CN108592923A - A kind of working path planing method - Google Patents
A kind of working path planing method Download PDFInfo
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- CN108592923A CN108592923A CN201810576121.9A CN201810576121A CN108592923A CN 108592923 A CN108592923 A CN 108592923A CN 201810576121 A CN201810576121 A CN 201810576121A CN 108592923 A CN108592923 A CN 108592923A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present embodiments relate to a kind of working path planing methods, including：Server, which obtains, cleans block information；According to calibration obstacle information multiple cleaning sub-district block messages are divided by block information is cleaned；The cleaning routing information of block information is cleaned according to multiple cleaning sub-path informations for cleaning sub-block and the cleaning order information generation for cleaning sub-block；Clearing apparatus calls corresponding cleaning routing information according to multiple cleaning block informations；Working path information is generated according to cleaning routing information and transition routing information, the present invention can be divided into multiple sub-blocks according to the position of barrier by block is cleaned, plan the cleaning subpath of each sub-block, so as to accomplish not drain sweep, do not repeat to sweep, cleaning work efficiently, intelligent is realized；And cleaning sequence can be planned according to the location information of multiple blocks, the most fast automatic transition of most short warp, time is realized in the final position for cleaning block based on adjacent two and start position planning transition path.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of working path planing methods.
Background technology
With the development of economy with the progress of science and technology, requirement of the people to living environment quality is higher and higher, and with people
The cleaning technology based on artificial intelligence technology is also increasingly focused in the emergence of work intelligence, market, and skill is cleaned in existing intelligence
In art, generally use sweeping robot realizes that the cleaning in small area, the cleaning for large area such as roads still need artificial
It cleans, using the mode on hand sweeping road surface, not only human cost is high, but also generated dust can serious shadow when hand sweeping
The health for ringing cleaner, also inevitably causes the secondary pollution of environment.
Moreover, with the development of city size, the continuous promotion of human cost, for intelligent unpiloted sweeper
Demand, what is shown is particularly urgent.Existing unmanned sweeper can only be carried out according to a direction in the region of setting
It cleans, for the barrier in region, needs frequent cut-through object to be cleaned, to increase the repetitive rate of cleaning, together
When number of turns increase and affect sweeping efficiency, and then can not intelligently, be efficiently completed cleaning task, and sweeper is from one
Region needs manpower intervention, cannot achieve automatic transition to when another region transition.
Invention content
The object of the present invention is to provide a kind of working path planing methods, can will clean block according to the position of barrier
Multiple sub-blocks are divided into, plan the cleaning subpath of each sub-block, cleaning path is generated according to subpath is cleaned, so as to
Enough accomplish not drain sweep, do not repeat to sweep, realizing cleaning work efficiently, intelligent；And it can be according to the location information of multiple blocks
Plan cleaning sequence, the final position for cleaning block based on adjacent two and start position planning transition path, realize most short warp, when
Between most fast automatic transition.
To achieve the above object, the present invention provides a kind of working path planing methods, including：
Server, which obtains, cleans block information；The cleaning block information includes zone boundary information and calibration barrier letter
Breath；
The cleaning block information is divided into multiple cleaning sub-district block messages according to the calibration obstacle information；
The each cleaning order information for cleaning sub-block of configuration；
According to each cleaning order information for cleaning sub-block, the start position information for cleaning sub-block and terminal position are determined
Confidence ceases；
According to the cleaning sub-district block message and clean the start position information of sub-block, end point location information generation each
Clean the cleaning sub-path information of sub-block；
According to the multiple cleaning sub-path information for cleaning sub-block and the cleaning order information for cleaning sub-block
Generate the cleaning routing information for cleaning block information；
Establish the cleaning block information and the incidence relation cleaned between routing information；
According to the cleaning block information and the incidence relation and road network structure map cleaned between routing information
Information, which generates, cleans block path data packet, is sent to clearing apparatus；
The clearing apparatus parses the cleaning block path data packet, is cleaned block information and described clear
Routing information and road network structure cartographic information are swept, and is stored；
The clearing apparatus, which receives, cleans mission bit stream；The cleaning mission bit stream includes multiple cleaning block informations；
Corresponding cleaning routing information is called according to the multiple cleaning block information；
According to the current location information of the location information and the clearing apparatus for cleaning block information, sweeping area is determined
The cleaning order information of block；
The road network structure cartographic information is called, and according to the cleaning order information for cleaning block, passes through algorithm meter
Calculate the two neighboring transition routing information for cleaning block；
Working path information is generated according to the cleaning routing information and transition routing information.
Preferably, the basis each cleans the cleaning order information of sub-block, determines the start position for cleaning sub-block
Information and end point location information specifically include：
According to each cleaning order information for cleaning sub-block, the previous end point location information for cleaning sub-block is set
To be set as the latter clear on the adjacent boundary for cleaning sub-block, and by the previous end point location information for cleaning sub-block
Sweep the start position information of sub-block.
Preferably, described according to the start position information of the cleaning sub-district block message and cleaning sub-block, terminal position
Before confidence breath generates each cleaning sub-path information for cleaning sub-block, the method further includes：
It obtains and presets cleaning modes information.
It is further preferred that described according to the start position information of the cleaning sub-district block message and cleaning sub-block, end
Dot position information generates each cleaning sub-path information for cleaning sub-block and specifically includes：
According to default cleaning modes information, and cleans sub-district block message and clean the start position information of sub-block, end
Dot position information generates the corresponding cleaning sub-path information of cleaning modes information；Wherein, the cleaning sub-path information
Including cleaning trace information, cleaning velocity information and side brush rotary speed information.
It is further preferred that the cleaning mission bit stream further includes the corresponding cleaning modes letter of each cleaning block information
Breath；It is described to call corresponding cleaning routing information to specifically include according to the multiple cleaning block information：
Corresponding cleaning routing information is called according to the multiple cleaning block information and cleaning modes information.
Preferably, each cleaning order information for cleaning sub-block of the configuration is specially：
According to each cleaning order information for cleaning sub-block of configuration clockwise or counterclockwise.
Preferably, further include timing information in the cleaning mission bit stream；The method further includes：
According to the first operation mileage information that the cleaning routing information calculates, according to the second of the transition routing information
Operation mileage information；
The cleaning road is configured according to the first operation mileage information, the second operation mileage information and the timing information
The second speed information of the First Speed information of diameter information and the transition routing information.
Preferably, the road network structure cartographic information is called, and according to the cleaning order information for cleaning block, is passed through
Algorithm calculates the two neighboring transition routing information for cleaning block and specifically includes：
According to the cleaning order information for cleaning block, the previous end point location information of block and latter of cleaning is determined
A start position information for cleaning block；
The road network structure cartographic information is called, the previous end point location information for cleaning block is calculated with after with algorithm
Transition routing information between the start position information of one cleaning block.
Preferably, after described according to the cleaning routing information and transition routing information generation working path information,
The method further includes：
The clearing apparatus is cleaned according to the working path information.
Working path planing method provided in an embodiment of the present invention can will clean block according to the position of barrier and divide
At multiple sub-blocks, the cleaning subpath of each sub-block is planned, cleaning path is generated according to subpath is cleaned, so as to do
It to not drain sweep, does not repeat to sweep, realizes cleaning work efficiently, intelligent；And it can be planned according to the location information of multiple blocks
Cleaning sequence, the final position for cleaning block based on adjacent two and start position planning transition path, realize most short warp, time most
Fast automatic transition.
Description of the drawings
Fig. 1 is the flow chart of working path planing method provided in an embodiment of the present invention.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Working path planing method provided in an embodiment of the present invention can be implemented between server and clearing apparatus, service
Device can be divided into multiple sub-blocks according to the position of barrier by block is cleaned, and plan the cleaning subpath of each sub-block,
Cleaning path is generated according to subpath is cleaned, so as to accomplish not drain sweep, do not repeat to sweep, realizes that efficient, intelligence cleaning is made
Industry；Wherein, clearing apparatus can be understood as unpiloted intelligent sweeper, can be carried out according to the working path planned clear
Sweep operation, and can the environmental information that perceives of the environmental perception module of itself operations such as carry out avoidance, give way, realize nobody
Safety, intelligent operation under driving situation.
Fig. 1 is the flow chart of working path planing method provided in an embodiment of the present invention, as shown in Figure 1, the method packet
Include following steps：
Step 101, server, which obtains, cleans block information；
The cartographic information that block information can be understood as some purging zone is cleaned, zone boundary letter is can specifically include
Breath and calibration obstacle information；Zone boundary information is used to limit the regional extent of cleaning work, and calibration obstacle information is used for
Indicate the floor space of fixed obstacle, the quantity for demarcating barrier can be multiple, the boundary information and mark in region to be cleaned
It is to acquire and mark in cartographic information in advance, for example set in square that there are one slide, slides to determine obstacle information
As fixed obstacle limits the boundary information of square in cartographic information, and in the wheel of square internal labeling slide
Wide information.
It should be noted that server stores all cartographic informations for cleaning block, server is needed to all sweeping areas
The cleaning path of block is planned, the planing method all same of block is each cleaned.
Step 102, multiple cleaning sub-district block messages are divided by block information is cleaned according to calibration obstacle information；
For the ease of cleaning, the division for cleaning block and carrying out sub-block is said according to the position of barrier, is divided in sub-block
When, barrier is divided in same cleaning sub-block, in a specific example, along the boundary of barrier by sweeping area
Block, which is divided into, to be cleaned sub-block A and cleans sub-block B, and distribution of obstacles is made to clean in sub-block A.
Step 103, each cleaning order information for cleaning sub-block of configuration；According to each cleaning sequence for cleaning sub-block
Information determines the start position information and end point location information for cleaning sub-block；
In order to be cleaned to each cleaning sub-block, and with prestissimo complete clean sub-block conversion, according to
The each cleaning order information for cleaning sub-block of configuration clockwise or counterclockwise,
After the cleaning sequence for determining each sub-block, the boundary intersected based on cleaning sequence and sub-block determines each sub-district
The start position of block and final position, specifically, by it is previous clean sub-block end point location information be set in it is next
On the boundary for cleaning the intersection of sub-block, and the previous end point location information for cleaning sub-block is set as the latter and cleans son
The start position information of block can accomplish not repeat cleaning and not drain sweep in this way.
Step 104, according to start position information, the end point location information generation for cleaning sub-district block message and cleaning sub-block
Each cleaning sub-path information for cleaning sub-block；
To ensure to clean completely, the cleaning of " bow " zag trajectory, adjacent two tracks institute may be used in clearing apparatus during cleaning
The sweep-out pattern of formation connects, and according to the cleaning width of clearing apparatus, and cleans sub-district block message and cleans rising for sub-block
Dot position information, end point location information carry out trajectory planning to each cleaning sub-block, to obtain each cleaning sub-block
Clean sub-path information.
Step 105, according to the cleaning order information of multiple cleaning sub-path informations for cleaning sub-block and cleaning sub-block
Generate the cleaning routing information for cleaning block information；
For one cleans block, according to the cleaning of multiple sub-blocks sequence, by the corresponding cleaning path of sub-block
It is synthesized, is specifically attached the final position of previous sub-block and the start position of the latter sub-block, to shape
At the cleaning routing information of the cleaning block, when clearing apparatus is cleaned according to the cleaning path, can accomplish not repeat to sweep,
Not drain sweep, and save the cleaning work time.
Step 106, the incidence relation cleaned between block information and cleaning routing information is established；
Step 107, according to the incidence relation and road network structure map cleaned between block information and cleaning routing information
Information, which generates, cleans block path data packet, is sent to clearing apparatus；
Road network structure cartographic information refers to the road network structure between multiple cleaning blocks, can specifically pass through third party's map
Server is obtained, and according to established cleaning block information and cleans the incidence relation and road network between routing information
Structure cartographic information, which generates, cleans block path data packet, is handed down to all clearing apparatus, clearing apparatus can be according to cleaning
Path cleans any purging zone.
In a preferred embodiment, each clearing apparatus can be responsible for the cleaning of one or more securing cleaning blocks, right
In such case, the incidence relation cleaned between block and clearing apparatus can be pre-established, according to purging zone and device ID
Between incidence relation formation zone-device plan list, when data packet issues, according to clearing apparatus be responsible for cleaning block
Incidence relation between information and cleaning routing information, and clean the corresponding road network structure cartographic information life between block
At block path data packet is cleaned, it is handed down to clearing apparatus, the cleaning being each responsible for only is stored in this way in each clearing apparatus
The path in region, it is possible to reduce data download saves memory headroom, improves the speed of service.
Step 108, clearing apparatus is parsed to cleaning block path data packet, is cleaned block information and is cleaned road
Diameter information and road network structure cartographic information, and store；
Step 109, clearing apparatus, which receives, cleans mission bit stream；
May include that one or more cleans block information in cleaning mission bit stream, user can select to want as needed
The region of cleaning.Cleaning task can be that user is directly inputted by the control panel of clearing apparatus, can also be by with
The remote control input of clearing apparatus connection.In addition it can also be and inputted by user terminal, user terminal can be one
There is platform the terminal device of network savvy, such as smart mobile phone, tablet computer, user terminal to receive cleaning task input by user
Information, and it is sent to background server；Server obtains according to purging zone information in the planning list of region-device corresponding
The device ID of clearing apparatus will clean mission bit stream then according to device ID and be sent to clearing apparatus.
Step 110, corresponding cleaning routing information is called according to multiple cleaning block informations；
Clearing apparatus calls phase after receiving cleaning mission bit stream, according to the cleaning block information for including in cleaning task
Corresponding cleaning routing information will obtain multiple cleaning routing informations when in cleaning task including multiple purging zones.
Step 111, according to the current location information for the location information and clearing apparatus for cleaning block information, sweeping area is determined
The cleaning order information of block；
It is provided with locating module in clearing apparatus, can specifically be realized by two differential GPS modules, for obtaining in real time
Take the location information of clearing apparatus.
In order to save the activity duration, the cleaning sequence for cleaning block according to the current location determination of clearing apparatus is needed to believe
Breath, specifically, the cleanings block nearest apart from clearing apparatus is set as first cleaning, further according between cleaning block away from
From first to clean distance recently for principle, setting successively cleans the cleaning sequence between block.
Step 112, road network structure cartographic information is called, and according to the cleaning order information for cleaning block, passes through algorithm meter
Calculate the two neighboring transition routing information for cleaning block；
The purpose of this step be to determine it is two neighboring clean block transition path, i.e., from one clean block to another
The path planning of block is cleaned, specifically, according to the cleaning order information for cleaning block, determines the previous terminal for cleaning block
Location information and the latter clean the start position information of block；Corresponding road network is called according to the location information for cleaning block
Then structure cartographic information calculates the previous end point location information for cleaning block with algorithm and cleans rising for block to the latter
Transition routing information between dot position information, wherein the algorithm includes but not limited to A* algorithms, two neighboring to obtain
The shortest path between block is cleaned, quick transition is realized, time and power consumption can be saved.
Step 113, working path information is generated according to cleaning routing information and transition routing information.
Believe based on multiple cleaning sequences for cleaning block, and according to the transition path for cleaning routing information and planning of calling
Breath generates working path information, to complete the planning of complete working path, after this, clearing apparatus root according to cleaning task
It is cleaned according to working path.
In addition, timing information can be also set in cleaning mission bit stream, for example user can be limited in 3 hours and complete to be somebody's turn to do
Cleaning task, then clearing apparatus needs to configure the operating speed for cleaning path and transition path, it is clear to be completed within the time limit
Task is swept, specifically, the first operation mileage information calculated according to routing information is cleaned, makees according to the second of transition routing information
Industry mileage information, the first operation mileage information here refers to the corresponding total operation mileage for cleaning path of all cleaning blocks,
Second operation mileage information refers to total operation mileage in transition path, for ease of distinguishing, describing conveniently, to be referred to as first
Operation mileage information and the second operation mileage information；Then, according to the first operation mileage information, the second operation mileage information and when
Limit information configuration cleans the second speed information of the First Speed information and transition routing information of routing information, due to First Speed
It is to clean speed, second speed is transition speed, and when transition need not clean, therefore configure the second speed information of setting here
It is faster than First Speed information, so as to be cleaned at a slow speed, clean totally.
In a preferred embodiment, to meet user's different demands, the present invention also provides different cleaning modes, clean
Pattern information may include that fast sweep pattern, depth cleaning modes, soft cleaning modes, economize on electricity cleaning modes and standard clean
Pattern, the corresponding routing information of each cleaning modes is different, and wherein routing information can be understood as multiattribute track letter
Breath specifically includes and cleans trace information, cleans velocity information and side brush rotary speed information, that is to say, that routing information is especially by clear
It sweeps trace information, clean velocity information and side brush rotary speed information to realize.The corresponding cleaning trace information of each pattern cleans speed
It is preset to spend information and side brush rotary speed information.
Wherein, the type of gesture of cleaning when trace information refers to cleaning work is cleaned, for example may include " bow " font
" returning " font, when " bow " zag trajectory cleans, two adjacent spacing cleaned between track are larger, two adjacent cleaning tracks
Sweep-out pattern is formed by be connected to each other but misaligned；When clearing apparatus is cleaned using " returning " zag trajectory, two adjacent cleanings
Spacing between track is smaller, and two adjacent cleaning tracks are formed by sweep-out pattern and coincide, that is, some places carry out
It repeats to clean.For different cleaning modes, the adjacent track that cleans is formed by the of different sizes of the cleaning face to coincide,
For example setting is cleaned using " returning " zag trajectory when depth cleaning modes, setting use " bow " font when fast sweep pattern
Track is cleaned.It refers to the speed parameter of clearing apparatus during cleaning to clean velocity information, cleans the slower cleaning of speed more
Totally, slower for the corresponding cleaning speed of depth cleaning modes, cleaning speed corresponding for fast sweep pattern.Side
Brush rotary speed information refers to the rotary speed parameter of clearing apparatus bottom sides brush during cleaning, and the faster expression of side brush rotation cleans more dry
Only.
Before each cleaning sub-path information for cleaning sub-block of planning, obtains and preset cleaning modes information.It is planning
When cleaning the cleaning subpath of sub-block, according to default cleaning modes information, obtains corresponding cleaning trace information, cleans speed
Information and side brush rotary speed information are spent, then according to cleaning trace information, cleaning velocity information and side brush rotary speed information, and is cleaned
The start position information of sub-district block message and cleaning sub-block, end point location information generate the corresponding cleaning of cleaning modes information
Sub-path information, it is same clear to obtain then further according to the cleaning routing information for cleaning sub-path information generation cleaning block
Sweep the corresponding cleaning routing information of different cleaning modes of block.After this, purging zone and multiple cleaning modes are established
Cleaning routing information incidence relation, and combine road network structure cartographic information generate clean block path data packet, be handed down to
Clearing apparatus.
It may also include cleaning modes information in cleaning task input by user, to meet user demand, different blocks can
To set different cleaning modes, for example block A more totally carries out the cleaning of fast sweep pattern, the messy progress of block B
The cleaning of depth cleaning modes includes each cleaning corresponding cleaning modes information of block information cleaning mission bit stream；
Clearing apparatus calls corresponding cleaning routing information according to multiple cleaning block informations and cleaning modes information, so as to root
The cleaning of various modes is realized according to user's different demands, is realized cleaning work efficiently, intelligent, is substantially increased user experience.
Working path planing method provided in an embodiment of the present invention can will clean block according to the position of barrier and divide
At multiple sub-blocks, the cleaning subpath of each sub-block is planned, cleaning path is generated according to subpath is cleaned, so as to do
It to not drain sweep, does not repeat to sweep, realizes cleaning work efficiently, intelligent；And it can be planned according to the location information of multiple blocks
Cleaning sequence, the final position for cleaning block based on adjacent two and start position planning transition path, realize most short warp, time most
Fast automatic transition.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, processor to execute
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of working path planing method, which is characterized in that the method includes：
Server, which obtains, cleans block information；The cleaning block information includes zone boundary information and calibration obstacle information；
The cleaning block information is divided into multiple cleaning sub-district block messages according to the calibration obstacle information；
The each cleaning order information for cleaning sub-block of configuration；
According to each cleaning order information for cleaning sub-block, the start position information for cleaning sub-block and final position letter are determined
Breath；
Each clean is generated according to the start position information of the cleaning sub-district block message and cleaning sub-block, end point location information
The cleaning sub-path information of sub-block；
It is generated according to the multiple cleaning sub-path information for cleaning sub-block and the cleaning order information for cleaning sub-block
The cleaning routing information for cleaning block information；
Establish the cleaning block information and the incidence relation cleaned between routing information；
According to the cleaning block information and the incidence relation and road network structure cartographic information cleaned between routing information
It generates and cleans block path data packet, be sent to clearing apparatus；
The clearing apparatus parses the cleaning block path data packet, is cleaned block information and the cleaning road
Diameter information and road network structure cartographic information, and store；
The clearing apparatus, which receives, cleans mission bit stream；The cleaning mission bit stream includes multiple cleaning block informations；
Corresponding cleaning routing information is called according to the multiple cleaning block information；
According to the current location information of the location information and the clearing apparatus for cleaning block information, determines and clean block
Clean order information；
The road network structure cartographic information is called, and according to the cleaning order information for cleaning block, phase is calculated by algorithm
The transition routing information of adjacent two cleanings block；
Working path information is generated according to the cleaning routing information and transition routing information.
2. working path planing method according to claim 1, which is characterized in that the basis each cleans sub-block
Order information is cleaned, determines that the start position information for cleaning sub-block and end point location information specifically include：
According to each cleaning order information for cleaning sub-block, the previous end point location information for cleaning sub-block is set in phase
Neighbour cleans on the boundary of sub-block, and the previous end point location information for cleaning sub-block is set as the latter and cleans son
The start position information of block.
3. working path planing method according to claim 1, which is characterized in that described according to the cleaning sub-block
The start position information of information and cleaning sub-block, end point location information generate each cleaning sub-path information for cleaning sub-block
Before, the method further includes：
It obtains and presets cleaning modes information.
4. working path planing method according to claim 3, which is characterized in that described to be believed according to the cleaning sub-block
Breath and the cleaning sub-path information tool for cleaning the start position information of sub-block, each cleaning sub-block of end point location information generation
Body includes：
According to default cleaning modes information, and cleans sub-district block message and clean the start position information of sub-block, terminal position
Confidence breath generates the corresponding cleaning sub-path information of cleaning modes information；Wherein, the cleaning sub-path information includes
It cleans trace information, clean velocity information and side brush rotary speed information.
5. working path planing method according to claim 4, which is characterized in that the cleaning mission bit stream further includes every
A corresponding cleaning modes information of cleaning block information；It is described corresponding clear according to the multiple cleaning block information calling
Routing information is swept to specifically include：
Corresponding cleaning routing information is called according to the multiple cleaning block information and cleaning modes information.
6. working path planing method according to claim 1, which is characterized in that each cleaning sub-block of configuration
Cleaning order information is specially：
According to each cleaning order information for cleaning sub-block of configuration clockwise or counterclockwise.
7. working path planing method according to claim 1, which is characterized in that further include in the cleaning mission bit stream
Timing information；The method further includes：
According to the first operation mileage information that the cleaning routing information calculates, according to the second operation of the transition routing information
Mileage information；
The cleaning path letter is configured according to the first operation mileage information, the second operation mileage information and the timing information
The second speed information of the First Speed information of breath and the transition routing information.
8. working path planing method according to claim 1, which is characterized in that the road network structure map is called to believe
Breath, and according to the cleaning order information for cleaning block, the two neighboring transition path for cleaning block is calculated by algorithm and is believed
Breath specifically includes：
According to the cleaning order information for cleaning block, determine that the previous end point location information for cleaning block and the latter are clear
Sweep the start position information of block；
The road network structure cartographic information is called, the previous end point location information and the latter for cleaning block is calculated with algorithm
Clean the transition routing information between the start position information of block.
9. working path planing method according to claim 1, which is characterized in that believed according to the cleaning path described
After breath and transition routing information generate working path information, the method further includes：
The clearing apparatus is cleaned according to the working path information.
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| CN112716401A (en) * | 2020-12-30 | 2021-04-30 | 北京奇虎科技有限公司 | Obstacle-detouring cleaning method, device, equipment and computer-readable storage medium |
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| CN113074745A (en) * | 2021-02-24 | 2021-07-06 | 南京泛析交通科技有限公司 | Urban road cleaning vehicle path planning method and device |
| CN113074745B (en) * | 2021-02-24 | 2024-03-19 | 南京泛析交通科技有限公司 | Urban road cleaning vehicle path planning method and device |
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| CN114554308A (en) * | 2021-11-30 | 2022-05-27 | 潍坊中科晶上智能装备研究院有限公司 | Intelligent agricultural machinery remote control system |
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