CN111047111B - Method, device and medium for dynamically distributing routes of unmanned sweeper - Google Patents
Method, device and medium for dynamically distributing routes of unmanned sweeper Download PDFInfo
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Abstract
The invention provides a route dynamic allocation method of an unmanned sweeper, which comprises the steps of obtaining a plurality of cleaning routes of a place of an area to be cleaned; acquiring vehicle position information of a plurality of sweeping vehicles; distributing the cleaning routes to corresponding cleaning vehicles according to preset distance priority rules and vehicle position information, and acquiring vehicle state information and route completion information of the cleaning vehicles; screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, screening the overloaded sweeper according to preset screening rules and the route finishing information, subdividing the unfinished cleaning route corresponding to the overloaded sweeper into temporary working routes with the same number as the finished sweepers according to the route finishing information, and distributing all the temporary working routes to the corresponding finished sweepers according to preset distance priority rules. The route dynamic allocation method of the unmanned sweeper avoids the situation that operation is delayed or cannot be completed.
Description
Technical Field
The invention relates to the field of sweeper vehicles, in particular to a method, equipment and medium for dynamically distributing routes of an unmanned sweeper vehicle.
Background
As the unmanned sweeper replaces the traditional sweeper, the high efficiency of the unmanned sweeper performance changes the traditional low efficiency cleaning into high efficiency cleaning, and how the distribution of the sweeper work route determines the high efficiency of the overall work efficiency. The assignment of work routes is currently specified, which can lead to situations where work is delayed or not completed when the sweeper fails or other inconclusive factors.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a method for dynamically allocating routes of an unmanned sweeper, which can solve the problem that allocation of a working route is assigned with specificity at present, and when the sweeper is in failure or has other uncertain factors, work is delayed or cannot be completed.
The invention also aims to provide an electronic device which can solve the problem that the assignment of the operation route has specificity at present, and when the sweeper fails or other uncertain factors occur, the operation is delayed or cannot be completed.
It is a further object of the present invention to provide a computer readable storage medium that can solve the problem of the current assignment of work routes having specificity that will cause work delays or incomplete work when the sweeper is out of order or otherwise inconclusive.
One of the purposes of the invention is realized by adopting the following technical scheme:
a method for dynamically allocating a route of an unmanned sweeper comprises the following steps:
acquiring a plurality of cleaning routes of a to-be-cleaned area;
acquiring vehicle positions, namely acquiring vehicle position information of a plurality of cleaning vehicles;
the method comprises the steps of performing primary distribution, namely distributing a cleaning route to a corresponding sweeper according to a preset distance priority rule and the vehicle position information, executing a cleaning task by the sweeper according to the distributed cleaning route, and acquiring vehicle state information and route completion information of the sweeper in real time;
redistributing, screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, counting the number of the finished sweepers to obtain the number of the finished sweepers, screening the overloaded sweepers according to a preset screening rule and the route finishing information, subdividing the unfinished cleaning route corresponding to the overloaded sweeper into temporary operation routes which are the same as the number of the finished sweepers according to the route finishing information, and distributing all the temporary operation routes to the corresponding finished sweepers according to a preset distance priority rule.
Further, before the reassigning, the method further comprises:
and redistributing, when the vehicle state information indicates that the cleaning can not be continued, taking the sweeper corresponding to the vehicle state information as a fault sweeper, and distributing an unfinished cleaning route corresponding to the fault sweeper to an idle sweeper according to a preset distance priority rule.
Further, the re-dividing the uncompleted cleaning route corresponding to the overloaded sweeper into temporary working routes with the same number as the completed sweepers according to the route completion information specifically includes:
judging whether an unfinished cleaning route corresponding to the overloaded sweeper is larger than one, if so, reserving one unfinished route as an operation route of the overloaded sweeper, dividing the remaining unfinished routes into temporary operation routes with the same number as the finished sweepers, and if not, dividing the unfinished cleaning routes into the temporary operation routes with the same number as the finished sweeper according to a preset average dividing rule.
Further, the dividing of the incomplete cleaning route into temporary working routes having the same number as the number of the completed sweepers according to the preset average dividing rule is specifically: and dividing the incomplete cleaning route into a plurality of temporary operation routes at equal intervals according to a preset average division rule.
Further, the dividing of the remaining unfinished routes into temporary working routes having the same number as the number of finished sweepers includes:
when the number of the remaining unfinished routes is the same as that of the finished sweeper, distributing each remaining unfinished route to the corresponding finished sweeper according to a preset distance priority principle; and when the number of the remaining unfinished routes is not equal to the number of the finished sweepers, dividing the remaining unfinished routes into temporary working routes with the same number as the finished sweepers according to a preset average dividing principle.
Further, the reassigning further includes obtaining vehicle position information of the completed sweeper truck, and the assigning all the temporary working routes to the corresponding completed sweeper trucks according to a preset distance priority rule specifically includes: and distributing all the temporary working routes to the corresponding finished sweeper according to a preset distance priority rule and the vehicle position information of the finished sweeper.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a method of dynamically allocating routes for an unmanned sweeper of the present application.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor to perform a method for dynamically allocating a route of an unmanned sweeping vehicle according to the present application.
Compared with the prior art, the invention has the beneficial effects that: the route dynamic allocation method of the unmanned sweeper comprises the steps of obtaining a plurality of cleaning routes of a place of an area to be cleaned; acquiring vehicle position information of a plurality of sweeping vehicles; distributing the cleaning routes to corresponding cleaning vehicles according to preset distance priority rules and vehicle position information, executing cleaning tasks by the cleaning vehicles according to the distributed cleaning routes, and acquiring vehicle state information and route completion information of the cleaning vehicles in real time; screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, counting the number of the finished sweepers to obtain the number of the finished sweepers, screening the overloaded sweeper according to the preset screening rule and the route finishing information, re-dividing an unfinished cleaning route corresponding to the overloaded sweeper into temporary operation routes with the same number as the finished sweepers according to the route finishing information, and distributing all the temporary operation routes to the corresponding finished sweepers according to the preset distance priority rule. Through the division of the cleaning route, the appointed operation is changed into the dynamic operation, various state problems of the sweeper can be fully solved, the whole cleaning process is more efficient, and the condition that the operation is delayed or cannot be completed is avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a schematic flow chart of a method for dynamically allocating routes of an unmanned sweeping vehicle according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1, a method for dynamically allocating a route of an unmanned sweeping vehicle according to the present invention includes the steps of:
route acquisition, namely acquiring a plurality of cleaning routes of a place of an area to be cleaned;
acquiring vehicle positions, namely acquiring vehicle position information of a plurality of cleaning vehicles; in the embodiment, the vehicle position information of each sweeper is acquired by a GPS positioning method.
And (4) primary distribution, namely distributing the cleaning routes to corresponding cleaning vehicles according to preset distance priority rules and vehicle position information, executing cleaning tasks by the cleaning vehicles according to the distributed cleaning routes, and acquiring vehicle state information and route completion information of the cleaning vehicles in real time.
And distributing again, when the vehicle state information indicates that the cleaning can not be continued, taking the sweeper corresponding to the vehicle state information as a fault sweeper, and distributing an incomplete cleaning route corresponding to the fault sweeper to an idle sweeper according to a preset distance priority rule.
Redistributing, screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, acquiring the vehicle position information of the finished sweeper, counting the number of the finished sweepers to obtain the number of the finished sweepers, screening the overloaded sweeper according to the preset screening rule and the route finishing information, subdividing the unfinished cleaning route corresponding to the overloaded sweeper into temporary operation routes with the same number as the finished sweepers according to the route finishing information, and distributing all the temporary operation routes to the corresponding finished sweepers according to the preset distance priority rule. In this embodiment, the following are specific: screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, and counting the number of the finished sweepers to obtain the number of the finished sweepers; screening out the overloaded sweeper according to preset screening rules and route completion information, judging whether the number of unfinished cleaning routes corresponding to the overloaded sweeper is more than one, if so, reserving one unfinished route as an operation route of the overloaded sweeper, and distributing each remaining unfinished route to the corresponding finished sweeper according to a preset distance priority principle and vehicle position information of the finished sweeper when the number of remaining unfinished routes is the same as the number of finished sweepers; when the number of the remaining unfinished routes is not equal to the number of the finished sweepers, dividing the remaining unfinished routes into temporary working routes the number of which is the same as the number of the finished sweepers according to a preset average dividing principle and vehicle position information of the finished sweepers; if not, the unfinished route is a route, and all temporary operation routes are distributed to the corresponding finished sweeper according to the preset distance priority rule and the vehicle position information of the finished sweeper.
The present invention also provides an electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a method of dynamically allocating routes for an unmanned sweeper of the present application.
The present invention also provides a computer-readable storage medium having stored thereon a computer program characterized in that: the computer program is executed by a processor to perform a method for dynamically allocating a route of an unmanned sweeping vehicle according to the present application.
The route dynamic allocation method of the unmanned sweeper comprises the steps of obtaining a plurality of cleaning routes of a place of an area to be cleaned; acquiring vehicle position information of a plurality of sweeping vehicles; distributing the cleaning routes to corresponding cleaning vehicles according to preset distance priority rules and vehicle position information, executing cleaning tasks by the cleaning vehicles according to the distributed cleaning routes, and acquiring vehicle state information and route completion information of the cleaning vehicles in real time; screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, counting the number of the finished sweepers to obtain the number of the finished sweepers, screening the overloaded sweeper according to the preset screening rule and the route finishing information, re-dividing an unfinished cleaning route corresponding to the overloaded sweeper into temporary operation routes with the same number as the finished sweepers according to the route finishing information, and distributing all the temporary operation routes to the corresponding finished sweepers according to the preset distance priority rule. Through the division of the cleaning route, the appointed operation is changed into the dynamic operation, various state problems of the sweeper can be fully solved, the whole cleaning process is more efficient, and the condition that the operation is delayed or cannot be completed is avoided.
The foregoing is merely a preferred embodiment of this invention and is not intended to limit the invention in any manner; one of ordinary skill in the art can readily practice the present invention as illustrated and described herein with reference to the accompanying drawings; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (7)
1. A method for dynamically allocating a route of an unmanned sweeping vehicle is characterized by comprising the following steps:
acquiring a plurality of cleaning routes of a to-be-cleaned area;
acquiring vehicle positions, namely acquiring vehicle position information of a plurality of cleaning vehicles;
the method comprises the steps of performing primary distribution, namely distributing a cleaning route to a corresponding sweeper according to a preset distance priority rule and the vehicle position information, executing a cleaning task by the sweeper according to the distributed cleaning route, and acquiring vehicle state information and route completion information of the sweeper in real time;
redistributing, screening the sweeper which finishes the cleaning task as a finished sweeper according to the route finishing information, counting the number of the finished sweepers to obtain the number of the finished sweepers, screening out the overloaded sweeper according to a preset screening rule and the route finishing information, subdividing an unfinished cleaning route corresponding to the overloaded sweeper into temporary operation routes which are the same as the number of the finished sweepers according to the route finishing information, and distributing all the temporary operation routes to the corresponding finished sweepers according to a preset distance priority rule;
the repartitioning of the incomplete cleaning route corresponding to the overloaded sweeper into the temporary operation routes with the same number as the number of the completed sweepers according to the route completion information is specifically as follows:
judging whether the number of the unfinished cleaning routes corresponding to the overloaded sweeper is larger than one, if so, reserving one unfinished route as the operation route of the overloaded sweeper, dividing the rest unfinished routes into temporary operation routes with the same number as the number of the finished sweepers, and if not, dividing the unfinished cleaning routes into the temporary operation routes with the same number as the number of the finished sweepers according to a preset average division rule.
2. The method for dynamically allocating the route of the unmanned sweeping vehicle as claimed in claim 1, wherein: prior to the reassigning further comprising:
and redistributing, when the vehicle state information indicates that the cleaning can not be continued, taking the sweeper corresponding to the vehicle state information as a fault sweeper, and distributing an incomplete cleaning route corresponding to the fault sweeper to an idle sweeper according to a preset distance priority rule.
3. The method for dynamically allocating the route of the unmanned sweeping vehicle as claimed in claim 1, wherein: the dividing of the unfinished cleaning route into the temporary operation routes with the same number as the finished cleaning vehicles according to the preset average dividing rule is specifically as follows: and dividing the incomplete cleaning route into a plurality of temporary operation routes at equal intervals according to a preset average division rule.
4. The method for dynamically allocating the route of the unmanned sweeping vehicle as claimed in claim 1, wherein: the dividing of the remaining unfinished routes into temporary working routes having the same number as the number of finished sweepers includes:
when the number of the remaining unfinished routes is the same as that of the finished sweeper, distributing each remaining unfinished route to the corresponding finished sweeper according to a preset distance priority principle; and when the number of the remaining unfinished routes is not equal to the number of the finished sweepers, dividing the remaining unfinished routes into temporary working routes with the same number as the finished sweepers according to a preset average dividing principle.
5. The method for dynamically allocating the route of the unmanned sweeping vehicle as claimed in claim 1, wherein: the redistribution further includes obtaining vehicle position information of the finished sweeper, and the distributing all the temporary working routes to the corresponding finished sweeper according to a preset distance priority rule specifically includes: and distributing all the temporary working routes to the corresponding finished sweeper according to a preset distance priority rule and the vehicle position information of the finished sweeper.
6. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method of any one of claims 1-5.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-5.
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| CN115230718A (en) * | 2021-11-23 | 2022-10-25 | 上海仙途智能科技有限公司 | Control method and system for unmanned sweeper and readable storage medium |
| CN115271402B (en) * | 2022-07-19 | 2023-06-27 | 中环洁环境有限公司 | Sanitation vehicle selection method, system, medium and equipment based on road environment |
| CN115167475A (en) * | 2022-08-19 | 2022-10-11 | 智道网联科技(北京)有限公司 | Operation scheduling method and device for unmanned sweeper, cloud control platform and storage medium |
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| CN104809867B (en) * | 2014-01-29 | 2017-09-26 | 孟健 | The real-time match system of rideshare share-car intelligence and method based on vehicle line compatible degree |
| CN108762275B (en) * | 2018-06-05 | 2021-05-07 | 北京智行者科技有限公司 | Collaborative sweeping method |
| CN110335485A (en) * | 2019-06-25 | 2019-10-15 | 芜湖酷哇机器人产业技术研究院有限公司 | Automatic Pilot type sweeper dispatching method and system based on big data platform |
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