected to be lower than a first threshold value, recording a first current position of the sweeper, and controlling the sweeper to run to a water adding station according to a water adding line generated in real time; after the water adding operation is finished, controlling the sweeper to return to the first current position for continuous sweeping operation; if the vehicle garbage amount exceeds a second threshold value, recording a second current position of the sweeper, and controlling the sweeper to drive to a garbage station according to a garbage dumping line generated in real time; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position for continuous sweeping operation until a sweeping task corresponding to a sweeping line is finished.
Further, before the step of receiving the cleaning instruction sent by the remote server, the method further includes: planning a global cleaning line according to the cleaning area; the global purge line is stored at a remote server.
Further, the sweeper truck is internally provided with the following modules: the system comprises a vehicle chassis module, a positioning module, a sensing module, a prediction module, a planning module, a control module and a water spraying and cleaning module; before the step of receiving a cleaning instruction sent by the remote server, the method further comprises: carrying out self-checking on each built-in module of the sweeper; and after the self-checking is successful, sending information of successful self-checking to the remote server.
Further, the step of controlling the sweeper to perform sweeping operation according to the global sweeping route according to the sweeping command includes: detecting vehicle body running information, position information and surrounding environment information of the sweeper in real time; the surrounding environment information includes: static obstacle information and dynamic obstacle information; predicting the future motion state of the dynamic barrier information by utilizing a kinematics model or a neural network to obtain prediction information; determining a local driving route according to the ambient environment information, the vehicle body driving information, the position information and the prediction information; and controlling the sweeper to run according to the local running line and executing the sweeping operation.
Further, before the step of controlling the sweeper to travel to the watering station according to the watering line generated in real time, or before the step of controlling the sweeper to travel to the trash station according to the garbage dumping line generated in real time, the method further includes: acquiring surrounding environment information of the sweeper; planning a parking path and parking speed according to the current position and the surrounding environment information of the sweeper; the current position comprises a first current position or a second current position; and controlling the sweeper to perform parking operation according to the planned parking path and parking speed.
Further, the real-time generation process of the water adding line is as follows: searching a watering station closest to the current position of the sweeper truck from the first map information; and respectively taking the water adding site and the current position as an end point and a starting point to generate a shortest path, and taking the shortest path as a water adding line.
Further, the real-time generation process of the garbage dumping line is as follows: searching a garbage station closest to the current position of the sweeper from the second map information; and respectively taking the garbage station and the current position as an end point and a starting point to generate a shortest path, and taking the shortest path as a garbage dumping line.
In a second aspect, the embodiment of the application also provides a sweeper, wherein the sweeper is in communication connection with the remote server; the sweeper is internally provided with: the system comprises a vehicle chassis module, a planning module, a control module and a sprinkling and cleaning module; the control module is used for receiving a cleaning instruction sent by the remote server; controlling a water sprinkling cleaning module to perform cleaning operation according to a cleaning line according to a cleaning instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation; the vehicle chassis module is used for detecting the water carrying capacity of a vehicle through a water quantity sensor arranged in a water tank in the process of executing cleaning operation; when the water carrying capacity of the vehicle is lower than a first threshold value, a planning module records a first current position of the sweeper and generates a water adding line in real time; the control module is used for controlling the sweeper to run to a water adding station according to a water adding line; after the water adding operation is finished, controlling the sweeper to return to the first current position according to the route planned by the planning module for continuous sweeping operation; the vehicle chassis module is also used for detecting the vehicle garbage amount through a capacity sensor arranged in the garbage can; when the vehicle garbage amount exceeds a second threshold value, the planning module records a second current position of the sweeper and generates a garbage dumping line in real time; the control module is used for controlling the sweeper to run to a garbage station according to a garbage dumping line; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position according to the route planned by the planning module to perform continuous sweeping operation until a sweeping task corresponding to the sweeping route is finished.
Further, the sweeper truck further comprises: the system comprises a positioning module, a sensing module and a prediction module; the vehicle chassis module is used for detecting vehicle body running information of the sweeper in real time; the positioning module is used for detecting the position information of the sweeper in real time; the sensing module is used for detecting the surrounding environment information of the sweeper in the running process in real time; the surrounding environment information includes: static obstacle information and dynamic obstacle information; the prediction module is used for predicting the future motion state of the dynamic barrier information output by the perception module by utilizing a kinematics model or a neural network to obtain prediction information; the planning module is used for determining a local driving route according to the ambient environment information, the prediction information, the vehicle body driving information and the position information; the control module is used for controlling the sweeper to run according to a local running line and controlling the sprinkling and cleaning module to execute cleaning operation.
In a third aspect, an embodiment of the present application further provides a sweeper truck operation control system, which includes: a remote server and at least one sweeper; the remote server is in communication connection with the sweeper; the sweeper truck is for performing the steps of the method according to the first aspect.
In the sweeper operation control method, the sweeper operation control system and the sweeper provided by the embodiment of the application, a sweeping instruction sent by a remote server is received at first; the sweeping instruction carries a global sweeping line; controlling the sweeper to perform sweeping operation according to the global sweeping route according to the sweeping instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation; in the cleaning operation process, if the water carrying capacity of the vehicle is detected to be lower than a first threshold value, recording a first current position of the sweeper, and controlling the sweeper to run to a water adding station according to a water adding line generated in real time; after the water adding operation is finished, controlling the sweeper to return to the first current position for continuous sweeping operation; if the vehicle garbage amount exceeds a second threshold value, recording a second current position of the sweeper, and controlling the sweeper to drive to a garbage station according to a garbage dumping line generated in real time; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position for continuous sweeping operation until a sweeping task corresponding to a sweeping line is finished. The method provided by the embodiment of the application can plan the automatic cleaning route, the automatic water adding route, the automatic breakpoint continuous cleaning route and the automatic garbage dumping route, realizes the full-flow automatic operation function and improves the cleaning efficiency of the sanitation sweeper.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for controlling operation of a sweeper truck according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating connection of modules of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of another sweeper truck operation control method provided in the embodiments of the present application;
fig. 4 is a block diagram of a sweeper operation control system according to an embodiment of the present disclosure.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, in an intelligent environmental sanitation cleaning control mode, only partial planning of cleaning paths can be performed frequently, automatic cleaning lines, automatic water adding lines and automatic garbage dumping lines cannot be planned, and intelligent integrated environmental sanitation operation meeting urban environmental sanitation requirements cannot be achieved in a true sense. Based on this, embodiments of the present application provide a sweeper operation control method, system and sweeper, which can solve the above problems. For the sake of understanding the present embodiment, a method for controlling the operation of a sweeper truck disclosed in the embodiments of the present application will be described in detail.
FIG. 1 is a flowchart of a method for controlling operation of a sweeper truck according to an embodiment of the present disclosure, the method being applied to a sweeper truck; the sweeper is in communication connection with the remote server; the method specifically comprises the following steps:
step S102, receiving a cleaning instruction sent by a remote server; the sweeping instruction carries a global sweeping line.
The remote server stores global cleaning lines corresponding to the cleaning vehicles in advance, can schedule cleaning tasks, and can send corresponding cleaning instructions to the cleaning vehicles, wherein the cleaning instructions carry the global cleaning lines corresponding to the cleaning vehicles, so that the cleaning vehicles can perform cleaning operation according to the lines.
Step S104, controlling the sweeper to carry out sweeping operation according to the global sweeping route according to the sweeping instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation.
Step S106, in the process of executing cleaning operation, if the water carrying capacity of the vehicle is detected to be lower than a first threshold value, recording a first current position of the sweeper, and controlling the sweeper to run to a water adding station according to a water adding line generated in real time; and after the water adding operation is finished, controlling the sweeper to return to the first current position for continuous sweeping operation.
After the first current position is recorded, the vehicle can be controlled to stop according to the safe stopping path, then the optimal path from the stopping point to the watering station is planned, the vehicle is controlled to drive to the watering station according to the optimal path to water, or the vehicle is not stopped, and the optimal path from the first current position to the watering station is directly planned.
Step S108, if the vehicle garbage amount is detected to exceed a second threshold value, recording a second current position of the sweeper, and controlling the sweeper to drive to a garbage station according to a garbage dumping line generated in real time; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position for continuous sweeping operation until a sweeping task corresponding to a sweeping line is finished.
After the second current position is recorded, the vehicle can be controlled to stop according to the safe stopping path, then the optimal path from the stopping point to the garbage station is planned, the vehicle is controlled to drive to the garbage station according to the optimal path to dump garbage, or the vehicle is not stopped, and the optimal path from the second current position to the garbage station is directly planned.
The sweeper operation control method provided by the embodiment of the application can plan an automatic cleaning route, an automatic water adding route, an automatic breakpoint continuous sweeping route and an automatic garbage dumping route, realizes a full-flow automatic operation function, and improves the cleaning efficiency of the sanitation sweeper.
In the embodiment of the application, the global sweeping route is generated by a routing module in the sweeper, and after the global sweeping route is planned according to the sweeping area through the routing module, the global sweeping route is stored in the remote server. The global sweep route is a route simply generated from a to B based on the road network information, and does not need to consider a complicated road situation.
In order to complete the cleaning task, the sweeper truck is usually further built-in with the following modules: the system comprises a vehicle chassis module, a positioning module, a sensing module, a prediction module, a planning module, a control module and a water spraying and cleaning module; before the step of receiving the cleaning instruction sent by the remote server, the method can further comprise the following steps: carrying out self-checking on each built-in module of the sweeper; and after the self-checking is successful, sending information of successful self-checking to the remote server.
The connection relationship of the modules is shown in fig. 2, and the cleaning operation is performed by the modules as follows: detecting the vehicle body running information of the sweeper in real time through a vehicle chassis module; detecting the position information of the sweeper in real time through a positioning module; detecting surrounding environment information in the driving process of the sweeper in real time through a sensing module; the surrounding environment information includes: static obstacle information and dynamic obstacle information; predicting the future motion state of the dynamic barrier information output by the sensing module by a prediction module by utilizing a kinematics model or a neural network to obtain prediction information; determining a local driving route according to the ambient environment information, the prediction information, the vehicle body driving information and the position information through a planning module; the control module controls the sweeper to run according to a local running line and controls the sprinkling and cleaning module to carry out cleaning operation.
In order to improve the safety of the cleaning operation, before the step of controlling the sweeper to travel to the watering station according to the watering line generated in real time, or before the step of controlling the sweeper to travel to the garbage station according to the garbage dumping line generated in real time, the method may further include a safe stopping process: acquiring surrounding environment information of the sweeper; planning a parking path and parking speed according to the current position and the surrounding environment information of the sweeper; the current position comprises a first current position or a second current position; and controlling the sweeper to perform parking operation according to the planned parking path and parking speed.
After the vehicle is controlled to safely stop, a subsequent water adding process or a garbage dumping process is carried out.
The real-time generation process of the water adding line is as follows: searching a watering station closest to the current position of the sweeper truck from the first map information; and respectively taking the water adding site and the current position as an end point and a starting point to generate a shortest path, and taking the shortest path as a water adding line. The current position may be the first current position recorded above, or may be a position after the vehicle is safely parked.
The real-time generation process of the garbage dumping line is as follows: searching a garbage station closest to the current position of the sweeper from the second map information; and respectively taking the garbage station and the current position as an end point and a starting point to generate a shortest path, and taking the shortest path as a garbage dumping line. The current position may be the second current position recorded above, or may be a position after the vehicle is safely parked.
In the following, a preferred embodiment is described, and referring to fig. 3, the area to be cleaned is first manually determined according to the overall cleaning requirement; then each sweeper generates a global sweeping line in a sweeping area in an off-line mode and stores the global sweeping line in a server; determining a specific local cleaning route according to the real-time position information, the map information and the real-time road condition information of the vehicle; self-checking each module of the vehicle: the self-checking system comprises a vehicle chassis module, a positioning module, a sensing module, a prediction module, a planning module, a control module and the like, wherein the self-checking mainly confirms whether each module is ready or not, and a remote server sends a cleaning route ID after the self-checking is passed; the vehicle enters an automatic driving mode and starts to carry out welting cleaning operation; the water tank water level sensor detects the residual water quantity in real time, when a certain threshold value is reached, a vehicle chassis module sends a water level early warning signal, a planning module captures the signal and then stores the position A of the current vehicle, and plans the track of immediate safe parking so that the vehicle can be safely parked; the planning module calculates the shortest driving route away from the marked water adding plug on the map in real time, and the vehicle starts to drive to the position near the water adding plug according to the route; manually adding water, and pressing a switch inside or outside the vehicle (the switch is used for triggering the vehicle to continuously clean) after the water is added; the planning module completes switching according to the water adding and plans to the point A in real time; after reaching the point A, the planning module plans a route which is not cleaned, so that cleaning is continued at the point A to realize continuous cleaning of a breakpoint; meanwhile, a garbage capacity sensor of the garbage bin detects the garbage amount in real time, a vehicle chassis module sends a garbage early warning signal when the garbage amount reaches a certain threshold value, a planning module captures the signal and then stores the position B of the current vehicle, and plans the track of immediate safe parking so that the vehicle can be safely parked; the planning module calculates the shortest driving route from the marked garbage station on the map in real time, and the vehicle starts to drive to the position near the garbage station according to the route; manually dumping the garbage, and pressing a switch inside or outside the vehicle after the garbage dumping is finished; the planning module completes switching according to the garbage dumping and plans to a point B in real time; after the point B is reached, the planning module plans a route which is not cleaned, so that cleaning is continued at the point B, and continuous cleaning of a breakpoint is realized; until all cleaning tasks or cleaning the line are completed.
The method provided by the embodiment of the application is a full-flow automatic cleaning operation scheme controlled by a remote server and a local sweeper in a cooperative mode, and can enable the sanitation sweeper to automatically complete an intelligent process of cleaning, adding water or dumping rubbish according to a line generated in real time.
Based on the method embodiment, the embodiment of the application also provides the sweeper, wherein the sweeper is in communication connection with the remote server; the sweeper is internally provided with: the system comprises a vehicle chassis module, a planning module, a control module and a sprinkling and cleaning module; the control module is used for receiving a cleaning instruction sent by the remote server; controlling a water sprinkling cleaning module to perform cleaning operation according to a cleaning line according to a cleaning instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation; the vehicle chassis module is used for detecting the water carrying capacity of a vehicle through a water quantity sensor arranged in a water tank in the process of executing cleaning operation; when the water carrying capacity of the vehicle is lower than a first threshold value, a planning module records a first current position of the sweeper and generates a water adding line in real time; the control module is used for controlling the sweeper to run to a water adding station according to a water adding line; after the water adding operation is finished, controlling the sweeper to return to the first current position according to the route planned by the planning module for continuous sweeping operation; the vehicle chassis module is also used for detecting the vehicle garbage amount through a capacity sensor arranged in the garbage can; when the vehicle garbage amount exceeds a second threshold value, the planning module records a second current position of the sweeper and generates a garbage dumping line in real time; the control module is used for controlling the sweeper to run to a garbage station according to a garbage dumping line; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position according to the route planned by the planning module to perform continuous sweeping operation until a sweeping task corresponding to the sweeping route is finished.
Further, the sweeper truck further comprises: the system comprises a positioning module, a sensing module and a prediction module; the vehicle chassis module is used for detecting vehicle body running information of the sweeper in real time; the positioning module is used for detecting the position information of the sweeper in real time; the sensing module is used for detecting the surrounding environment information of the sweeper in the running process in real time; the surrounding environment information includes: static obstacle information and dynamic obstacle information; the prediction module is used for predicting the future motion state of the dynamic barrier information output by the perception module by utilizing a kinematics model or a neural network to obtain prediction information; the planning module is used for determining a local driving route according to the ambient environment information, the prediction information, the vehicle body driving information and the position information; the control module is used for controlling the sweeper to run according to a local running line and controlling the sprinkling and cleaning module to execute cleaning operation.
The sweeper provided by the embodiment of the application has the same implementation principle and technical effects as those of the embodiment of the method, and for the sake of brief description, reference may be made to corresponding contents in the embodiment of the method for which no mention is made in part.
Based on the above method embodiment, an embodiment of the present application further provides a sweeper operation control system, as shown in fig. 4, the system includes: a remote server 41 and at least one sweeper truck 42; the remote server 41 is in communication connection with the sweeper 42; the sweeper truck 42 is used to perform the steps of the method described in the method embodiments.
The implementation principle and the generated technical effect of the sweeper operation control system provided by the embodiment of the application are the same as those of the method embodiment, and for the sake of brief description, reference may be made to corresponding contents in the method embodiment for the part where the embodiment of the sweeper operation control system is not mentioned.
Embodiments of the present application further provide a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method, and specific implementation may refer to the foregoing method embodiments, and is not described herein again.
The method, the device and the computer program product for controlling the operation of the sweeper truck provided by the embodiment of the application comprise a computer readable storage medium storing program codes, instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can be referred to the method embodiment, and is not described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A sweeper operation control method is characterized in that the method is applied to a sweeper; the sweeper is in communication connection with a remote server; the method comprises the following steps:
receiving a cleaning instruction sent by a remote server; the sweeping instruction carries a global sweeping line;
controlling the sweeper to carry out sweeping operation according to the global sweeping route according to the sweeping instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation;
in the process of executing cleaning operation, if the detected water carrying capacity of the vehicle is lower than a first threshold value, recording a first current position of the sweeper, and controlling the sweeper to run to a water adding station according to a water adding line generated in real time; after the water adding operation is finished, controlling the sweeper to return to the first current position for continuous sweeping operation;
if the vehicle garbage amount exceeds a second threshold value, recording a second current position of the sweeper, and controlling the sweeper to drive to a garbage station according to a garbage dumping line generated in real time; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position for continuous sweeping operation until a sweeping task corresponding to the sweeping line is finished.
2. The method of claim 1, wherein prior to the step of receiving a purge instruction sent by a remote server, the method further comprises:
planning a global cleaning line according to the cleaning area;
storing the global purge line in the remote server.
3. The method of claim 1, wherein the sweeper truck has the following modules built in: the system comprises a vehicle chassis module, a positioning module, a sensing module, a prediction module, a planning module, a control module and a water spraying and cleaning module; before the step of receiving a cleaning instruction sent by a remote server, the method further comprises:
carrying out self-inspection on each built-in module of the sweeper;
and after the self-checking is successful, sending information of successful self-checking to the remote server.
4. The method of claim 1, wherein the step of controlling the sweeper truck to perform sweeping operations in accordance with the global sweeping profile based on the sweeping instructions comprises:
detecting vehicle body running information, position information and surrounding environment information of the sweeper in real time; the ambient environment information includes: static obstacle information and dynamic obstacle information;
predicting the future motion state of the dynamic obstacle information by utilizing a kinematics model or a neural network to obtain prediction information;
determining a local driving route according to the ambient environment information, the vehicle body driving information, the position information and the prediction information;
and controlling the sweeper to run according to the local running line and executing cleaning operation.
5. The method of claim 1, wherein prior to the step of controlling the sweeper truck to travel to the watering station in accordance with the watering line generated in real time, or prior to the step of controlling the sweeper truck to travel to the trash station in accordance with the garbage dump line generated in real time, the method further comprises:
acquiring surrounding environment information of the sweeper;
planning a parking path and parking speed according to the current position of the sweeper and the surrounding environment information; the current location comprises the first current location or the second current location;
and controlling the sweeper to perform parking operation according to the planned parking path and parking speed.
6. The method of claim 5, wherein the real-time generation of the watering line is as follows:
searching a watering station closest to the current position of the sweeper truck from the first map information;
and generating a shortest path by taking the water adding site and the current position as an end point and a starting point respectively, and taking the shortest path as the water adding line.
7. The method of claim 5, wherein the real-time generation of the dump link is as follows:
searching a garbage station closest to the current position of the sweeper truck from the second map information;
and respectively taking the garbage station and the current position as an end point and a starting point to generate a shortest path, and taking the shortest path as the garbage dumping line.
8. The sweeper is characterized in that the sweeper is in communication connection with a remote server; the sweeper is internally provided with: the system comprises a vehicle chassis module, a planning module, a control module and a sprinkling and cleaning module;
the control module is used for receiving a cleaning instruction sent by the remote server; controlling the sprinkling and cleaning module to carry out cleaning operation according to a cleaning line according to the cleaning instruction; the cleaning operation includes: automatic travel operation, watering operation, and sweeping operation;
the vehicle chassis module is used for detecting the water carrying capacity of a vehicle through a water quantity sensor arranged in a water tank in the process of executing cleaning operation; when the water carrying capacity of the vehicle is lower than a first threshold value, the planning module records a first current position of the sweeper and generates a water adding line in real time; the control module is used for controlling the sweeper to run to a water adding station according to the water adding line; after the water adding operation is finished, controlling the sweeper to return to the first current position according to the route planned by the planning module for continuous sweeping operation;
the vehicle chassis module is also used for detecting the vehicle garbage amount through a capacity sensor arranged in the garbage can; when the vehicle garbage amount exceeds a second threshold value, the planning module records a second current position of the sweeper and generates a garbage dumping line in real time; the control module is used for controlling the sweeper to run to a garbage station according to the garbage dumping line; and after the garbage dumping operation is finished, controlling the sweeper to return to the second current position according to the route planned by the planning module to perform continuous sweeping operation until a sweeping task corresponding to the sweeping route is finished.
9. The sweeper truck of claim 8, further incorporating: the system comprises a positioning module, a sensing module and a prediction module;
the vehicle chassis module is used for detecting vehicle body running information of the sweeper in real time;
the positioning module is used for detecting the position information of the sweeper in real time;
the sensing module is used for detecting the surrounding environment information of the sweeper in the running process in real time; the surrounding environment information includes: static obstacle information and dynamic obstacle information;
the prediction module is used for predicting the future motion state of the dynamic barrier information output by the perception module by utilizing a kinematics model or a neural network to obtain prediction information;
the planning module is used for determining a local driving route according to the ambient environment information, the prediction information, the vehicle body driving information and the position information;
the control module is used for controlling the sweeper to run according to the local running route and controlling the water spraying and cleaning module to execute cleaning operation.
10. A sweeper truck operation control system, the system comprising: a remote server and at least one sweeper; the remote server is in communication connection with the sweeper; the sweeper truck is used for carrying out the steps of the method according to any one of claims 1 to 7.
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