CN108733060A - A kind of processing method of operation cartographic information - Google Patents
A kind of processing method of operation cartographic information Download PDFInfo
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- CN108733060A CN108733060A CN201810570332.1A CN201810570332A CN108733060A CN 108733060 A CN108733060 A CN 108733060A CN 201810570332 A CN201810570332 A CN 201810570332A CN 108733060 A CN108733060 A CN 108733060A
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- 238000003672 processing method Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 373
- 230000004888 barrier function Effects 0.000 claims abstract description 58
- 230000007613 environmental effect Effects 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 27
- 238000010408 sweeping Methods 0.000 claims abstract description 13
- 230000008447 perception Effects 0.000 claims description 22
- 230000004927 fusion Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 abstract description 10
- 230000005611 electricity Effects 0.000 abstract description 7
- 241001417527 Pempheridae Species 0.000 description 6
- 238000010926 purge Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012217 deletion Methods 0.000 description 2
- 230000037430 deletion Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- 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 embodiments relate to a kind of processing methods of operation cartographic information, including：The block border and fixed obstacle for sweeping block are remembered in cartographic information acceptance of the bid, to generate cleaning work cartographic information；Cleaning path planning is carried out to each cleaning block, obtains corresponding cleaning routing information；According to cleaning work cartographic information and clean routing information progress cleaning work；It is detected to cleaning environmental information, obtains obstacle information；When the attribute information of barrier is fixed obstacle, the location information of fixed obstacle is obtained；When the label number of fixed obstacle reaches preset times threshold value, cleaning work cartographic information is updated.The present invention is based on cartographic information and clean block information generation accurately cleaning work map, so as to accurately plan working path, and cleaning work cartographic information can be updated according to result of detection, to ensure the accuracy of cleaning work map, saves electricity of the clearing apparatus in cleaning process and clean the time.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of processing methods of operation cartographic information.
Background technology
With the development of economy with the progress of science and technology, requirement of the people to living environment quality is higher and higher, and with people
The cleaning technology based on artificial intelligence technology is also increasingly focused in the emergence of work intelligence, market, and skill is cleaned in existing intelligence
In art, generally use sweeping robot realizes that the cleaning in small area, the cleaning for large area such as roads still need artificial
It cleans, using the mode on hand sweeping road surface, not only human cost is high, but also generated dust can serious shadow when hand sweeping
The health for ringing cleaner, also inevitably causes the secondary pollution of environment.
Moreover, with the development of city size, the continuous promotion of human cost, for intelligent unpiloted sweeper
Demand, what is shown is particularly urgent.Existing unmanned sweeper can only be carried out according to the operation map that advance detection generates
It cleans, since the accuracy of operation map is poor, when purging zone increases the fixed obstacle being not present in map, sweeper is every
It is secondary to be required for detecting fixed obstacle, and planned again cleaning path, cause electricity and waste of time；And
When original fixed obstacle is removed in purging zone, is cleaned still according to original track, causes the drain sweep of purging zone,
Greatly reduce cleaning effect.
Invention content
The object of the present invention is to provide a kind of processing methods of operation cartographic information, can be blended by multiple sensors
Mode, detection obtain the boundary information and fixed obstacle of sweeping area block, based on cartographic information and clean block information generate
Accurately cleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus exist
The note that can get the bid to map in cleaning process and unlabelled barrier detect, with updating cleaning work according to result of detection
Figure information, to ensure the accuracy of cleaning work map, when saving electricity of the clearing apparatus in cleaning process and cleaning
Between.
To achieve the above object, the present invention provides a kind of processing methods of operation cartographic information, including：
The environmental perception module of clearing apparatus carries out information collection to cleaning block, obtains the acquisition letter for cleaning block
Breath；
The clearing apparatus handles the acquisition information, obtains the location information and fixed obstacle of block border
Location information, be sent to the server；
The server calls cartographic information；The cartographic information includes road network structure information and multiple cleaning blocks letter
Breath；
According to the location information of the location information of the block border and fixed obstacle, marked in the cartographic information
The block border and fixed obstacle for cleaning block, to generate cleaning work cartographic information；
Block is cleaned to each of described cleaning work cartographic information and carries out cleaning path planning, is obtained corresponding clear
Sweep routing information；
Establish the cleaning routing information and the incidence relation cleaned between block, and according to the incidence relation and
The cleaning work cartographic information generates cleaning work data packet, is sent to the clearing apparatus；
The clearing apparatus parses the cleaning work data packet, obtains the cleaning work cartographic information, with
And the incidence relation cleaned between routing information and the cleaning block, and store；
It receives and cleans mission bit stream；The cleaning mission bit stream includes cleaning block information；
Corresponding cleaning routing information is obtained according to the cleaning block；
Cleaning work is carried out according to the cleaning work cartographic information and the cleaning routing information got；
The environmental perception module of the clearing apparatus is detected to cleaning environmental information, obtains obstacle information；
Judge the attribute information of the barrier；The attribute information of the barrier includes fixed obstacle and moving disorder
Object；
When the attribute information of the barrier is moving obstacle, the moving obstacle is avoided；
When the attribute information of the barrier is fixed obstacle, the location information of the fixed obstacle is obtained；
Whether the location information of the barrier got described in judgement is consolidated with what is marked in the cleaning work cartographic information
The location information for determining barrier coincides；
When overlapping, cleaned according to the cleaning routing information；
When misaligned, detour cleaning is carried out to the fixed obstacle, records the location information of the fixed obstacle,
And it is stored in cleaning work daily record；
The cleaning work daily record is sent to the server according to preset time；
The server parses the cleaning work daily record, obtains the location information of fixed obstacle, and waiting for
The label number of the fixed obstacle is updated in label fixed obstacle list；Wherein, the fixed obstacle row to be marked
The location information and label number of fixed obstacle are stored in table；
The label number for monitoring the fixed obstacle, when the label number of the fixed obstacle reaches preset times threshold
When value, fixed obstacle is marked in the cleaning work cartographic information, to update the cleaning work cartographic information.
Preferably, the environmental perception module includes laser radar, GPS module and camera；
The environmental perception module of the clearing apparatus carries out information collection to cleaning block, obtains adopting for the cleaning block
Collection information specifically includes：
The laser radar carries out information collection to cleaning block, obtains the first gathered data；First gathered data
Including laser point cloud data；
The GPS module carries out information collection to cleaning block, obtains the second gathered data；The second gathered data packet
Include three dimensional local information；
The camera carries out information collection to cleaning block, obtains third gathered data；The third gathered data packet
Include image data.
It is further preferred that the clearing apparatus handles the acquisition information, the position letter of block border is obtained
The location information of breath and fixed obstacle specifically includes：
To the collected laser point cloud data of the laser radar, the collected three-dimensional velocity information of the GPS module and
Three dimensional local information and camera the image collected data carry out data fusion, to obtain the position of block border
Confidence ceases and the location information of fixed obstacle.
Preferably, the method further includes：
The environmental perception module detects the fixed obstacle marked in the cleaning work cartographic information；
When not detecting the fixed obstacle of the label, the fixed obstacle region of the label is carried out
It cleans；
The location information of the fixed obstacle of the label is obtained, and is stored in cleaning work daily record.
Preferably, it is described the cleaning work daily record is sent to by the server according to preset time after, it is described
Method further includes：
The server parses the cleaning work daily record, obtains the fixed obstacle of the label and corresponding
Location information；
According to the location information of the fixation mark barrier of the label described in cleaning work cartographic information deletion
The fixed obstacle of label, and update the cleaning work cartographic information.
Preferably, it is carried out clearly with the cleaning routing information got according to the cleaning work cartographic information described
After sweeping operation, the method further includes：
The environmental perception module of the clearing apparatus detects the environmental information for cleaning block, obtains described clear
Sweep the actual acquisition information of block；
The practical cleaning work for cleaning block is generated according to the actual acquisition information and the cleaning work cartographic information
Cartographic information；
After cleaning, the cleaning work cartographic information is sent to the server.
It is further preferred that the method further includes：
The server receives the practical cleaning work cartographic information that multiple clearing apparatus are sent；
Classifying and dividing is carried out to practical cleaning work cartographic information according to the cleaning block information；
Fusion treatment is carried out to the same multiple practical cleaning work cartographic informations for cleaning block, to obtain map amendment
Information；
Cleaning work cartographic information is updated according to the map update information.
It is further preferred that the method further includes：
According to the updated cleaning work cartographic information, update cleans routing information；
By the updated cleaning work cartographic information and routing information is cleaned, is handed down to the clearing apparatus.
Preferably, described that cleaning path planning is carried out to each of described cleaning work cartographic information cleaning block, it obtains
It is specifically included to corresponding cleaning routing information：
Based on default cleaning modes information, block is cleaned to each of described cleaning work cartographic information and carries out cleaning road
Diameter is planned, each corresponding cleaning routing information of a variety of cleaning modes information for cleaning block is obtained；Wherein, the cleaning road
Diameter information includes cleaning trace information, cleaning velocity information and side brush rotary speed information.
It is further preferred that further including cleaning modes information in the cleaning mission bit stream；It is described according to the sweeping area
Block obtains corresponding cleaning routing information and specifically includes：
According to the cleaning block and the corresponding cleaning routing information of the cleaning modes acquisition of information.
The processing method of operation cartographic information provided in an embodiment of the present invention, the side that can be blended by multiple sensors
Formula, detection obtain the boundary information and fixed obstacle of sweeping area block, are generated based on cartographic information and cleaning block information accurate
Cleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus cleaning
The note that can get the bid in the process to map and unlabelled barrier detect, and update cleaning work map letter according to result of detection
Breath saves electricity of the clearing apparatus in cleaning process and cleans the time to ensure the accuracy of cleaning work map.
Description of the drawings
Fig. 1 is the flow chart of the processing method of operation cartographic information 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.
The processing method of operation cartographic information provided in an embodiment of the present invention can be applied to server and multiple cleanings dress
Between setting, the environmental perception module of clearing apparatus can carry out data acquisition to cleaning block, obtain fixed obstacle and block
Boundary, and it is uploaded to server, server is marked in cartographic information, to generate cleaning work map.Wherein, it cleans
Device can be understood as unpiloted intelligent sweeper, can be cleaned according to the cleaning path planned, and can
Environmental information that the environmental perception module of itself perceives such as carries out avoidance, gives way at the actions, realize it is unmanned in the case of peace
Entirely, intelligent operation.
Fig. 1 is the flow chart of the processing method of operation cartographic information provided in an embodiment of the present invention, as shown in Figure 1, described
Method includes the following steps：
Step 101, the environmental perception module of clearing apparatus carries out information collection to cleaning block, is cleaned adopting for block
Collect information；
To ensure that the accuracy of acquisition, the environmental perception module can specifically include laser radar, GPS module and camera shooting
Head, is specifically used for acquisition and detection to cleaning the environmental information in block, and clearing apparatus is cleaning block according to desired guiding trajectory
It is inside run, environmental perception module carries out information collection.It refers to the estimated region cleaned to clean block, and cleaning block can be
One square, a playground etc..
Specifically, laser radar can be installed on the top of sweeper vehicle shell, laser radar is to cleaning the fixation in block
Barrier and boundary carry out information collection, obtain the first gathered data；Wherein, the first gathered data includes laser point cloud data.
GPS module is specifically as follows two differential GPS modules, is set to the top of sweeper vehicle shell, to cleaning the solid obstacle of block
Object and boundary carry out information collection, obtain the second gathered data；Wherein, the second gathered data includes three dimensional local information.Camera shooting
Head quantity can be it is at least one, it is more accurate for the block map of acquisition, can all around all installing in vehicle
There are camera, camera to carry out information collection to the fixed obstacle and boundary that clean block, obtain third gathered data；Its
In, third gathered data includes image data.
Step 102, clearing apparatus handles acquisition information, obtains the location information and fixed obstacle of block border
Location information, be sent to server；
Different clearing apparatus can be acquired processing respectively to different cleaning blocks, each acquisition process for cleaning block
Method all same, each clearing apparatus handle acquisition information, obtain the location information and fixed obstacle of block border
Location information, and be sent respectively to server.In such a way that multiple sensors blend, it is accurately positioned the position of block border
Confidence ceases and the location information of fixed obstacle.
Specifically, to the collected laser point cloud data of laser radar, the collected three-dimensional velocity information of GPS module and three
It ties up location information and camera the image collected data carries out data fusion, to obtain the location information of block border
With the location information of fixed obstacle；Wherein, fixed obstacle refers to the barrier that change in location will not occur for a long time, specifically
Can be flower bed, trees, fitness equipment etc..
Step 103, server calls cartographic information；
Specifically, server can obtain cartographic information from third party's map server, cartographic information includes road network knot
Structure information and multiple cleaning block informations, road network structure information refer to the road network structure between multiple cleaning blocks, need to illustrate
, may include multiple cleaning block informations in cartographic information, but be not each cleaning block to carry out information collection,
The information collection for cleaning block needs to carry out according to user.
Step 104, it according to the location information of the location information of block border and fixed obstacle, is marked in cartographic information
The block border and fixed obstacle for cleaning block, to generate cleaning work cartographic information；
Specifically, obtaining corresponding cleaning block information, root in cartographic information according to the location information of block border
According to the location information of block border and the location information of fixed obstacle, the block border for sweeping block is remembered in cartographic information acceptance of the bid
And fixed obstacle, to generate the cleaning block operation cartographic information of a cleaning block, each block for cleaning block is made
The generation method of industry cartographic information is all identical, and cleaning work is generated according to multiple cleaning block operation cartographic informations for cleaning block
Cartographic information.
Step 105, block is cleaned to each of cleaning work cartographic information and carries out cleaning path planning, obtained corresponding
Cleaning routing information；
Specifically, area information to be cleaned is determined according to the boundary information and obstacle information that clean block, it is clear according to waiting for
It sweeps area information and preset cleaning coverage rate carries out cleaning path planning, to obtain the cleaning path letter of each purging zone
Breath, wherein it refers to the ratio between estimated sweep-out pattern and purging zone sweep-out pattern to clean coverage rate, with cleaning coverage rate table
Show the clean level of cleaning, cleans bigger, the expression that is formed by overlapping area of bigger two neighboring the cleanings track of explanation of coverage rate
What is cleaned is cleaner, and a cleaning coverage rate, such as 120% can be preset in server, is planned according to preset cleaning coverage rate
Clean the trace information in path.
To meet user's different demands, the present invention also provides different cleaning modes, cleaning modes information may include
Fast sweep pattern, depth cleaning modes, soft cleaning modes, economize on electricity cleaning modes and standard cleaning modes, each cleans mould
The corresponding routing information of formula is different, and wherein routing information can be understood as multiattribute trace information, specifically includes cleaning
Trace information cleans velocity information and side brush rotary speed information, that is to say, that routing information is especially by cleaning trace information, cleaning
Velocity information and side brush rotary speed information are realized.The corresponding cleaning trace information of each pattern cleans velocity information and side brush turn
Fast information is preset.
Wherein, the type of gesture of cleaning when trace information refers to cleaning work is cleaned, for example may include " bow " font
" returning " font, when " bow " zag trajectory cleans, two adjacent spacing cleaned between track are larger, two adjacent cleaning tracks
Sweep-out pattern is formed by be connected to each other but misaligned；When clearing apparatus is cleaned using " returning " zag trajectory, two adjacent cleanings
Spacing between track is smaller, and two adjacent cleaning tracks are formed by sweep-out pattern and coincide, that is, some places carry out
It repeats to clean.For different cleaning modes, the adjacent track that cleans is formed by the of different sizes of the cleaning face to coincide,
For example setting is cleaned using " returning " zag trajectory when depth cleaning modes, setting use " bow " font when fast sweep pattern
Track is cleaned.It refers to the speed parameter of clearing apparatus during cleaning to clean velocity information, cleans the slower cleaning of speed more
Totally, slower for the corresponding cleaning speed of depth cleaning modes, cleaning speed corresponding for fast sweep pattern.Side
Brush rotary speed information refers to the rotary speed parameter of clearing apparatus bottom sides brush during cleaning, and the faster expression of side brush rotation cleans more dry
Only.
Based on default cleaning modes information, obtains corresponding cleaning trace information, cleans velocity information and side brush rotating speed
Information then according to cleaning trace information, cleaning velocity information and side brush rotary speed information, and cleans the region to be cleaned of block
Generate the corresponding cleaning routing information of cleaning modes information；Wherein, it includes cleaning trace information, cleaning speed to clean routing information
Spend information and side brush rotary speed information.
Step 106, it establishes and cleans routing information and clean the incidence relation between block, and according to incidence relation and cleaning
Operation cartographic information generates cleaning work data packet, is sent to clearing apparatus；
In a preferred embodiment, each clearing apparatus can be responsible for the cleaning of one or more securing cleaning blocks, right
In such case, the incidence relation cleaned between block and clearing apparatus can be pre-established, according to cleaning block and device ID
Between incidence relation generate block-device and plan list, when data packet issues, the cleaning block be responsible for according to clearing apparatus
Incidence relation between information and cleaning routing information, and clean the corresponding road network structure cartographic information life between block
At block path data packet is cleaned, it is handed down to clearing apparatus, the cleaning being each responsible for only is stored in this way in each clearing apparatus
The path of block, it is possible to reduce data download saves memory headroom, improves the speed of service.
Step 107, clearing apparatus parses cleaning work data packet, is cleaned operation cartographic information, Yi Jiqing
It sweeps routing information and cleans the incidence relation between block, and store；
Step 108, it receives and cleans mission bit stream；
May include that one or more cleans block information in cleaning mission bit stream, user can select to want as needed
The region of cleaning.Cleaning task can be that user is directly inputted by the control panel of clearing apparatus, can also be by with
The remote control input of clearing apparatus connection.In addition it can also be and inputted by user terminal, user terminal can be one
There is platform the terminal device of network savvy, such as smart mobile phone, tablet computer, user terminal to receive cleaning task input by user
Information, and it is sent to background server；Server is corresponding according to cleaning block information in the planning list of block-device and obtaining
The device ID of clearing apparatus will clean mission bit stream then according to device ID and be sent to clearing apparatus.
Step 109, corresponding cleaning routing information is obtained according to cleaning block；
Clearing apparatus calls phase after receiving cleaning mission bit stream, according to the cleaning block information for including in cleaning task
Corresponding cleaning routing information will obtain multiple cleaning routing informations when in cleaning task including multiple cleaning blocks.
In a preferred embodiment, it may also include cleaning modes information in cleaning task input by user, used to meet
Family demand, different blocks can set different cleaning modes, for example block A more totally carries out the clear of fast sweep pattern
It sweeps, the messy cleanings for carrying out depth cleaning modes of block B, i.e., includes that each cleaning block information is opposite cleaning mission bit stream
The cleaning modes information answered；Clearing apparatus calls corresponding cleaning road according to multiple cleaning block informations and cleaning modes information
Diameter information realizes cleaning work efficiently, intelligent, greatly so as to realize the cleaning of various modes according to user's different demands
Improve user experience greatly.
Step 110, cleaning work is carried out according to cleaning work cartographic information and the cleaning routing information got；
Clearing apparatus is based on cleaning work map, according to cleaning trace information, the cleaning velocity information for cleaning routing information
Cleaning work is carried out with side brush rotary speed information.
In a preferred embodiment, it when cleaning task includes multiple cleaning blocks, is determined in cleaning work map
The two neighboring location information for cleaning block, then it is based on road network structure information, two neighboring sweeping area is gone out by A* algorithm search
Most short transition path between block, then according to path and most short transition path progress cleaning work is cleaned, so as to intelligence
It plans transition path, does not need artificial transition, save a large amount of cost of labor.
Step 111, the environmental perception module of clearing apparatus is detected to cleaning environmental information, obtains obstacle information；
When clearing apparatus is started to work, the environmental perception module of trigger device is started to work, and multiple sensors are to cleaning
Environmental information is detected and is merged, and obstacle information is obtained.
Step 112, the attribute information of disturbance in judgement object；
In cleaning process, radar and camera when perceiving barrier, sentence operating environment information detection and acquisition
The attribute information of disconnected barrier, the attribute information of barrier includes two kinds of fixed obstacle and moving obstacle, can specifically be led to
The residence time for crossing barrier judged, when barrier is when the residence time of a location point reaching preset time threshold,
The barrier is judged for fixed obstacle, is otherwise moving obstacle；Fixed obstacle can be the dustbin placed temporarily,
May be the vehicle etc. stopped temporarily, moving obstacle can be the vehicle etc. of pedestrian or driving.
When the attribute information of barrier is moving obstacle, step 113 is executed.When the attribute information of barrier is to fix
When barrier, step 114 is executed.
Step 113, moving obstacle is avoided.
When the attribute information of disturbance in judgement object is moving obstacle, moving obstacle is avoided, obstacle to be moved
Object does not account for after cleaning track, continues to carry out operation cleaning along cleaning trace information.
Step 114, the location information of fixed obstacle is obtained；
When the attribute information of disturbance in judgement object is fixed obstacle, which is obtained by environmental perception module
Location information.
Step 115, judge whether the location information of the barrier got is consolidated with what is marked in cleaning work cartographic information
The location information for determining barrier coincides；
Specifically, in cleaning block cartographic information, judge the location information of the fixed obstacle perceived whether pre-
In the shared location information of the fixed obstacle first marked, when the location information of the fixed obstacle perceived is in advance label barrier
Hinder in the shared location information of object, that is, thinks that the location information of the location information and label barrier of barrier coincides, execute
Step 116；When the fixed obstacle perceived location information not in advance label barrier shared location information in, that is, recognize
Location information for the location information and label barrier of barrier is misaligned, executes step 117.
Step 116, it is cleaned according to cleaning routing information；
The location information of the location information of barrier and label barrier, which coincides, illustrates that the fixed obstacle recognized is
Barrier of the label in map in advance, then the fixed obstacle is allowed in path planning, therefore according to advance
The cleaning routing information of setting is cleaned.
Step 117, detour cleaning is carried out to fixed obstacle, records the location information of fixed obstacle, and be stored in clear
It sweeps in job logging；
The location information of barrier and the location information of label barrier are misaligned, illustrate to deposit in the map for cleaning block
In unlabelled fixed obstacle, for ease of the update of follow-up map, clearing apparatus records the location information of fixed obstacle, and
It is stored in cleaning work daily record, and detour cleaning is carried out to the fixed obstacle.Cleaning task letter is stored in cleaning daily record
Cease and detect the location information of unlabelled fixed obstacle.
Step 118, cleaning work daily record is sent to by server according to preset time；
Those skilled in the art can as needed set preset time, for example can be set as preset time
Every night 23:00, in every night 23:When 00, all clearing apparatus upload onto the server cleaning work daily record.
Step 119, server parses cleaning work daily record, obtains the location information of fixed obstacle, and waiting for
Mark the label number of fixed obstacle list update fixed obstacle；
Wherein, fixed obstacle list to be marked is used to store the location information and label number of fixed obstacle.
Specifically, server parses cleaning work daily record, the location information of fixed obstacle is obtained, server is sentenced
Whether there is the barrier in disconnected fixed obstacle list to be marked, if not provided, illustrating that the barrier is to be detected for the first time
It arrives, adds the barrier and corresponding location information in fixed obstacle list to be marked, and by corresponding label
Number is denoted as 1 time；If so, being detected before illustrating the barrier, then just in fixed obstacle list to be marked
Update the label number of fixed obstacle.
Step 120, the label number for monitoring fixed obstacle, when the label number of fixed obstacle reaches preset times threshold
When value, fixed obstacle is marked in cleaning work cartographic information, to update cleaning work cartographic information.
In a specific example, clearing apparatus in cleaning process determine dustbin be fixed obstacle carry out around
Row, and the location information of dustbin is recorded in and is cleaned in daily record, it is uploaded to server, server is in fixed obstacle to be marked
Mark the position of dustbin in list, and recording mark number when clearing apparatus cleans the cleaning block next time again, and detects
To the dustbin, the position of dustbin is continued to be recorded in cleaning daily record, server is reported to, when server is to the barrier
The label number of position reach predetermined threshold value, for example at 4 times, fixed obstacle is defined as label barrier, in map
It is fixed obstacle to mark the dustbin, and updates the map for cleaning block, to realize cleaning work cartographic information more
Newly, so as to according to updated map to clean track planned again, it is not necessary to every time to fixed obstacle progress
It identifies avoidance and reports, save time and the electricity of cleaning work, improve sweeping efficiency.
Label of the update of map in addition to increasing fixed obstacle, further includes the revocation to marked barrier, specifically
, environmental perception module is detected to cleaning the label barrier in block；When not detecting label barrier, to mark
The region of note barrier is cleaned；The location information of label barrier is obtained, and is stored in cleaning work daily record,
After cleaning work daily record is sent to server according to preset time, server parses cleaning work daily record, obtains
Mark barrier and corresponding location information；Block cartographic information deletion mark is being cleaned according to the location information of label barrier
Remember barrier, and updates cleaning work cartographic information.If do not detected to marked barrier, if that marked
Barrier is not present, for example the dustbin marked in map is removed, and clearing apparatus continuation is cleaned according to original place figure, just
Meeting drain sweep falls to mark barrier region.After updating cleaning work cartographic information, according to updated cleaning work map
Information, update clean routing information, then by updated cleaning work cartographic information and cleaning routing information, are handed down to cleaning
Device can accomplish not drain sweep so as to find the fixed obstacle for the label being not present in the figure of original place in time, realize efficient
The cleaning work of intelligence.
In a preferred embodiment, in order to realize that operation map is precisely corrected, clearing apparatus is according to cleaning routing information
When carrying out cleaning work, the environmental perception module of clearing apparatus detects the environmental information for cleaning block, is cleaned area
The actual acquisition information of block believes environment specifically, being blended by laser radar, ultrasonic radar, GPS module and camera
Breath is detected, to obtaining true, accurate actual acquisition information in clearing apparatus cleaning process, then according to actually adopting
Collect information and original cleaning work cartographic information generates the practical cleaning work cartographic information for cleaning block；It is finished in cleaning
Afterwards, cleaning work cartographic information is sent to server, that is, clearing apparatus has often executed a cleaning task, it will will be
The practical cleaning work map of acquisition during cleaning work is uploaded onto the server, and is equally marked in practical cleaning work map
There is the boundary information of block and clean fixed obstacle information in block, wherein fixed obstacle is the same as above-mentioned fixed obstacle
It is identical, can be specifically flower bed, trees, fitness equipment etc., which is with timeliness and accuracy.
After this, server receives the practical cleaning work cartographic information that clearing apparatus is sent, in the reality received
Cleaning work map can be derived from the identical or different cleaning block that same clearing apparatus cleans, and can also be to derive from
The identical or different cleaning block that different clearing apparatus clean；Server according to clean block information to practical cleaning work
Figure information carries out classifying and dividing, thus by the collected practical cleaning work map partitioning of same cleaning block to one group；Then
Fusion treatment is carried out to the same multiple practical cleaning work cartographic informations for cleaning block, that is, same clearing apparatus is multiple
Collected multiple practical cleaning work maps, or by the collected multiple practical cleaning work maps of different clearing apparatus into
Row data fusion, to based on original cleaning work map obtain map update information, then update information is more according to the map
New cleaning work cartographic information, makees according to the cleaning of the updated corresponding block of cleaning work map information update after this
Then corresponding clearing apparatus is handed down in industry path, so as to be carried out to the cleaning work accuracy of map according to actual conditions
It corrects, ensures accuracy, the timeliness of operation map, and then cleaning work path is modified according to actual conditions in time,
Ensure the accuracy and timeliness in cleaning path.
The processing method of operation cartographic information provided in an embodiment of the present invention, the side that can be blended by multiple sensors
Formula, detection obtain the boundary information and fixed obstacle of sweeping area block, are generated based on cartographic information and cleaning block information accurate
Cleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus cleaning
The note that can get the bid in the process to map and unlabelled barrier detect, and update cleaning work map letter according to result of detection
Breath saves electricity of the clearing apparatus in cleaning process and cleans the time to ensure the accuracy of cleaning work map.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, processor to execute
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific implementation mode has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
Illustrate, it should be understood that these are only the specific implementation mode of the present invention, the protection model being not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (10)
1. a kind of processing method of operation cartographic information, which is characterized in that the method includes：
The environmental perception module of clearing apparatus carries out information collection to cleaning block, obtains the acquisition information for cleaning block；
The clearing apparatus handles the acquisition information, obtains the location information of block border and the position of fixed obstacle
Confidence ceases, and is sent to the server；
The server calls cartographic information；The cartographic information includes road network structure information and multiple cleaning block informations；
According to the location information of the location information of the block border and fixed obstacle, remembers and sweep in cartographic information acceptance of the bid
The block border and fixed obstacle of block, to generate cleaning work cartographic information；
Block is cleaned to each of described cleaning work cartographic information and carries out cleaning path planning, obtains corresponding cleaning road
Diameter information；
The cleaning routing information and the incidence relation cleaned between block are established, and according to the incidence relation and described
Cleaning work cartographic information generates cleaning work data packet, is sent to the clearing apparatus；
The clearing apparatus parses the cleaning work data packet, obtains the cleaning work cartographic information, Yi Jisuo
It states and cleans routing information and the incidence relation cleaned between block, and store；
It receives and cleans mission bit stream；The cleaning mission bit stream includes cleaning block information；
Corresponding cleaning routing information is obtained according to the cleaning block；
Cleaning work is carried out according to the cleaning work cartographic information and the cleaning routing information got；
The environmental perception module of the clearing apparatus is detected to cleaning environmental information, obtains obstacle information；
Judge the attribute information of the barrier；The attribute information of the barrier includes fixed obstacle and moving obstacle；
When the attribute information of the barrier is moving obstacle, the moving obstacle is avoided；
When the attribute information of the barrier is fixed obstacle, the location information of the fixed obstacle is obtained；
Whether the location information of the barrier got described in judgement hinders with the fixation marked in the cleaning work cartographic information
The location information of object is hindered to coincide；
When overlapping, cleaned according to the cleaning routing information；
When misaligned, detour cleaning is carried out to the fixed obstacle, records the location information of the fixed obstacle, and is protected
There are in cleaning work daily record；
The cleaning work daily record is sent to the server according to preset time；
The server parses the cleaning work daily record, obtains the location information of fixed obstacle, and to be marked
The label number of the fixed obstacle is updated in fixed obstacle list；Wherein, in the fixed obstacle list to be marked
Store the location information and label number of fixed obstacle；
The label number for monitoring the fixed obstacle, when the label number of the fixed obstacle reaches preset times threshold value
When, fixed obstacle is marked in the cleaning work cartographic information, to update the cleaning work cartographic information.
2. the processing method of operation cartographic information according to claim 1, which is characterized in that the environmental perception module packet
Include laser radar, GPS module and camera；
The environmental perception module of the clearing apparatus carries out information collection to cleaning block, obtains the acquisition letter for cleaning block
Breath specifically includes：
The laser radar carries out information collection to cleaning block, obtains the first gathered data；First gathered data includes
Laser point cloud data；
The GPS module carries out information collection to cleaning block, obtains the second gathered data；Second gathered data includes three
Tie up location information；
The camera carries out information collection to cleaning block, obtains third gathered data；The third gathered data includes figure
As data.
3. the processing method of operation cartographic information according to claim 2, which is characterized in that the clearing apparatus is to described
Acquisition information is handled, and the location information of the location information and fixed obstacle that obtain block border specifically includes：
To the collected laser point cloud data of the laser radar, the collected three-dimensional velocity information of the GPS module and three-dimensional
Location information and camera the image collected data carry out data fusion, to obtain the position letter of block border
The location information of breath and fixed obstacle.
4. the processing method of operation cartographic information according to claim 1, which is characterized in that the method further includes：
The environmental perception module detects the fixed obstacle marked in the cleaning work cartographic information；
When not detecting the fixed obstacle of the label, the fixed obstacle region of the label is carried out clear
It sweeps；
The location information of the fixed obstacle of the label is obtained, and is stored in cleaning work daily record.
5. the processing method of operation cartographic information according to claim 4, which is characterized in that described according to preset time
After the cleaning work daily record is sent to the server, the method further includes：
The server parses the cleaning work daily record, obtains the fixed obstacle of the label and corresponding position
Confidence ceases；
According to the location information of the fixation mark barrier of the label label is deleted in the cleaning work cartographic information
Fixed obstacle, and update the cleaning work cartographic information.
6. the processing method of operation cartographic information according to claim 1, which is characterized in that described according to the cleaning
After operation cartographic information and the cleaning routing information got carry out cleaning work, the method further includes：
The environmental perception module of the clearing apparatus detects the environmental information for cleaning block, obtains the sweeping area
The actual acquisition information of block；
The practical cleaning work map for cleaning block is generated according to the actual acquisition information and the cleaning work cartographic information
Information；
After cleaning, the cleaning work cartographic information is sent to the server.
7. the processing method of operation cartographic information according to claim 6, which is characterized in that the method further includes：
The server receives the practical cleaning work cartographic information that multiple clearing apparatus are sent；
Classifying and dividing is carried out to practical cleaning work cartographic information according to the cleaning block information；
Fusion treatment is carried out to the same multiple practical cleaning work cartographic informations for cleaning block, to obtain map amendment letter
Breath；
Cleaning work cartographic information is updated according to the map update information.
8. the processing method of the operation cartographic information according to claim 1,5 or 7, which is characterized in that the method is also wrapped
It includes：
According to the updated cleaning work cartographic information, update cleans routing information；
By the updated cleaning work cartographic information and routing information is cleaned, is handed down to the clearing apparatus.
9. the processing method of operation cartographic information according to claim 1, which is characterized in that described to the cleaning work
Each of cartographic information cleans block and carries out cleaning path planning, obtains corresponding cleaning routing information and specifically includes：
Based on default cleaning modes information, block is cleaned to each of described cleaning work cartographic information and carries out cleaning path rule
It draws, obtains each corresponding cleaning routing information of a variety of cleaning modes information for cleaning block；Wherein, the cleaning path letter
Breath includes cleaning trace information, cleaning velocity information and side brush rotary speed information.
10. the processing method of operation cartographic information according to claim 9, which is characterized in that the cleaning mission bit stream
In further include cleaning modes information；It is described to be specifically included according to the corresponding cleaning routing information of cleaning block acquisition：
According to the cleaning block and the corresponding cleaning routing information of the cleaning modes acquisition of information.
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| CN111199677A (en) * | 2019-12-25 | 2020-05-26 | 邦鼓思电子科技（上海）有限公司 | Automatic work map establishing method and device for outdoor area, storage medium and working equipment |
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| CN111796299A (en) * | 2020-06-10 | 2020-10-20 | 东风汽车集团有限公司 | Obstacle sensing method and device and unmanned sweeper |
| CN111984014A (en) * | 2020-08-24 | 2020-11-24 | 上海高仙自动化科技发展有限公司 | Robot control method, device, robot and storage medium |
| CN113110462A (en) * | 2021-04-21 | 2021-07-13 | 广州极飞科技股份有限公司 | Obstacle information processing method and device and operating equipment |
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| CN113534820B (en) * | 2021-09-14 | 2021-12-14 | 深圳市元鼎智能创新有限公司 | Method and device for motion obstacle avoidance and route control of sweeping robot and sweeping robot |
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