CN108614558B - Cleaning track planning method - Google Patents
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention relates to a cleaning track planning method, which comprises the following steps: the central processing unit generates first task track information according to the task list information; the central processing unit sends the first task track information to the vehicle body control unit through the micro-processing unit; the sensing unit monitors the position information of the cleaning device; the central processing unit obtains actual track information according to the position information of the cleaning device; acquiring cleaned area information according to the actual track information and the unit cleaning area value; comparing the information of the cleaned area with the information of the area to be cleaned to obtain the cleaning area rate; when the cleaning area rate is smaller than a preset value, comparing the information of the cleaned area with the information of the area to be cleaned to obtain the information of the area which is not cleaned; the central processing unit obtains second task track information according to the information of the non-cleaning area, and the second task track information is sent to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a cleaning track planning method.
Background
With the development of economy and the progress of science and technology, the requirements of people on the quality of living environment are higher and higher, and the cleaning and the sanitation of roads are also more and more valued by related departments. The mode of manually cleaning the road surface is used, so that the labor cost is high, the dust generated during manual cleaning can seriously affect the biological health of cleaners, and the secondary pollution to the environment can be avoided. With the rise of artificial intelligence, the market is more and more concerned about new energy sanitation cleaning vehicles based on artificial intelligence technology. Moreover, with the development of urban scale, the manpower cost is continuously increased, and the demand for the intelligent unmanned automatic-advancing sweeper is particularly urgent. Although the unmanned field has related technologies, the existing unmanned sweeper cannot intelligently and efficiently complete the sweeping task.
Disclosure of Invention
The invention aims to provide a cleaning track planning method aiming at the defects of the prior art, which is used for determining whether a planned route calculated by a cleaning device can meet the requirement of a cleaning area rate or not, when the planned route cannot meet the requirement of the cleaning area rate, a task route is planned again and an alarm is given at the same time, and a sweeper executes a cleaning task according to the planned route again, so that the cleaning effect meets the requirement of the cleaning area rate.
In order to achieve the above object, the present invention provides a cleaning trajectory planning method, including:
a central processing unit in the cleaning device generates first task track information according to the task list information; the task list information comprises information of an area to be cleaned and cleaning end point position information;
the central processing unit sends the first task track information to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device, so that the vehicle body control unit works according to the first task track information;
a sensing unit in the cleaning device monitors the position information of the cleaning device and sends the position information of the cleaning device to the central processing unit;
when the position information of the cleaning device reaches the cleaning end point position information, the central processing unit obtains actual track information according to the position information of the cleaning device;
acquiring cleaned area information according to the actual track information and the unit cleaning area value;
comparing the cleaned area information with the to-be-cleaned area information to obtain a cleaning area rate;
determining whether the sweeping area rate is smaller than a preset value;
when the cleaning area rate is smaller than a preset value, comparing the cleaned area information with the to-be-cleaned area information to obtain non-cleaned area information;
the central processing unit obtains second task track information according to the information of the non-cleaned area, and the second task track information is sent to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device so that the vehicle body control unit works according to the second task track information;
and when the cleaning area rate is smaller than a preset value, the central processing unit generates alarm information and sends the alarm information to a display unit of the cleaning device, and the display unit is used for displaying the alarm information to a user.
Preferably, when the position information of the cleaning device does not reach the cleaning end position information, the method further includes:
the central processing unit stores position information of the cleaning device.
Preferably, the task area information includes one or more task area data.
Further preferably, when the task area information includes a plurality of task area data, the method further includes:
the central processing unit determines the shortest distance path information between the non-task area information and the task area according to the task area data;
when the position information of the cleaning device reaches the non-task area information range, the central processing unit sends an instruction of suspending cleaning and passing through a non-task area to the vehicle body control unit, so that the vehicle body control unit passes through the non-task area according to the shortest distance path information between the task areas;
and when the position information of the cleaning device is not in the non-task area information range, the central processing unit sends a cleaning continuing instruction to the vehicle body control unit, so that the vehicle body control unit works according to the task planning information.
Further preferably, when the task area information includes a plurality of task area data, the obtaining of the cleaned area information according to the actual trajectory information and the unit cleaning area value specifically includes:
and acquiring cleaned area information according to the actual track information, the shortest distance path information among the task areas and the unit cleaning area value.
Preferably, when the sweeping area ratio is smaller than a preset value, the method further comprises:
and the central processing unit obtains second task track information according to the information of the non-cleaned area and the task list information.
Further preferably, the second task trajectory information includes a plurality of path information; each of the path information includes a priority parameter.
Further preferably, the priority parameter of the path information corresponding to the non-cleaned area information is higher than the priority parameter of the path information corresponding to the to-be-cleaned area information.
Preferably, after the display unit displays the alarm information to the user, the method further includes:
the central processing unit receives a cleaning instruction input by the user;
and analyzing the cleaning instruction, generating third task track information according to the analyzed cleaning instruction, and enabling the vehicle body control unit to work according to the third task track information.
According to the cleaning track planning method provided by the embodiment of the invention, whether the planned route calculated by the cleaning device can meet the requirement of the cleaning area rate is determined, when the planned route cannot meet the requirement of the cleaning area rate, the task route is planned again and an alarm is given, and the sweeper executes the cleaning task according to the planned route again, so that the cleaning effect meets the requirement of the cleaning area rate.
Drawings
Fig. 1 is a flowchart of a cleaning trajectory planning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a cleaning task area according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The cleaning track planning method provided by the embodiment of the invention is realized in a cleaning device for cleaning a road surface, and is used for carrying out secondary planning on a cleaning path when the cleaning area rate does not meet the standard, so that the actual cleaning area meets the requirement of the cleaning area rate. The flow chart of the method is shown in figure 1, and the method comprises the following steps:
in particular, the sweeping device can be understood as an unmanned cleaning vehicle for cleaning and sweeping the road surface of the scene to be swept. The cleaning device comprises a central processing unit, a micro-processing unit, a vehicle body control unit and a sensing unit.
The central processing unit can be understood as the brain of the cleaning device, and is mainly used for processing various algorithms and logics. The micro control unit is respectively connected with the vehicle body control unit and the central processing unit and is used for data interaction between the vehicle body control unit and the central processing unit. The vehicle body control unit may be understood as a unit for controlling the operation of the cleaning device, including controlling the cleaning direction, the cleaning speed, the lifting of the cleaning brush, and the like. The vehicle body control unit comprises a motor module and an electric power steering module. The motor module can be understood as a drive which provides kinetic energy for the sweeping device. An electric power steering module is understood to be a steering device which controls the direction of travel of the cleaning device. The sensing unit can be understood as a module for sensing the environment around the cleaning device. The sensing unit comprises a radar module and a differential positioning module. The radar module comprises an ultrasonic radar and a laser radar and is used for detecting nearby obstacles of the body of the cleaning device. The differential positioning module can be understood as a differential GPS (differential GPS-DGPS), which is a device that uses a differential GPS reference platform with three-dimensional coordinates to obtain a pseudo-range correction amount or a position correction amount, and then sends the correction amount to a GPS navigator in real time or afterwards to correct measurement data so as to improve the positioning accuracy of the GPS. The differential positioning module is used for accurately positioning the current position of the cleaning device.
The task list information may be understood as task information including various cleaning conditions such as task mode information, task time, cleaning end point position information, cleaning start point position information, and to-be-cleaned area information. The task mode information can be understood as a cleaning mode of the cleaning task this time required by the user. The cleaning modes can be divided into a plurality of types, and different types of cleaning modes correspond to different working modes of the cleaning device, for example, the working states of the cleaning device corresponding to the common, quick, power-saving and clean cleaning modes are different. The cleaning end point position information and the cleaning start point position information can be understood as the start point and the end point of the current cleaning task. The first area to be cleaned information may be understood as selecting one or more specific areas to be cleaned in the scene to be cleaned.
The central processing unit analyzes the task list information and obtains first task track information according to an analysis result. The first task trajectory information may be understood as predicted travel route information of the cleaning device when the cleaning task is performed on the first area-to-be-cleaned information for the first time.
specifically, the central processing unit sends first task track information to the micro-processing unit, performs digital-to-analog conversion on the first task track information, converts a digital signal into an analog signal, obtains corner control information and motor torque control information, and sends the corner control information and the motor torque control information to the motor module and the electric power steering module respectively. The steering angle control information may be understood as control information for controlling the direction of travel of the cleaning device, which can be recognized by the electric power steering module. The motor torque control information is to be understood as control information that can be recognized by the motor module for controlling the cleaning device to start traveling, stop traveling, and the traveling speed.
Preferably, before the micro-processing unit performs digital-to-analog conversion on the first task trajectory information, each module in the cleaning device needs to be self-checked, and after the self-check is successful, the central processing unit sends the first task trajectory information to the micro-processing unit.
Further specifically, the central processing unit sends a self-checking instruction to the micro-processing unit, the vehicle body control unit and the sensing unit, so that the micro-processing unit, the vehicle body control unit and the sensing unit perform self-checking according to the self-checking instruction, generate a self-checking result code according to a self-checking result, and return the self-checking result code to the central processing unit. When the value of the self-checking result code is a first result value representing the success of self-checking, the central processing unit sends a conversion instruction to the micro-processing unit, the micro-processing unit performs digital-to-analog conversion on the first task track information according to the conversion instruction, and sends the motor torque control information and the rotation angle control information to the motor module and the electric power steering module respectively.
specifically, the motor module operates according to the motor torque control information so that the cleaning apparatus travels at a speed represented by the motor torque control information. The electric power steering module operates according to the steering angle control information, so that the cleaning device travels in the direction represented by the steering angle control information. Meanwhile, the radar module and the differential positioning module in the sensing unit also start to work according to the start of work.
More specifically, the differential positioning module monitors the position information of the cleaning device according to the execution signal, and sends the position information of the cleaning device to the central processing unit in real time, and the radar module starts to detect nearby obstacles of the body of the cleaning device. At the same time, the other units in the cleaning device also start working in succession, e.g. the sweeper brush starts rotating, the cleaner starts cleaning, etc. When the radar module detects that an obstacle exists near the body of the cleaning device, the cleaning device can stop traveling, bypass the obstacle or follow the obstacle according to specific conditions until the obstacle is far away from the cleaning device.
The task area information may include one or more task area data. As shown in the cleaning task area diagram of fig. 2, the cleaning task area includes a task area a, a task area B, and a task area C. When the task area information includes a plurality of task area data, the central processing unit determines shortest distance path information between the non-task area information and the task area according to the plurality of task area data. Namely, the shortest distance path from task area a to task area B, and the shortest distance path from task area B to task area C.
When the position information of the cleaning device has reached within the non-task area information range, that is, in the area D in the figure, the central processing unit sends an instruction to suspend cleaning and to pass through the non-task area to the vehicle body control unit, so that the vehicle body control unit passes through the non-task area according to the shortest distance route information between the task areas. When the vehicle passes through the task passing area, the vehicle body control unit controls the sweeper to lift up, and the dust collector stops collecting dust and accelerates passing. When the position information of the cleaning device is not in the non-task area information range, namely when the cleaning device enters a task area A, a task area B or a task area C again in the drawing, the central processing unit sends a cleaning continuing instruction to the vehicle body control unit, so that the vehicle body control unit works according to the task planning information. That is, the cleaning device does not perform the cleaning work when passing through the route represented by the shortest distance route information between the task areas.
It should be noted that, the units included in the cleaning device are not limited to the central processing unit, the micro processing unit, the sensing unit, the motor module and the electric power steering module, and those skilled in the art may set other units or components included in the cleaning device according to the needs.
specifically, the central processing unit determines whether the position information of the cleaning device sent by the differential positioning module reaches the cleaning end point position information. If the position information of the cleaning device is the position information of the cleaning end point, the cleaning task is still in progress, and the following step 141 is executed. When the position information of the cleaning device is the cleaning end point position information, indicating that the cleaning task is completed, the following step 142 is executed. This process may be understood as a process of determining whether the current cleaning task has been completed.
specifically, when the position information of the cleaning device is the position information of the cleaning end point, the central processing unit records and stores the current position information of the cleaning device, and the current position information is used later. And, the cleaning device continues to perform the cleaning task, and the differential positioning module continues to monitor the position information of the cleaning device, that is, returns to perform step 120 until the position information of the cleaning device reaches the cleaning end position information. This process can be understood as a process of monitoring and recording the travel path of the sweeping device in real time.
Preferably, when the position information of the cleaning device is the position information of the cleaning end point, the central processing unit acquires a cleaning degree parameter from the vehicle body control unit every time the central processing unit acquires the position information of one cleaning device, and stores the cleaning degree parameter in correspondence with the position information of the cleaning device, so that each cleaning degree parameter corresponds to the position information of one cleaning device. The cleaning parameter information can be understood as cleaning action parameters of the sweeping device, such as the brush speed and the vacuum cleaner power. Then, the central processing unit generates cleaning record information according to the position information of the cleaning device and the cleanliness parameter corresponding to the position information of the cleaning device. The process can be understood as a process that the central processing unit collects the cleaning condition in real time, and can be used for reproducing the recorded cleaning condition at the time of track reproduction, so that the cleaning process can be mastered more comprehensively.
142, obtaining actual track information according to the position information of the cleaning device;
specifically, the first task trajectory information obtained by the central processing unit according to the task list information, that is, the traveling route of the cleaning device obtained according to the task list, is an ideal situation. However, the traveling route obtained according to the task list does not take into consideration the actual situation, so that the cleaning device cannot always travel according to the task route in some actual work, the task route must be revised, and otherwise the cleaning work cannot be continuously performed. For example, a garbage can is temporarily placed in the task path, and the path traveled by the cleaning device is blocked, so that the cleaning device cannot continue to travel according to the preset travel path, and at the moment, the cleaning device needs to bypass the garbage can to continue working. In the process of the re-bypassing, the task path is changed, so that the cleaning device can continuously complete the cleaning task. Therefore, the central processing unit needs to draw an actual path track of the cleaning device according to the actual traveling position of the cleaning device, so as to grasp the actual situation of the cleaning device in the process of executing the cleaning task. When the position information of the cleaning device reaches the cleaning end position information, the cleaning task is completed, and the central processing unit obtains the actual track information according to the stored position information of the cleaning device.
specifically, the central processing unit first acquires a unit cleaning area. When the task area information only comprises one task area data, the central processing unit calculates cleaned area information according to the actual track information and the unit cleaning area value. When the task area information includes a plurality of task area data, since the cleaning device does not perform the cleaning work when passing through the route represented by the shortest distance route information between the task areas, the central processing unit first subtracts the route represented by the shortest distance route information between the task areas from the travel route of the cleaning device represented by the actual route information to obtain an actual cleaning route, and then calculates the cleaned area information based on the actual cleaning route and the unit cleaning area value.
The unit cleaning area can be understood as the area which can be cleaned by a cleaning device in a non-driving state, and the area which is cleaned by the cleaning device in the cleaning process can be obtained by multiplying the unit cleaning area of the cleaning device by the actual track of the cleaning device. The swept area information can be understood as the area swept by the sweeping device during sweeping.
specifically, in the last step, the central processing unit plots the area that can be cleaned by the actual track information, that is, the area that is actually cleaned by the cleaning device in the current cleaning task, according to the actual track information. After the area actually cleaned is obtained, the central processing unit can compare the cleaning area represented by the cleaned area information with the cleaning area represented by the to-be-cleaned area information to obtain the cleaning area rate. The cleaning area ratio can be understood as the cleaning coverage of the cleaning device on the area to be cleaned actually calculated by the central processing unit.
specifically, the cpu first needs to obtain a preset value, which can be understood as a threshold value of the cleaning coverage area rate. Due to the actual road conditions and other reasons, the area of the road surface area which can be cleaned by the cleaning device represented by the cleaned area information may have a certain error compared with the area of the area to be cleaned, which is required by the user, but the error is within a reasonable range, and the cleaning task is effective. Therefore, before the cleaning device performs the cleaning task, it is necessary to determine whether the error is within a reasonable range, that is, whether the cleaning area ratio is smaller than a preset value.
When the sweeping area ratio is smaller than the preset value, it means that the error is not within a reasonable range, that is, the cleaning task is not valid or is partially invalid, and the task trajectory needs to be re-planned twice, then the following step 180 is executed. When the cleaning area rate is not less than the preset value, the error is within a reasonable range, and the process is ended.
The preferred preset value is 95%. That is, the area of the road surface area which the sweeping device can clean must cover more than 95% of the area to be swept.
specifically, when the cleaning area ratio is smaller than the preset value, it indicates that the central processing unit needs to perform secondary planning on the task trajectory again.
Preferably, the central processing unit compares the cleaned area information with the area to be cleaned, and removes the area represented by the cleaned area information from the area represented by the area to be cleaned to obtain the information of the area which is not cleaned, that is, to obtain the information of the area which is not cleaned.
Then, the central processing unit obtains second task track information only according to the information of the uncleaned area. At this time, the path in the second task trajectory information includes only the portion that is not swept, that is, in this manner, only the region that is not swept is swept, so that the task completion speed can be maximally increased.
Or the central processing unit calculates to obtain second task track information according to the information of the non-cleaning area and the task list information. The second task trajectory information includes a plurality of path information, and each path information includes a priority parameter. The priority parameter represents the priority of the path in the secondary cleaning. The priority parameter of the path information corresponding to the information of the non-cleaning area is higher than the priority parameter of the path information corresponding to the information of the area to be cleaned. During the second cleaning, the central processing unit controls the cleaning device to preferentially clean the path corresponding to the cleaning area information. At this time, the path in the second task trajectory information includes both the portion that has not been swept and the portion that has been cleaned, so that the cleaning effect can be maximally secured. It should be noted that, a person skilled in the art may set, by himself or herself, whether the generation manner of the second task trajectory information is generated only from the uncleaned area information, or is generated from the uncleaned area information and the task list information.
And finally, the central processing unit sends the second task track information to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device, so that the vehicle body control unit works according to the second task track information. The specific workflow is the same as steps 110-160.
And when the cleaning area rate is smaller than the preset value, the central processing unit further generates alarm information and sends the alarm information to a display unit of the cleaning device, and the display unit displays the alarm information to a user. When the central processing unit receives a cleaning instruction input by a user according to the alarm information, the cleaning instruction is analyzed, and third task track information is generated according to the analyzed cleaning instruction and used for the vehicle body control unit to work according to the third task track information. The third task trajectory information may be understood as path information of the quadratic plan obtained according to a user instruction. If the central processing unit receives a cleaning instruction input by a user according to the alarm information, the cleaning device can execute a cleaning task according to the cleaning instruction input by the user. If the central processing unit does not receive the cleaning instruction input by the user according to the alarm information, the cleaning device executes the cleaning task according to the second task track information calculated by the central processing unit.
According to the cleaning track planning method provided by the embodiment of the invention, whether the planned route calculated by the cleaning device can meet the requirement of the cleaning area rate is determined, when the planned route cannot meet the requirement of the cleaning area rate, the task route is planned again and an alarm is given, and the sweeper executes the cleaning task according to the planned route again, so that the cleaning effect meets the requirement of the cleaning area rate.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a user terminal, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A cleaning track planning method is characterized by comprising the following steps:
a central processing unit in the cleaning device generates first task track information according to the task list information; the task list information comprises information of an area to be cleaned and cleaning end point position information;
the central processing unit sends the first task track information to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device, so that the vehicle body control unit works according to the first task track information;
a sensing unit in the cleaning device monitors the position information of the cleaning device and sends the position information of the cleaning device to the central processing unit;
when the position of the cleaning device reaches the cleaning end position, the central processing unit obtains actual track information according to the position information of the cleaning device;
acquiring cleaned area information according to the actual track information and the unit cleaning area value; the unit cleaning area value is the area which can be cleaned by one cleaning device in a non-driving state;
comparing the cleaned area information with the to-be-cleaned area information to obtain a cleaning area rate;
determining whether the sweeping area rate is smaller than a preset value;
when the cleaning area rate is smaller than a preset value, comparing the cleaned area information with the to-be-cleaned area information to obtain non-cleaned area information;
the central processing unit obtains second task track information according to the information of the non-cleaned area, and the second task track information is sent to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device so that the vehicle body control unit works according to the second task track information;
and when the cleaning area rate is smaller than a preset value, the central processing unit generates alarm information and sends the alarm information to a display unit of the cleaning device, and the display unit is used for displaying the alarm information to a user.
2. The cleaning trajectory planning method according to claim 1, wherein when the position information of the cleaning device does not reach the cleaning end position information, the method further comprises:
the central processing unit stores position information of the cleaning device.
3. The cleaning trajectory planning method according to claim 1, wherein the task area information includes one or more task area data.
4. The cleaning trajectory planning method according to claim 3, wherein when the task area information includes a plurality of the task area data, the method further includes:
the central processing unit determines shortest distance path information between a non-task area and a task area according to the task area data;
when the position of the cleaning device reaches the range of the non-task area, the central processing unit sends an instruction of suspending cleaning and passing through the non-task area to the vehicle body control unit, so that the vehicle body control unit passes through the non-task area according to the shortest distance path information between the task areas;
and when the position of the cleaning device is not in the non-task area range, the central processing unit sends a cleaning continuing instruction to the vehicle body control unit, so that the vehicle body control unit works according to the task planning information.
5. The cleaning trajectory planning method according to claim 4, wherein when the task area information includes a plurality of task area data, the obtaining of the cleaned area information according to the actual trajectory information and the unit cleaning area value specifically includes:
and acquiring cleaned area information according to the actual track information, the shortest distance path information among the task areas and the unit cleaning area value.
6. The cleaning trajectory planning method according to claim 1, wherein when the cleaning area ratio is smaller than a preset value, the method further comprises:
and the central processing unit obtains second task track information according to the information of the non-cleaned area and the task list information.
7. The cleaning trajectory planning method according to claim 6, wherein the second task trajectory information includes a plurality of path information; each of the path information includes a priority parameter.
8. The cleaning trajectory planning method according to claim 7, wherein the priority parameter of the path information corresponding to the non-cleaning region information is higher than the priority parameter of the path information corresponding to the to-be-cleaned region information.
9. The cleaning trajectory planning method according to claim 1, after the display unit displays the warning information to a user, the method further comprising:
the central processing unit receives a cleaning instruction input by the user;
and analyzing the cleaning instruction, generating third task track information according to the analyzed cleaning instruction, and enabling the vehicle body control unit to work according to the third task track information.
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| CN112069283A (en) * | 2020-09-14 | 2020-12-11 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping area de-weighting method and device for sweeper, computer equipment and storage medium |
| CN112336254B (en) * | 2020-10-29 | 2022-06-28 | 久瓴(江苏)数字智能科技有限公司 | Cleaning strategy generation method and device for sweeping robot, computer equipment and medium |
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