CN108664031B - Track processing method - Google Patents
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- CN108664031B CN108664031B CN201810546995.XA CN201810546995A CN108664031B CN 108664031 B CN108664031 B CN 108664031B CN 201810546995 A CN201810546995 A CN 201810546995A CN 108664031 B CN108664031 B CN 108664031B
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- 238000003672 processing method Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 237
- 238000012545 processing Methods 0.000 claims abstract description 104
- 238000000034 method Methods 0.000 claims description 26
- 230000003749 cleanliness Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 description 13
- 238000010408 sweeping Methods 0.000 description 10
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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 track processing method, which comprises the following steps: the central processing unit generates first track information according to the task list information; the central processing unit obtains a first cleaning area rate according to the first track information and the first area information to be cleaned; the central processing unit sends the first track information to the vehicle body control unit through the micro-processing unit; the sensing unit monitors the position information of the cleaning device; when the position information of the cleaning device reaches the cleaning end point position information, the central processing unit obtains second track information according to the position information of the cleaning device; obtaining a second cleaning area rate according to the second track information and the first area information to be cleaned; when the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned, comparing the first cleaning area rate with the second cleaning area rate; and when the second cleaning area rate is larger than the first cleaning area rate, sending the second track information to the vehicle body control unit through the micro-processing unit.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a track processing 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 track processing method aiming at the defects of the prior art, which is used for comparing and analyzing the actual running track of the historically executed cleaning task with the predicted track planned according to the task list information, and if the cleaning effect of the actual running track of the historically executed cleaning task is better, the actual running track of the historically executed cleaning task is used as the optimal cleaning track of the area to be cleaned, so that the cleaning coverage of the area to be cleaned is higher.
In order to achieve the above object, the present invention provides a trajectory processing method, including:
a central processing unit in the cleaning device generates first track information according to the task list information; the task list information comprises first area information to be cleaned and cleaning end point position information;
the central processing unit obtains a first cleaning area rate according to the first track information and the first area information to be cleaned;
the central processing unit sends the first 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 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;
the central processing unit determines whether the position information of the cleaning device has reached the cleaning end point position information;
when the position information of the cleaning device does not reach the cleaning end point position information, the central processing unit stores the position information of the cleaning device;
when the position information of the cleaning device reaches the cleaning end position information, the central processing unit obtains second track information according to the position information of the cleaning device;
obtaining a second cleaning area rate according to the second track information and the first area information to be cleaned;
when the central processing unit receives next task list information, determining whether the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned;
when the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned, comparing the first cleaning area rate with the second cleaning area rate;
and when the second cleaning area rate is larger than the first cleaning area rate, the second track information is sent to the vehicle body control unit through the micro-processing unit, so that the vehicle body control unit works according to the second track information.
Preferably, when the to-be-cleaned area information of the next task list information is different from the first to-be-cleaned area information, the method further includes:
and the central processing unit generates third track information according to the next task list information, and the vehicle body control unit works according to the third track information.
Preferably, when the second sweep area rate is not greater than the first sweep area rate, the method further comprises:
and the central processing unit sends the first track information to the vehicle body control unit through the micro-processing unit, so that the vehicle body control unit works according to the first track information.
Preferably, after the transmitting the position information of the cleaning device to the central processing unit, the method further includes:
the central processor acquires a cleanliness parameter from the vehicle body control unit; each cleanliness parameter corresponds to position information of one cleaning device.
Further preferably, the central processing unit generates cleaning record information based on the position information of the cleaning device and a cleanliness parameter corresponding to the position information of the cleaning device.
Preferably, the step of generating, by the central processing unit, the first trajectory information according to the task list information specifically includes:
and the central processing unit generates first track information according to the task list information and the random parameter.
Further preferably, when the second sweeping area ratio is larger than the first sweeping area ratio, the method further includes:
and updating the random parameters according to the second track information.
Preferably, before the central processing unit sends the first trajectory information to a vehicle body control unit in the cleaning device through a microprocessor unit in the cleaning device, the method further includes:
the central processing unit receives self-checking result codes sent by the micro-processing unit, the vehicle body control unit and the sensing unit;
and when the value of the self-checking result code is a first result value, the central processing unit sends the first track information to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device.
Preferably, the sensing unit includes: the radar positioning system comprises a radar module and a differential positioning module.
According to the track processing method provided by the embodiment of the invention, the actual running track of the historically executed cleaning task is compared and analyzed with the predicted track planned according to the task list information, and if the cleaning effect of the actual running track of the historically executed cleaning task is better, the actual running track of the historically executed cleaning task is taken as the optimal cleaning track of the area to be cleaned, so that the cleaning coverage of the area to be cleaned is higher.
Drawings
Fig. 1 is a flowchart of a trajectory processing method 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 track processing method provided by the embodiment of the invention is realized in a cleaning device for cleaning a road surface, and is used for further processing the recorded track after the cleaning device records the cleaning track, so that the next cleaning task is better completed. 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 track information according to an analysis result and the random parameter. The first trajectory information may be understood as the 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.
It should be noted that the tracks obtained by the central processing unit after analyzing the same information of the area to be cleaned may be different each time, the tracks obtained by the central processing unit each time may be represented randomly, and the different tracks may all complete the current task list.
specifically, the central processing unit draws the area of the area which can be cleaned by the first track information according to the calculated first track information, and compares the area of the area which can be cleaned by the first track information with the cleaning area represented by the first area information to be cleaned to obtain a first cleaning area rate. The first cleaning area rate can be understood as the cleaning coverage of the area to be cleaned which is expected to be cleaned and calculated by the central processing unit.
Preferably, the first cleaning area rate needs to be greater than or equal to 95%, otherwise, the central processing unit needs to recalculate to generate the first track information according to the task list information.
specifically, a motor module and an electric power steering in a vehicle body control unit start working, and meanwhile, a radar module and a differential positioning module in a sensing unit start working according to the start working, so that the cleaning device advances according to first track information and in combination with data obtained by the sensing unit.
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.
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.
Before the cleaning device executes a cleaning task, each module in the cleaning device needs to be subjected to self-checking, and after the self-checking is successful, the central processing unit sends first track 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 track information according to the conversion instruction, and sends the motor torque control information and the motor rotation angle control information to the motor module and the electric power steering module respectively.
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 151 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 152 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 the above step 130 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.
specifically, the first track 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 second track information according to the stored position information of the cleaning device.
specifically, the central processing unit draws the area of the region which can be cleaned by the second track information according to the second track information, that is, the area of the region which is actually cleaned by the cleaning device in the cleaning task. And comparing the cleaning area represented by the second track information with the cleaning area represented by the first to-be-cleaned area information to obtain a second cleaning area rate. The second cleaning area ratio can be understood as the cleaning coverage of the cleaning device actually to the area to be cleaned, which is calculated by the central processing unit.
specifically, after a cleaning task is performed, the central processing unit receives the next task list information.
specifically, the process of the central processing unit determining whether the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned may be understood as the process of the central processing unit determining whether there is a cleaning task for the current area to be cleaned in the historical cleaning tasks, that is, whether the current area to be cleaned is cleaned for the first time. When the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned, which indicates that the area to be cleaned is not cleaned for the first time, the following step 191 is performed. When the information of the area to be cleaned of the next task list information is different from the information of the first area to be cleaned, which indicates that the area to be cleaned is cleaned for the first time, the following step 192 is performed.
Preferably, since the task list information includes not only the to-be-cleaned area information but also other information, the central processing unit may also directly determine whether there is the same historical task planning information as the next task list information, that is, whether the current cleaning task has been performed in the past cleaning tasks. When there is no historical task plan information identical to the next task list information, which indicates that the current cleaning task has not been performed in the past cleaning tasks, the following step 191 is performed. When there is the same historical task plan information as the next task list information, indicating that the current cleaning task has been performed in the past cleaning tasks, the following step 192 is performed.
Step 191, comparing the first cleaning area rate with the second cleaning area rate, and executing a cleaning task according to the comparison result;
specifically, when the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned, that is, when the current area to be cleaned is not cleaned for the first time, the central processing unit compares and analyzes the actual running track of the historically-executed cleaning task with the predicted track planned according to the task list information, and if the cleaning effect of the actual running track of the historically-executed cleaning task is better, the actual running track of the historically-executed cleaning task is used as the preferred cleaning track of the area to be cleaned, that is, the cleaning track of the cleaning task at this time.
More specifically, the central processing unit compares the first sweeping area rate and the second sweeping area rate. When the second cleaning area rate is larger than the first cleaning area rate, the actual running track of the historically executed cleaning task has a better cleaning effect than the predicted track planned according to the task list information, the cleaning coverage of the cleaning area is higher, and then the central processing unit sends the second track information to the vehicle body control unit through the micro-processing unit so that the vehicle body control unit works according to the second track information. Meanwhile, the central processing unit updates and optimizes the random parameter according to the second track information, so that the track information obtained by the central processing unit according to the analysis result and the optimized random parameter is more reasonable. This process can be understood as a process of training with random parameters. After each training, the random parameters are more reasonable, and the track information obtained by the central processing unit is more reasonable.
And when the second cleaning area rate is not greater than the first cleaning area rate, the central processing unit sends the first track information to the vehicle body control unit through the micro-processing unit so that the vehicle body control unit works according to the first track information.
specifically, when the information of the area to be cleaned of the next task list information is different from the information of the first area to be cleaned, it is indicated that the current area to be cleaned is cleaned for the first time. The central processing unit generates third track information according to the next task list information, and sends the third track information to the vehicle body control unit through the micro-processing unit so that the vehicle body control unit works according to the third track information.
It should be noted that this step can be regarded as an initial step of the next trajectory information processing method flow until the cleaning device does not perform any cleaning task.
According to the track processing method provided by the embodiment of the invention, the actual running track of the historically executed cleaning task is compared and analyzed with the predicted track planned according to the task list information, and if the cleaning effect of the actual running track of the historically executed cleaning task is better, the actual running track of the historically executed cleaning task is taken as the optimal cleaning track of the area to be cleaned, so that the cleaning coverage of the area to be cleaned is higher.
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 trajectory processing method, characterized in that the trajectory processing method comprises:
a central processing unit in the cleaning device generates first track information according to the task list information; the task list information comprises first area information to be cleaned and cleaning end point position information;
the central processing unit obtains a first cleaning area rate according to the first track information and the first area information to be cleaned;
the central processing unit sends the first 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 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;
the central processing unit determines whether the position information of the cleaning device has reached the cleaning end point position information;
when the position information of the cleaning device does not reach the cleaning end point position information, the central processing unit stores the position information of the cleaning device;
when the position information of the cleaning device reaches the cleaning end position information, the central processing unit obtains second track information according to the position information of the cleaning device;
obtaining a second cleaning area rate according to the second track information and the first area information to be cleaned;
when the central processing unit receives next task list information, determining whether the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned;
when the information of the area to be cleaned of the next task list information is the same as the information of the first area to be cleaned, comparing the first cleaning area rate with the second cleaning area rate;
and when the second cleaning area rate is larger than the first cleaning area rate, the second track information is sent to the vehicle body control unit through the micro-processing unit, so that the vehicle body control unit works according to the second track information.
2. The trajectory processing method according to claim 1, wherein when the to-be-cleaned area information of the next task list information is different from the first to-be-cleaned area information, the method further comprises:
and the central processing unit generates third track information according to the next task list information, and the vehicle body control unit works according to the third track information.
3. The trajectory processing method of claim 1, wherein when the second sweep area rate is not greater than the first sweep area rate, the method further comprises:
and the central processing unit sends the first track information to the vehicle body control unit through the micro-processing unit, so that the vehicle body control unit works according to the first track information.
4. The trajectory processing method according to claim 1, wherein after the transmitting the position information of the cleaning device to the central processing unit, the method further comprises:
the central processor acquires a cleanliness parameter from the vehicle body control unit; each cleanliness parameter corresponds to position information of one cleaning device.
5. The trajectory processing method according to claim 4, further comprising:
and 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.
6. The trajectory processing method according to claim 1, wherein the generating, by the central processing unit, the first trajectory information according to the task list information specifically includes:
and the central processing unit generates first track information according to the task list information and the random parameter.
7. The trajectory processing method of claim 6, wherein when the second sweep area rate is greater than the first sweep area rate, the method further comprises:
and updating the random parameters according to the second track information.
8. The trajectory processing method according to claim 1, wherein before the central processing unit transmits the first trajectory information to a vehicle body control unit in the cleaning device through a microprocessor unit in the cleaning device, the method further comprises:
the central processing unit receives self-checking result codes sent by the micro-processing unit, the vehicle body control unit and the sensing unit;
and when the value of the self-checking result code is a first result value, the central processing unit sends the first track information to a vehicle body control unit in the cleaning device through a micro-processing unit in the cleaning device.
9. The trajectory processing method according to claim 1, wherein the sensing unit includes: the radar positioning system comprises a radar module and a differential positioning module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546995.XA CN108664031B (en) | 2018-05-31 | 2018-05-31 | Track processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810546995.XA CN108664031B (en) | 2018-05-31 | 2018-05-31 | Track processing method |
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| Publication Number | Publication Date |
|---|---|
| CN108664031A CN108664031A (en) | 2018-10-16 |
| CN108664031B true CN108664031B (en) | 2021-07-23 |
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