CN108664031A - A kind of trajectory processing method - Google Patents
A kind of trajectory processing method Download PDFInfo
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- CN108664031A CN108664031A CN201810546995.XA CN201810546995A CN108664031A CN 108664031 A CN108664031 A CN 108664031A CN 201810546995 A CN201810546995 A CN 201810546995A CN 108664031 A CN108664031 A CN 108664031A
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- 238000003672 processing method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 82
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000004140 cleaning Methods 0.000 claims description 85
- 230000008447 perception Effects 0.000 claims description 11
- 238000010408 sweeping Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010926 purge Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to a kind of trajectory processing method, the method includes：Central processing unit generates the first trace information according to task list information；Central processing unit obtains the first sweep-out pattern rate according to the first trace information and the first area information to be cleaned；First trace information is sent to vehicle body control unit by central processing unit by microprocessing unit；Perceive the location information of unit monitoring clearing apparatus；When the location information of clearing apparatus, which has reached, cleans end point location information, central processing unit obtains the second trace information according to the location information of clearing apparatus；According to the second trace information and the first area information to be cleaned, the second sweep-out pattern rate is obtained；When the area information to be cleaned of next task list information is identical as the first area information to be cleaned, the first sweep-out pattern rate and the second sweep-out pattern rate are compared；When the second sweep-out pattern rate is more than the first sweep-out pattern rate, the second trace information is sent to by vehicle body control unit by microprocessing unit.
Description
Technical field
The present invention relates to technical field of data processing more particularly to a kind of trajectory processing methods.
Background technology
With the development of economy with science and technology progress, requirement of the people to living environment quality is higher and higher, road it is clear
It sweeps and keeps a public place clean and also increasingly paid attention to by relevant department.Using the mode on hand sweeping road surface, not only human cost is high, but also
Generated dust can seriously affect the raw body health of cleaner when hand sweeping, also inevitably cause the two of environment
Secondary pollution.And with the emergence of artificial intelligence, it is clear that the new energy environmental sanitation based on artificial intelligence technology is also increasingly focused in market
Sweep vehicle.Moreover, with the development of city size, the continuous promotion of human cost, for intelligent unmanned automatic traveling
Sweeper demand, what is shown is particularly urgent.Although there has been relevant technology in unmanned field, current nothing
People drive sweeper still can not intelligently, be efficiently completed cleaning task.
Invention content
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of trajectory processing method, history is executed into cleaning
It the actual motion track of task and is compared and is analyzed according to the estimated track that task list information is planned, if history
The cleaning effect for executing the actual motion track of cleaning task is more preferable, then the actual motion track that history is executed to cleaning task is made
For the preferred cleaning track in the region to be cleaned so that the cleaning coverage higher in region to be cleaned.
To achieve the above object, the present invention provides a kind of trajectory processing method, the trajectory processing method includes：
Central processing unit in clearing apparatus generates the first trace information according to task list information；The task list
Information includes the first area information to be cleaned and cleaning end point location information；
The central processing unit obtains first according to first trace information and first area information to be cleaned
Sweep-out pattern rate；
The central processing unit is sent first trace information by the microprocessing unit in the clearing apparatus
To the vehicle body control unit in the clearing apparatus, worked according to first trace information to the vehicle body control unit；
Perception unit in the clearing apparatus monitors the location information of the clearing apparatus, and by the clearing apparatus
Location information is sent to the central processing unit；
The central processing unit determines whether the location information of the clearing apparatus has reached the cleaning final position
Information；
When the location information of the clearing apparatus does not reach the cleaning end point location information, the central processing list
Member stores the location information of the clearing apparatus；
When the location information of the clearing apparatus has reached the cleaning end point location information, the central processing unit
The second trace information is obtained according to the location information of the clearing apparatus；
According to second trace information and first area information to be cleaned, the second sweep-out pattern rate is obtained；
When the central processing unit receives next task inventory information, the next task inventory information is determined
Area information to be cleaned it is whether identical as the first area information to be cleaned；
When the area information to be cleaned of the next task inventory information is identical as the described first area information to be cleaned
When, compare the first sweep-out pattern rate and the second sweep-out pattern rate；
It, will be described by the microprocessing unit when the second sweep-out pattern rate is more than the first sweep-out pattern rate
Second trace information is sent to the vehicle body control unit, to the vehicle body control unit according to the second trace information work
Make.
Preferably, when the area information to be cleaned of the next task inventory information and the first area information to be cleaned not
Meanwhile the method further includes：
The central processing unit generates third trace information according to the next task inventory information, to the vehicle
Body control unit works according to the third trace information.
Preferably, when the second sweep-out pattern rate is not more than the first sweep-out pattern rate, the method further includes：
First trace information is sent to the vehicle body control by the central processing unit by the microprocessing unit
Unit processed works to the vehicle body control unit according to first trace information.
Preferably, described after the location information by the clearing apparatus is sent to the central processing unit
Method further includes：
The central processing unit obtains cleannes parameter from the vehicle body control unit；Each cleannes parameter pair
Answer the location information of a clearing apparatus.
It is further preferred that location information and the clearing apparatus of the central processing unit according to the clearing apparatus
The corresponding cleannes parameter of location information, generate cleaning record information.
Preferably, the central processing unit is specially according to task list information the first trace information of generation：
It states central processing unit and the first trace information is generated according to task list information and random parameter.
It is further preferred that when the second sweep-out pattern rate is more than the first sweep-out pattern rate, the method is also
Including：
The random parameter is updated according to second trace information.
Preferably, in the central processing unit by the microprocessing unit in the clearing apparatus by first track
Information is sent to before the vehicle body control unit in the clearing apparatus, and the method further includes：
The central processing unit receives the microprocessing unit, the vehicle body control unit and the perception unit and sends
Self-detection result code；
When the value of the self-detection result code is the first end value, the central processing unit passes through in the clearing apparatus
Microprocessing unit first trace information is sent to the vehicle body control unit in the clearing apparatus.
Preferably, the perception unit includes：Radar module and Differential positioning module.
A kind of trajectory processing method provided in an embodiment of the present invention, by history execute cleaning task actual motion track and
It is compared and is analyzed according to the estimated track that task list information is planned, if history executes the practical fortune of cleaning task
The cleaning effect of row track is more preferable, then history is executed the actual motion track of cleaning task as the preferred of the region to be cleaned
Clean track so that the cleaning coverage higher in region to be cleaned.
Description of the drawings
Fig. 1 is a kind of flow chart of trajectory processing 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.
A kind of trajectory processing method provided in an embodiment of the present invention is implemented in the clearing apparatus on cleaning road surface, for clear
After sweeping device records cleaning track, the track recorded is further processed, it is next to preferably complete
Secondary cleaning task.Its method flow diagram is as shown in Figure 1, include the following steps：
Step 110, central processing unit generates the first trace information according to task list information；
Specifically, clearing apparatus can be understood as a unpiloted cleaning vehicle, for scene to be cleaned into walking along the street
Face cleaning cleans.Clearing apparatus includes central processing unit, microprocessing unit, vehicle body control unit and perception unit.
Wherein, central processing unit can be understood as the brain of clearing apparatus, mainly for the treatment of various algorithms and logic.
Micro-control unit is connected with vehicle body control unit and central processing unit respectively, is used for vehicle body control unit and central processing unit
Between data interaction.Vehicle body control unit can be understood as the unit of the operation for controlling clearing apparatus, including control cleans
Direction, the lifting etc. for cleaning speed, cleaning brush.Vehicle body control unit includes motor module and electric power steering module.Motor
Module can be understood as providing the driving device of kinetic energy for clearing apparatus.Electric power steering module is appreciated that clean in order to control
The transfer of device direction of travel.Perception unit can be understood as the module perceived to clearing apparatus ambient enviroment.Sense
Know that unit includes radar module and Differential positioning module.Radar module includes ultrasonic radar and laser radar, for cleaning
Barrier is detected near device vehicle body.Differential positioning module can be understood as differential GPS (differential GPS-
DGPS, DGPS), be the differential GPS standard station using three-dimensional coordinate, acquire pseudorange correction amount or position correction amount, then by this
Correction amount is real-time or is sent to GPS navigator afterwards, is modified to measurement data, to improve the device of GPS location precision.Difference
The position for dividing locating module to be currently located for accurately positioning clearing apparatus.
It includes mission mode information, task time that task list information, which can be understood as, cleans end point location information, cleans
The mission bit stream of all kinds of cleaning conditions such as start position information and area information to be cleaned.Mission mode information can be understood as using
The cleaning modes of this cleaning task needed for family.Cleaning modes can there are many, different types of cleaning modes correspond to clear
The different operating mode of sweeping device, for example, commonly, quickly, economize on electricity, the work of clearing apparatus corresponding to clean cleaning modes
State is different.It cleans end point location information and cleans start position information and can be understood as the starting point and end that this cleans task
Point.First area information to be cleaned can be understood as selecting some in scene to be cleaned or multiple specific regions to be cleaned.
Central processing unit parses task list information, and the first trace information is obtained according to analysis result and random parameter.
First trace information can be understood as clearing apparatus when first time, execution carried out cleaning task to the first area information to be cleaned,
It is expected that traffic line information.
It should be noted that central processing unit parsing can to obtained track after same area information to be cleaned every time
Can be different, obtained track has random performance to central processing unit every time, and these different tracks can complete to work as
Preceding task list.
Step 120, the first sweep-out pattern rate is obtained according to the first trace information and the first area information to be cleaned；
It can be cleaned specifically, central processing unit draws the first trace information according to the first trace information being calculated
The region area arrived compares representated by the region area and the first area information to be cleaned that the first trace information can be swept into
Sweep-out pattern obtains the first sweep-out pattern rate.First sweep-out pattern rate can be understood as central processing unit be calculated it is pre-
Meter treats the cleaning coverage of purging zone.
Preferably, the first sweep-out pattern rate needs to be more than or equal to 95%, and otherwise central processing unit needs clear according to task
Single information, which recalculates, generates the first trace information.
Step 130, clearing apparatus executes cleaning task；
Specifically, the motor module and electric power steering in vehicle body control unit are started to work, meanwhile, it perceives in unit
Radar module and Differential positioning module also according to start-up operation so that clearing apparatus according to the first trace information and combine perceive
The obtained data of unit are advanced.
Further specifically, Differential positioning module is according to the location information for executing signal monitoring clearing apparatus, and will clean
The location information of device is sent to central processing unit in real time, and radar module starts to obstacle near clearing apparatus vehicle body
Object is detected.Meanwhile other units in clearing apparatus also begin to work in succession, for example, brush starts to rotate, dust catcher is opened
Beginning dust suction etc..When having barrier near radar module detects clearing apparatus vehicle body, clearing apparatus can be as the case may be
Selection stops advancing, detouring barrier or follows barrier, until barrier is far from clearing apparatus.
What needs to be explained here is that each unit included in clearing apparatus is not limited only to above-mentioned central processing list
Member, microprocessing unit, perception unit, motor module and electric power steering module, those skilled in the art can be as needed
Other units or component included in clearing apparatus are voluntarily set.
Clearing apparatus execute cleaning task before, need in clearing apparatus modules carry out self-test, self-test at
After work(, central processing unit just can send the first trace information to microprocessing unit.
Further specifically, central processing unit sends self-test to microprocessing unit, vehicle body control unit and perception unit
Instruction so that microprocessing unit, vehicle body control unit and perception unit carry out self-test according to self-checking command, and according to self-detection result
It generates self-detection result code and is back to central processing unit.When the value of self-detection result code is to represent successful first end value of self-test
When, central processing unit sends conversion instruction to microprocessing unit, to microprocessing unit according to the first track of conversion instruction pair
Information carries out digital-to-analogue conversion, and Motor torque is controlled information and corner control information is respectively sent to motor module and electronic helps
Power steering module.
Step 140, determine whether the location information of clearing apparatus has reached cleaning end point location information；
Specifically, central processing unit determines whether the location information of the clearing apparatus transmitted by Differential positioning module has reached
To cleaning end point location information.When the location information of clearing apparatus is to have not yet been reached to clean end point location information, illustrate to clean
Task is still underway, then executes following step 151.When the location information of clearing apparatus is to have reached cleaning end point location information
When, illustrate that cleaning task is completed, then executes following step 152.This process can be understood as determining that current cleaning task is
No completed process.
Step 151, the location information of clearing apparatus is stored；
Specifically, when the location information of clearing apparatus is to have not yet been reached to clean end point location information, central processing unit
It will get off when the location information record storage of front cleaning equipment, by rear use.Also, clearing apparatus continues to execute cleaning task,
Differential positioning module continues to monitor the location information of clearing apparatus, that is, returns and execute above-mentioned steps 130, until clearing apparatus
Location information be reach clean end point location information until.This process can be understood as to the driving trace of clearing apparatus into
The process of row real time monitoring and record.
Preferably, when the location information of clearing apparatus is to have not yet been reached to clean end point location information, central processing unit is every
As soon as obtaining the location information of a clearing apparatus, a cleannes parameter is obtained from vehicle body control unit, and cleannes are joined
Number is corresponding with the location information of clearing apparatus to be stored so that each cleannes parameter corresponds to the position letter of a clearing apparatus
Breath.Cleaning parameter information can be understood as the cleaning action parameter of clearing apparatus, such as brush rotating speed and suction power etc..So
Afterwards, central processing unit is according to the location information of clearing apparatus and the corresponding cleannes parameter of the location information of clearing apparatus,
Generate cleaning record information.This process can be understood as the process that central processing unit is acquired to cleaning situation in real time,
It can be used for reappearing the cleaning situation at that time recorded together when track reappears, convenient for for being carried out more comprehensively to cleaning process
Grasp.
Step 152, the second trace information is obtained according to the location information of clearing apparatus；
Specifically, central processing unit is appointed according to obtained first trace information of task list information, that is, basis
The travelling route for the clearing apparatus that business inventory obtains, is a kind of ideal state.But the travelling route obtained by task list is simultaneously
Do not consider actual conditions so that clearing apparatus can not be advanced according to task path always in certain real works, it is necessary to right
Task path is revised, and cleaning otherwise can not be continued to execute.For example, a rubbish is placed in task path temporarily
Bucket plugs the route of clearing apparatus traveling so that clearing apparatus can not be continued on according to scheduled travelling route, at this time clearly
Sweeping device needs, to detour dustbin, can just work on.During row, task path is altered so that cleans dress
Cleaning task can be continued to complete by setting.Therefore, central processing unit needs to be drawn according to the actual advanced positions of clearing apparatus
Go out the Actual path track of clearing apparatus, can just grasp actual conditions of clearing apparatus during executing cleaning task.
When the location information of clearing apparatus is to have reached to clean end point location information, illustrate that cleaning task is completed, then central processing
Unit obtains the second trace information according to the location information of the clearing apparatus stored.
Step 160, according to the second trace information and the first area information to be cleaned, the second sweep-out pattern rate is obtained；
Specifically, central processing unit draws the area surface that the second trace information can be swept into according to the second trace information
It accumulates, that is, the region area that clearing apparatus actually cleans in this cleaning task.It compares representated by the second trace information
Sweep-out pattern and the sweep-out pattern representated by the first area information to be cleaned, obtain the second sweep-out pattern rate.Second sweep-out pattern
Rate can be understood as the practical cleaning coverage for treating purging zone of clearing apparatus that central processing unit is calculated.
Step 170, central processing unit receives next task inventory information；
Specifically, after having executed primary cleaning task, central processing unit receives next task inventory information.
Step 180, determine whether the area information to be cleaned of next task inventory information is believed with the first region to be cleaned
Manner of breathing is same；
Specifically, central processing unit determines whether the area information to be cleaned of next task inventory information waits for first
Purging zone information is identical, this process can be understood as central processing unit determination and whether there is in the cleaning task of history
To the cleaning task in current region to be cleaned, that is, whether current region to be cleaned is to be cleaned for the first time.Work as next task
When the area information to be cleaned of inventory information is identical as the first area information to be cleaned, illustrate that current region to be cleaned is not first
It is cleaned, then executes following step 191.Area information to be cleaned when next task list information and the first region to be cleaned
When information difference, illustrates that current region to be cleaned is to be cleaned for the first time, then execute following step 192.
Preferably, further include other information since task list information comprises more than area information to be cleaned, center
Processing unit can also directly determine whether there is historic task planning information identical with next task inventory information, also
It is to determine whether current cleaning task had been performed in past cleaning task.When there is no believe with next task inventory
When ceasing identical historic task planning information, illustrate that current cleaning task was not performed in past cleaning task, then
Execute following step 191.When there is historic task planning information identical with next task inventory information, illustrate current clear
It sweeps task to be performed in past cleaning task, then executes following step 192.
Step 191, the first sweep-out pattern rate and the second sweep-out pattern rate are compared, cleaning task is executed according to comparing result；
Specifically, the area information to be cleaned when next task list information is identical as the first area information to be cleaned
When, that is, current region to be cleaned is not when being cleaned for the first time, history is executed the reality of cleaning task by central processing unit
It running orbit and is compared and is analyzed according to the estimated track that task list information is planned, appointed if history executes to clean
The cleaning effect of the actual motion track of business is more preferable, and history is executed the actual motion track of cleaning task as the area to be cleaned
The preferred cleaning track in domain, that is, the cleaning track as this cleaning task.
Further specifically, central processing unit compares the first sweep-out pattern rate and the second sweep-out pattern rate.When second clear
When sweeping area occupation ratio more than the first sweep-out pattern rate, illustrate that history executes the actual motion track ratio of cleaning task according to task list
The cleaning effect for the estimated track that information is planned is more preferable, the cleaning coverage higher of purging zone, then central processing unit
The second trace information is sent to vehicle body control unit by microprocessing unit, is believed according to the second track to vehicle body control unit
Cease work.Meanwhile central processing unit according to the second trace information update optimization random parameter so that central processing unit according to
The obtained trace information of random parameter after analysis result and optimization is more reasonable.This process can be understood as random parameter
The process being trained.After training each time, random parameter is all more reasonable, the obtained trace information of central processing unit
More rationally.
And when the second sweep-out pattern rate is not more than the first sweep-out pattern rate, illustrate that there is no than according to task list information
The better history of cleaning effect for the estimated track planned executes the actual motion track of cleaning task, then central processing list
First trace information is sent to vehicle body control unit by member by microprocessing unit, to vehicle body control unit according to the first track
Information work.
Step 192, third trace information is generated according to next task inventory information, to vehicle body control unit according to institute
State the work of third trace information；
Specifically, the area information to be cleaned when next task list information is different from the first area information to be cleaned
When, illustrate that current region to be cleaned is to be cleaned for the first time.Then central processing unit generates the according to next task inventory information
Three trace informations, and the third trace information is sent to by vehicle body control unit by microprocessing unit, to Body Control
Unit works according to third trace information.
It should be noted that this step is considered as the initial step of next trace information processing method flow, until
Until clearing apparatus no longer executes any cleaning task.
A kind of trajectory processing method provided in an embodiment of the present invention, by history execute cleaning task actual motion track and
It is compared and is analyzed according to the estimated track that task list information is planned, if history executes the practical fortune of cleaning task
The cleaning effect of row track is more preferable, then history is executed the actual motion track of cleaning task as the preferred of the region to be cleaned
Clean track so that the cleaning coverage higher in region to be cleaned.
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, user terminal to execute
Software module or the combination of the two implement.Software module can be placed in random access memory (RAM), memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neck
In any other form of storage medium well known in domain.
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 trajectory processing method, which is characterized in that the trajectory processing method includes：
Central processing unit in clearing apparatus generates the first trace information according to task list information；The task list information
Including the first area information to be cleaned and clean end point location information；
The central processing unit obtains the first cleaning according to first trace information and first area information to be cleaned
Area occupation ratio；
First trace information is sent to institute by the central processing unit by the microprocessing unit in the clearing apparatus
The vehicle body control unit in clearing apparatus is stated, is worked according to first trace information to the vehicle body control unit；
Perception unit in the clearing apparatus monitors the location information of the clearing apparatus, and by the position of the clearing apparatus
Information is sent to the central processing unit；
The central processing unit determines whether the location information of the clearing apparatus has reached the cleaning end point location information；
When the location information of the clearing apparatus does not reach the cleaning end point location information, the central processing unit pair
The location information of the clearing apparatus is stored；
When the location information of the clearing apparatus has reached the cleaning end point location information, the central processing unit according to
The location information of the clearing apparatus obtains the second trace information；
According to second trace information and first area information to be cleaned, the second sweep-out pattern rate is obtained；
When the central processing unit receives next task inventory information, waiting for for the next task inventory information is determined
Whether purging zone information is identical as the first area information to be cleaned；
It is right when the area information to be cleaned of the next task inventory information is identical as the described first area information to be cleaned
Than the first sweep-out pattern rate and the second sweep-out pattern rate；
When the second sweep-out pattern rate is more than the first sweep-out pattern rate, by the microprocessing unit by described second
Trace information is sent to the vehicle body control unit, is worked according to second trace information to the vehicle body control unit.
2. trajectory processing method according to claim 1, which is characterized in that when waiting for for the next task inventory information
When purging zone information is with the first area information difference to be cleaned, the method further includes：
The central processing unit generates third trace information according to the next task inventory information, to the vehicle body control
Unit processed works according to the third trace information.
3. trajectory processing method according to claim 1, which is characterized in that when the second sweep-out pattern rate is not more than institute
When stating the first sweep-out pattern rate, the method further includes：
First trace information is sent to the Body Control list by the central processing unit by the microprocessing unit
Member works to the vehicle body control unit according to first trace information.
4. trajectory processing method according to claim 1, which is characterized in that believe in the position by the clearing apparatus
Breath is sent to after the central processing unit, and the method further includes：
The central processing unit obtains cleannes parameter from the vehicle body control unit；Each cleannes parameter corresponds to one
The location information of a clearing apparatus.
5. trajectory processing method according to claim 4, which is characterized in that the method further includes：
The central processing unit is corresponding according to the location information of the clearing apparatus and the location information of the clearing apparatus
Cleannes parameter, generate cleaning record information.
6. trajectory processing method according to claim 1, which is characterized in that the central processing unit is according to task list
Information generates the first trace information：
It states central processing unit and the first trace information is generated according to task list information and random parameter.
7. trajectory processing method according to claim 6, which is characterized in that described in being more than when the second sweep-out pattern rate
When the first sweep-out pattern rate, the method further includes：
The random parameter is updated according to second trace information.
8. trajectory processing method according to claim 1, which is characterized in that pass through in the central processing unit described clear
Before the vehicle body control unit that first trace information is sent in the clearing apparatus by the microprocessing unit in sweeping device,
The method further includes：
The central processing unit receives oneself of the microprocessing unit, the vehicle body control unit and the perception unit transmission
Examine result code；
When the value of the self-detection result code is the first end value, the central processing unit passes through micro- in the clearing apparatus
First trace information is sent to the vehicle body control unit in the clearing apparatus by processing unit.
9. trajectory processing method according to claim 1, which is characterized in that the perception unit includes：Radar module and
Differential positioning module.
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