CN113759912A - Full-coverage cleaning path planning method and device and sweeper - Google Patents
Full-coverage cleaning path planning method and device and sweeper Download PDFInfo
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Abstract
The embodiment of the invention relates to a full-coverage cleaning path planning method, a full-coverage cleaning path planning device and a sweeper, wherein the method comprises the following steps: determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned; taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and planning a circular path of the area to be cleaned; taking the end point of the circular path as an initial position, and planning a path along the edge of the area to be cleaned; and splicing the circular path and the edge path to obtain a full-coverage cleaning path. According to the embodiment of the invention, after the whole area of the given area is cleaned, the whole area of the given area can be thoroughly cleaned by combining edge cleaning, and the cleaning precision is high.
Description
Technical Field
The embodiment of the invention relates to the field of unmanned sweeper equipment, in particular to a full-coverage sweeping path planning method and device and a sweeper.
Background
When the sweeper is used for full-coverage global sweeping, the unmanned vehicle is used for planning a route in a given area, so that the sweeper sweeps all areas in the given area along the route.
In the prior art, when a sweeper is used for overall sweeping, path planning needs to be carried out firstly, and a high-precision map is established for the environment, but when the sweeper is used for full-coverage sweeping, sweeping is often not comprehensive enough.
Disclosure of Invention
The embodiment of the invention aims to provide a full-coverage cleaning path planning method, a full-coverage cleaning path planning device and a sweeper, which can thoroughly clean the whole area of a given area by combining edge cleaning after the whole area of the given area is cleaned.
In a first aspect, an embodiment of the present invention provides a full coverage cleaning path planning method, which is applied to a sweeper, and the method includes:
determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned;
taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and planning a circular path of the area to be cleaned;
taking the end point of the circular path as an initial position, and planning a path along the edge of the area to be cleaned;
and splicing the circular path and the edge path to obtain a full-coverage cleaning path.
In some embodiments, the loop-shaped path includes a plurality of large-period sweeping paths, and the large-period sweeping paths are sequentially spliced end to form the loop-shaped path;
the large-cycle sweeping path includes a forward circulation path and a reverse circulation path, wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
In some embodiments, the forward circulation path includes a plurality of small-period sweeping paths, the small-period sweeping path is a single loop, and the next small-period sweeping path is a lateral offset of the previous small-period sweeping path, and the plurality of small-period sweeping paths are connected end to obtain the forward circulation path.
In some embodiments, the small-cycle sweeping path comprises:
starting cleaning along the long edge of the area to be cleaned from the cleaning starting point, and determining that the current position of the sweeper is at a first inflection point when the current position of the sweeper meets a first preset condition;
turning the arc radius of the small-period sweeping path at the first turning point and then reaching a second turning point, and straightly moving the transverse offset of the small-period sweeping path at the second turning point and reaching a third turning point;
turning at the third turning point by the arc radius of the small-period sweeping path to reach a fourth turning point;
at the fourth inflection point, when the length of the straight line reaches a second preset condition, a fifth inflection point is reached;
and at the fifth inflection point, turning by the arc radius of the small-period sweeping path to reach a sixth inflection point so as to finish the small-period sweeping path.
In some embodiments, at the first inflection point or at the third inflection point, the arc that makes a turn at the arc radius of the short-duration sweeping path is the arc 1/4 of the short-duration sweeping path;
at the fifth inflection point, the arc that makes a turn at the arc radius of the short-period cleaning path is 1/2 of the arc of the short-period cleaning path.
In some embodiments, the lateral offset of the small-period sweeping path is calculated based on the total lateral offset of the area to be swept, the total longitudinal movement times, the arc radius of the small-period sweeping path, and the sweeping width of a sweeper broom;
the total longitudinal movement times are calculated based on the total number of forward circulating paths and the longitudinal movement times of one forward circulating path;
the longitudinal movement times of the forward circulating path are calculated based on the arc radius of the small-period sweeping path and the sweeping width of the sweeper broom.
In some embodiments, the performing the edgewise path planning along the edge of the area to be cleaned with the end point of the loop-shaped path as the start position includes:
finding a boundary of a swept area nearest to the sweeper;
calculating the offset distance between the cleaning rings;
when switching to a different sweeping circle, switching to another sweeping circle using a spline curve according to the offset distance.
In some embodiments, the number of sweeping turns is calculated based on an arc radius of the short-cycle sweeping path and a sweeping width of the sweeper broom, and the offset distance is calculated based on the arc radius of the short-cycle sweeping path and the number of sweeping turns.
In a second aspect, an embodiment of the present invention provides a full-coverage cleaning path planning apparatus, which is applied to a sweeper, and includes:
the long edge determining module is used for determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned;
the loop-shaped path planning module is used for planning a loop-shaped path of the area to be cleaned by taking an end point of a long edge of the area to be cleaned as a cleaning starting point;
the edgewise path planning module is used for performing edgewise path planning along the edge of the area to be cleaned by taking the end point of the loop-shaped path as an initial position;
and the splicing module is used for splicing the circular path and the edge path to obtain a full-coverage cleaning path.
In some embodiments, the loop-shaped path includes a plurality of large-period sweeping paths, and the large-period sweeping paths are sequentially spliced end to form the loop-shaped path;
the large-cycle sweeping path includes a forward circulation path and a reverse circulation path, wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
In some embodiments, the forward circulation path includes a plurality of small-period sweeping paths, the small-period sweeping path is a single loop, and the next small-period sweeping path is a lateral offset of the previous small-period sweeping path, and the plurality of small-period sweeping paths are connected end to obtain the forward circulation path.
In some embodiments, the loop path planning module comprises a short-period sweeping module comprising:
a first inflection point confirmation unit, configured to start sweeping along a long side of the area to be swept from the sweeping start point, and when a current position of the sweeper satisfies a first preset condition, determine that the current position of the sweeper is at a first inflection point;
the first turning unit is used for turning at the first turning point according to the arc radius of the small-period sweeping path and then reaching a second turning point, and at the second turning point, the first turning unit straightly moves the transverse offset of the small-period sweeping path and reaches a third turning point;
the second turning unit is used for turning at the third turning point by the arc radius of the small-period sweeping path to reach a fourth turning point;
a fifth inflection point confirmation unit, configured to reach a fifth inflection point when the length of the straight line at the fourth inflection point reaches a second preset condition;
and the third turning unit is used for turning at the fifth turning point according to the arc radius of the small-period sweeping path to reach a sixth turning point so as to finish the small-period sweeping path.
In some embodiments, at the first inflection point or at the third inflection point, the arc that makes a turn at the arc radius of the short-duration sweeping path is the arc 1/4 of the short-duration sweeping path;
at the fifth inflection point, the arc that makes a turn at the arc radius of the short-period cleaning path is 1/2 of the arc of the short-period cleaning path.
In some embodiments, the lateral offset of the small-period sweeping path is calculated based on the total lateral offset of the area to be swept, the total longitudinal movement times, the arc radius of the small-period sweeping path, and the sweeping width of a sweeper broom;
the total longitudinal movement times are calculated based on the total number of forward circulating paths and the longitudinal movement times of one forward circulating path;
the longitudinal movement times of the forward circulating path are calculated based on the arc radius of the small-period sweeping path and the sweeping width of the sweeper broom.
In some embodiments, the edgewise path planning module is further configured to:
finding a boundary of a swept area nearest to the sweeper;
calculating the offset distance between the cleaning rings;
when switching to a different sweeping circle, switching to another sweeping circle using a spline curve according to the offset distance.
In some embodiments, the number of sweeping turns is calculated based on an arc radius of the short-cycle sweeping path and a sweeping width of the sweeper broom, and the offset distance is calculated based on the arc radius of the short-cycle sweeping path and the number of sweeping turns.
In a third aspect, an embodiment of the present invention provides a sweeper truck, including:
at least one processor, and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a sweeper truck, cause the sweeper truck to perform the method described above.
According to the full-coverage cleaning path planning method, the full-coverage cleaning path planning device and the sweeper, after the area to be cleaned is determined, the long edge of the area to be cleaned is determined according to the shape information of the area to be cleaned; then, taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and performing circular path planning on the area to be cleaned to realize the comprehensive cleaning of the area to be cleaned; and after the cleaning of the area to be cleaned is completed, the end point of the circular path is taken as the initial position, the edge path planning is carried out along the edge of the area to be cleaned, the edge cleaning of the area to be cleaned is realized, the edge of the area to be cleaned can be thoroughly cleaned, the circular path and the edge path are spliced to obtain a full-coverage cleaning path, the comprehensive cleaning of the area to be cleaned is realized, and the cleaning precision is higher.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic flow chart diagram illustrating a method for planning a full coverage cleaning path according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a large-cycle cleaning path according to an embodiment of the method for planning a full-coverage cleaning path of the present invention;
FIG. 3 is a schematic diagram of a small-period cleaning path according to an embodiment of the method for planning a full-coverage cleaning path of the present invention;
FIG. 4 is a schematic illustration of a partial sweep of an embodiment of the full coverage sweep path planning method of the present invention;
FIG. 5 is a schematic diagram of a full sweep of one embodiment of the full coverage sweep path planning method of the present invention;
FIG. 6 is a schematic diagram of spline curve switching between cleaning circles according to an embodiment of the full coverage cleaning path planning method of the present invention;
FIG. 7 is a schematic diagram of an edgewise cleaning according to an embodiment of the full coverage cleaning path planning method of the present invention;
FIG. 8a is a schematic structural diagram of an embodiment of the full coverage cleaning path planning apparatus of the present invention;
FIG. 8b is a schematic structural diagram of another embodiment of the full coverage cleaning path planning apparatus of the present invention;
FIG. 9 is a schematic diagram of the hardware configuration of the controller in one embodiment of the sweeper of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Further, the terms "first," "second," "third," and the like, as used herein, do not limit the data and the execution order, but merely distinguish the same items or similar items having substantially the same functions and actions.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The full-coverage cleaning path planning method and device provided by the embodiment of the invention can be applied to a sweeper. The sweeper can be an unmanned sweeper, can automatically sweep garbage on the road, can automatically get around obstacles, can automatically drive, can automatically turn around, can automatically pass through traffic lights, can automatically stop and the like, and can sweep areas such as park paths, roads and the like.
It can be understood that the sweeper is provided with a controller as a main control center, and after the whole area of a given area is swept, the whole area of the given area can be thoroughly swept in combination with edge sweeping.
Referring to fig. 1, fig. 1 is a schematic flow chart of a full coverage cleaning path planning method provided by an embodiment of the present invention, where the method may be executed by a controller 13 in a sweeper truck, as shown in fig. 1, and the method is applied to the sweeper truck, and the method includes:
101: and determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned.
Before the sweeper is used for sweeping, an area to be swept needs to be obtained, specifically, an area range needing to be swept can be marked firstly, the area range can be a polygon, the shape and position information of an obstacle can be marked in the area range, and the obstacle can be a large obstacle, such as a rockery in a park, and needs to be bypassed in a global planning stage.
In the area range needing to be cleaned, determining the area of the obstacle according to the shape and the position information of the obstacle, then removing the area of the obstacle, and obtaining the shape information of the area to be cleaned, so as to determine the long side of the area to be cleaned.
And 102, taking the end point of the long side of the area to be cleaned as a cleaning starting point, and cleaning the area to be cleaned in a loop returning mode.
It will be appreciated that although there is only one area to be cleaned initially, after a loop-like path is planned to clean a round, the area to be cleaned may be divided into a plurality of areas to be cleaned, so that an appropriate cleaning start point is selected to start cleaning.
The end point of the long side of the region to be cleaned is selected as a cleaning starting point, and the end point of the long side of the region to be cleaned is selected as a cleaning starting point, for example, the region to be cleaned is a rectangular region, and the loop-back path planning is performed on the region to be cleaned.
In some embodiments, taking the end point of the long side of the area to be cleaned as the cleaning starting point may include:
taking two end points corresponding to the long edge of the area to be cleaned as two cleaning inlets;
and selecting the end point closest to the sweeper truck from the two sweeping inlets as a sweeping starting point.
The position where the cleaning start point is located may be a position where periodic cleaning in the loop path planning is started. After a cleaning starting point is determined, starting periodic cleaning of a circular path plan, wherein the circular path comprises a plurality of large-period cleaning paths which are sequentially spliced end to form the circular path;
the large-cycle sweeping path includes a forward circulation path and a reverse circulation path, wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
And the forward circulation path comprises a plurality of small-period cleaning paths, the small-period cleaning paths are a single loop, the next small-period cleaning path is the transverse offset of the previous small-period cleaning path, and the small-period cleaning paths are connected end to obtain the forward circulation path.
As shown in fig. 2, fig. 2 is a large-period cleaning path of the loop-back path, and the area on the left side of the center line is a forward circulating path, after a forward circulating path is completed, the completed forward circulating path is turned and translated to obtain a reverse circulating path, and then the sweeper is cleaned along the reverse circulating path, and after the reverse circulating path is completed, a large-period cleaning path is obtained. Wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
After finishing one large-period cleaning path, the sweeper is translated to continuously clean the rest to-be-cleaned area to obtain a plurality of large-period cleaning paths, so that the whole area of the to-be-cleaned area is cleaned.
In some embodiments, the forward circulation path includes a plurality of small-period sweeping paths, the small-period sweeping path is a single loop, and the next small-period sweeping path is a lateral offset of the previous small-period sweeping path, and the plurality of small-period sweeping paths are connected end to obtain the forward circulation path.
Specifically, the small-cycle sweeping path includes:
starting cleaning along the long edge of the area to be cleaned from the cleaning starting point, and determining that the current position of the sweeper is at a first inflection point B when the current position of the sweeper meets a first preset condition;
turning the arc radius of the small-period sweeping path at the first inflection point B, and then reaching a second inflection point C, and straightly moving the transverse offset of the small-period sweeping path at the second inflection point C to reach a third inflection point D;
turning at the third inflection point D by the arc radius of the small-period sweeping path to reach a fourth inflection point E;
at the fourth inflection point E, when the length of the straight line reaches a second preset condition, a fifth inflection point F is reached;
and at the fifth inflection point F, turning by the arc radius of the small-period sweeping path to reach a sixth inflection point G so as to finish the small-period sweeping path.
Specifically, as shown in fig. 3, fig. 3 is a schematic diagram of a small-cycle sweeping path. The cleaning starting point is A, the sweeper starts to clean along the long edge of the area to be cleaned, namely the sweeper moves straight along the direction AB, and when the current position of the sweeper meets a first preset condition, the current position of the sweeper is determined to be at a first inflection point B.
Further, knowing that the minimum turning radius of the sweeper is r _ min m, the sweeping width of a broom of the sweeper is w m, the distance from the center of a rear axle of the sweeper to the head of the sweeper is d m, defining a function ceil (k) to carry out rounding operation on k, and setting the transverse offset of each small-period sweeping path to be x m, wherein x is more than or equal to 0 and less than or equal to w; assuming that the radius of the circular arc of each small-period cleaning path is r, and taking r ═ ceil (r _ min/x) × w, i.e. defining function ceil (k), k ═ r _ min/x, and k is rounded up, the radius r of the circular arc of each small-period cleaning path is the minimum value exceeding r _ min and being a multiple of x.
The first preset condition may be one of the following three conditions:
1) the distance between the center of the rear axle of the sweeper and the boundary of a sweeping area or an obstacle in front of the sweeper is less than or equal to (r + d) meters;
2) the distance between the center of the rear axle of the sweeper and the cleaned area in front of the sweeper is less than or equal to d meters;
3) the sweeper truck reaches the farthest point from the place where the sweeper truck can smoothly turn in the area to be cleaned to the fourth turning point E.
After reaching the first inflection point B, turning right with the arc radius of the short-period sweeping path to reach a second inflection point C, at the second inflection point C, straightly traveling the lateral deviation amount of the short-period sweeping path to reach a third inflection point D, optionally, using the arc of the short-period sweeping path to make a turn with the arc radius of the short-period sweeping path as 1/4 of the arc (arc radius r) of the short-period sweeping path, to reach a point second inflection point C, then, at the point second inflection point C, straightly traveling the lateral deviation amount x of the short-period sweeping path to reach a third inflection point D, then turning right with the arc radius r of the short-period sweeping path to reach a fourth inflection point E, optionally, at the second inflection point D, using the arc of the short-period sweeping path to make a turn with the arc radius r of the short-period sweeping path as 1/4 of the arc (arc radius r) of the short-period sweeping path, after the turn, the fourth inflection point E is reached.
At the fourth inflection point E, when the length of the straight line reaches a second preset condition, a fifth inflection point F is reached, optionally, the second preset condition may be one of the following three conditions:
1) the distance between the center of the rear axle of the sweeper and the boundary of a sweeping area or an obstacle in front of the sweeper is less than or equal to (r + d) meters;
2) the distance between the center of the rear axle of the sweeper and the cleaned area in front of the sweeper is less than or equal to d meters;
3) the sweeper reaches the farthest point from the place where the sweeper can smoothly turn in the area to be cleaned to the sixth turning point G.
After reaching the fifth inflection point F, the small-cycle cleaning path is turned left by the arc radius r of the small-cycle cleaning path, and the arc turned by the arc radius r of the small-cycle cleaning path is 1/2 of the arc (arc radius r) of the small-cycle cleaning path, and reaches the sixth inflection point G, thereby completing the small-cycle cleaning path.
In some embodiments, the lateral offset of the small-period sweeping path is calculated based on the total lateral offset of the area to be swept, the total longitudinal movement times, the arc radius of the small-period sweeping path and the sweeping width of a sweeper broom, and the total longitudinal movement times is calculated based on the total number of forward circulating paths and the longitudinal movement times of one forward circulating path; the longitudinal movement times of the forward circulating path are calculated based on the arc radius of the small-period sweeping path and the sweeping width of the sweeper broom.
Specifically, if it is known that the total lateral offset of the area to be cleaned is n meters, the number of small cycles in one forward circulation path is m, the total number of forward circulation paths is t, and the cleaning width of the sweeper broom is w, if the lateral offset x of the small-cycle cleaning path is equal to the cleaning width w of the sweeper broom, then:
a lateral offset q-4 r + w of one forward cyclic path;
the total number of forward cyclic paths is t-ceil ((n-w)/q) -ceil ((n-w)/(4 r + w));
the number of longitudinal movements in one forward circulation path (total number of times going from top to bottom and from bottom to top) is c ═ 4 (r/w) + 1;
the total number of longitudinal shifts is g ═ t ═ c ═ (ceil ((n-w)/(4 × r + w)) × (4 × (r/w) + 1);
the minimum period lateral offset x-n/g-n/(ceil ((n-w)/(4 r + w)) (4 r/w) + 1).
After completing one small-period cleaning path, laterally shifting on the basis of the completed small-period cleaning path, completing a forward circulation path on the basis of a plurality of small-period cleaning paths, and understandably, when laterally shifting, shifting according to the lateral shift amount x of the small-period cleaning path, that is, when reaching the sixth inflection point G, completing the lateral shift, that is, the distance of AG is x.
After a new forward circulating path is completed, turning and translating the completed forward circulating path to obtain another new forward circulating path which is a reverse circulating path, obtaining a large-period cleaning path after the completion of one forward circulating path and one reverse circulating path, and splicing a plurality of large-period cleaning paths into the circular return path sequentially end to end through translation to complete the cleaning of the area to be cleaned. As shown in fig. 4, fig. 4 is a schematic diagram of a path of the sweeper for cleaning the area to be cleaned for the first time, a peripheral rectangle is the area to be cleaned, a middle rectangle is an obstacle, the sweeper starts cleaning from the lower left corner, the area to be cleaned remains after the sweeper is cleaned once according to fig. 4, as shown in fig. 5, the sweeper starts cleaning for the second time, and after the cleaning for the second time, the cleaning for all the areas to be cleaned is completed.
103: and planning the path along the edge of the area to be cleaned by taking the end point of the circular path as the initial position.
104: and splicing the circular path and the edge path to obtain a full-coverage cleaning path.
After cleaning each to-be-cleaned area, there will always exist some areas close to the total to-be-cleaned area and the distance between obstacles without cleaning in place, as shown in fig. 4 and 5, the total to-be-cleaned area is divided into two times of cleaning, and therefore, actually, the total to-be-cleaned area is divided into two small to-be-cleaned areas, and when each small to-be-cleaned area is completed, the edgewise cleaning needs to be performed, and further, the edgewise path planning is performed along the edge of the to-be-cleaned area by taking the end point of the loop-shaped path as the starting position, and includes:
finding a boundary of a swept area nearest to the sweeper;
calculating the offset distance between the cleaning rings;
when switching to a different sweeping circle, switching to another sweeping circle using a spline curve according to the offset distance.
The number of the cleaning turns is calculated and obtained based on the arc radius of the small-period cleaning path and the cleaning width of the sweeper broom, and the offset distance is calculated and obtained based on the arc radius of the small-period cleaning path and the number of the cleaning turns.
Specifically, if the number of cleaning turns is y, and the offset distance between the cleaning turns is z each time, then:
the number of cleaning turns y is ceil (r/w);
the offset distance z between the cleaning rings is r/y each time;
when switching among different cleaning rings, a spline curve is used for switching according to the cleaning ring and the offset distance z between the cleaning rings each time. As shown in FIG. 6, the curve in FIG. 6 is a spline curve for switching between sweeping cycles so that the sweeper can reach another sweeping cycle for sweeping edgewise.
As shown in fig. 7, when the overall sweeping can be completed by two times of sweeping, at least two times of edgewise sweeping are also needed, and when the edgewise sweeping is switched to the sweeping loop, the sweeping loop is switched to another sweeping loop by using a spline curve; correspondingly, the middle part is an obstacle, and the obstacle is cleaned along the edge, and similarly, when the cleaning circle is switched, the spline curve is used for switching to another cleaning circle.
In some of these embodiments, the sweeper truck performing the edgewise sweep may include:
determining a cleaning starting point and a cleaning direction of the sweeper according to the position information of the sweeper and a preset route map; calculating a route reference line in the preset route map according to the cleaning starting point; according to the cleaning direction, shifting route nodes on the route reference line to obtain a road edge reference line; correcting the route reference line according to the road edge, the road edge reference line and the route reference line, and taking the corrected route reference line as a driving reference line; and cleaning the road edge and the peripheral area according to the running reference line.
Specifically, the determining a cleaning starting point and a cleaning direction of the sweeper truck according to the position information of the sweeper truck and a preset route map comprises: selecting a node closest to the sweeper as a cleaning starting point from the preset route map; and acquiring a road edge near the sweeper, and determining the cleaning direction according to the relative position of the road edge and the sweeper.
The calculating a route reference line in the preset route map according to the cleaning starting point comprises the following steps: selecting a node which is less than a preset distance away from the cleaning starting point from the preset route map as a route node; and sequentially connecting the route nodes in series to generate a route reference line.
The shifting the nodes on the route reference line according to the cleaning direction to obtain a road edge reference line includes:
according to the cleaning direction, translating the route nodes to a direction close to the road edge to obtain road edge nodes, sequentially connecting the road edge nodes in series to obtain a road edge reference line, wherein the cleaning precision distance is the sum of the distance from the edge of a broom of the sweeper to the central axis of the sweeper and the distance from the edge of the broom to the road edge nodes.
The correcting the route reference line according to the road edge, the road edge reference line and the route reference line, and taking the corrected route reference line as a driving reference line, includes: combining all road edge nodes in the road edges to obtain road edge line segments; judging whether a first adsorption node adsorbed to the road edge reference line exists in the route nodes according to the distance between each route node on the route reference line and the road edge line segment; if so, adjusting the coordinate of the first adsorption node to the coordinate on the route reference line to update the route reference line, and taking the updated route reference line as a driving reference line.
The determining whether there is a node adsorbed to the road edge reference line in the route nodes includes: calculating the distance between each route node on the route reference line and the road edge line segment; and if the distance between the existing point and the road edge line section on the route reference line is greater than a first preset line section distance, judging that a first adsorption node adsorbed to the road edge reference line exists in the route nodes.
The edgewise sweeping further comprises:
if route nodes with the distance between the route nodes and the road edge line segment smaller than the distance of a second preset line segment exist on the route reference line, judging that second adsorption nodes needing to be adsorbed to the road edge reference line exist in the route nodes; the first preset line segment distance is greater than the second preset line segment distance; calculating the coordinates of the projection points of the second adsorption nodes on the corresponding line segments on the road edge reference line; and modifying the coordinate of the second adsorption node into the coordinate of the projection point to update the route reference line, and taking the updated route reference line as a driving reference line.
When the sweeping is carried out along the edge, firstly, a sweeping starting point and a sweeping direction of the sweeper are determined according to the position information of the sweeper and a preset route map, and then, a route reference line is calculated in the preset route map according to the sweeping starting point, wherein the route reference line is a reference line in the preset route map; shifting route nodes on the route reference line according to the cleaning direction to obtain a road edge reference line so as to improve the reference precision of the route reference line in a preset route map; correcting the route reference line according to the road edge, the road edge reference line and the route reference line, taking the corrected route reference line as a driving reference line as a final driving reference result of the sweeper, and avoiding the problem of inaccurate positioning precision of the sweeper during driving and cleaning according to the route reference line in the preset route map because the sweeper does not drive and clean according to the route reference line in the preset route map; and the road reference line is adaptively corrected to obtain the running reference line, so that the reference value of the running reference line is effectively increased, the positioning precision of the running reference line is improved, the rationalization of the distance between the sweeper and the road edge is ensured, and the sweeping precision is higher.
And after the edgewise cleaning is finished, the full-coverage cleaning is finished.
According to the embodiment of the application, after the area to be cleaned is determined, the long edge of the area to be cleaned is determined according to the shape information of the area to be cleaned; then, taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and performing circular path planning on the area to be cleaned to realize the comprehensive cleaning of the area to be cleaned; and after the cleaning of the area to be cleaned is completed, the end point of the circular path is taken as the initial position, the edge path planning is carried out along the edge of the area to be cleaned, the edge cleaning of the area to be cleaned is realized, the edge of the area to be cleaned can be thoroughly cleaned, the circular path and the edge path are spliced to obtain a full-coverage cleaning path, the comprehensive cleaning of the area to be cleaned is realized, and the cleaning precision is higher.
Correspondingly, as shown in fig. 8a, an embodiment of the present invention further provides a full-coverage cleaning path planning apparatus, which can be used for a sweeper truck, where the full-coverage cleaning path planning apparatus 800 includes:
a long edge determining module 801, configured to determine a long edge of the area to be cleaned according to shape information of the area to be cleaned;
a loop-back path planning module 802, configured to perform loop-back path planning on the area to be cleaned by using an end point of the long edge of the area to be cleaned as a cleaning start point;
an edge path planning module 803, configured to perform edge path planning along the edge of the area to be cleaned with an end point of the circular path as an initial position;
and the splicing module 804 is used for splicing the circular path and the edge path to obtain a full-coverage cleaning path.
According to the embodiment of the invention, after the area to be cleaned is determined, the long edge of the area to be cleaned is determined according to the shape information of the area to be cleaned; then, taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and performing circular path planning on the area to be cleaned to realize the comprehensive cleaning of the area to be cleaned; and after the cleaning of the area to be cleaned is completed, the end point of the circular path is taken as the initial position, the edge path planning is carried out along the edge of the area to be cleaned, the edge cleaning of the area to be cleaned is realized, the edge of the area to be cleaned can be thoroughly cleaned, the circular path and the edge path are spliced to obtain a full-coverage cleaning path, the comprehensive cleaning of the area to be cleaned is realized, and the cleaning precision is higher.
In other embodiments, the loop-shaped path includes a plurality of large-period sweeping paths, and the large-period sweeping paths are sequentially spliced end to form the loop-shaped path;
the large-cycle sweeping path includes a forward circulation path and a reverse circulation path, wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
In some embodiments, the forward circulation path includes a plurality of small-period sweeping paths, the small-period sweeping path is a single loop, and the next small-period sweeping path is a lateral offset of the previous small-period sweeping path, and the plurality of small-period sweeping paths are connected end to obtain the forward circulation path.
In some embodiments, as shown in fig. 8b, the loop path planning module 802 includes a short-period cleaning module 805, including:
a first inflection point confirmation unit 8051, configured to start sweeping along a long side of the area to be swept from the sweeping start point, and when a current position of the sweeper satisfies a first preset condition, determine that the current position of the sweeper is at a first inflection point;
a first turning unit 8052, configured to turn at the first turning point by using the arc radius of the short-period sweeping path, and then reach a second turning point, and at the second turning point, go straight on the lateral offset of the short-period sweeping path, and reach a third turning point;
a second turning unit 8053, configured to turn at the third turning point by using the arc radius of the short-period sweeping path to reach a fourth turning point;
a fifth inflection point determining unit 8054, configured to reach a fifth inflection point when the length of the straight line at the fourth inflection point reaches a second preset condition;
and a third turning unit 8055, configured to turn at the fifth turning point by using the arc radius of the short-period sweeping path to reach a sixth turning point, so as to complete a short-period sweeping path.
In other embodiments, at the first inflection point or at the third inflection point, the arc that makes a turn at the arc radius of the short-period sweeping path is the arc 1/4 of the short-period sweeping path;
at the fifth inflection point, the arc that makes a turn at the arc radius of the short-period cleaning path is 1/2 of the arc of the short-period cleaning path.
In some embodiments, the lateral offset of the small-period sweeping path is calculated based on the total lateral offset of the area to be swept, the total longitudinal movement times, the arc radius of the small-period sweeping path, and the sweeping width of a sweeper broom;
the total longitudinal movement times are calculated based on the total number of forward circulating paths and the longitudinal movement times of one forward circulating path;
the longitudinal movement times of the forward circulating path are calculated based on the arc radius of the small-period sweeping path and the sweeping width of the sweeper broom.
In some embodiments, the edgewise path planning module 803 is further configured to:
finding a boundary of a swept area nearest to the sweeper;
calculating the offset distance between the cleaning rings;
when switching to a different sweeping circle, switching to another sweeping circle using a spline curve according to the offset distance.
In some embodiments, the number of sweeping turns is calculated based on an arc radius of the short-cycle sweeping path and a sweeping width of the sweeper broom, and the offset distance is calculated based on the arc radius of the short-cycle sweeping path and the number of sweeping turns.
It should be noted that the above-mentioned apparatus can execute the method provided by the embodiments of the present application, and has corresponding functional modules and beneficial effects for executing the method. For technical details which are not described in detail in the device embodiments, reference is made to the methods provided in the embodiments of the present application.
Fig. 9 is a schematic diagram of a hardware structure of a controller in an embodiment of the sweeper truck, and as shown in fig. 9, the controller 13 includes:
one or more processors 131, memory 132. Fig. 9 illustrates an example of one processor 131 and one memory 132.
The processor 131 and the memory 132 may be connected by a bus or other means, and fig. 9 illustrates the connection by the bus as an example.
The memory 132, as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the full coverage sweeping path planning method in the embodiments of the present application (for example, the long edge determination module 801, the loop path planning module 802, the edgewise path planning module 803, the splicing module 804, the first inflection point confirmation unit 8051, the first turning unit 8052, the second turning unit 8053, the fifth inflection point confirmation unit 8054, and the third turning unit 8055 shown in fig. 8a to 8 b). The processor 131 executes various functional applications and data processing of the controller by running the nonvolatile software programs, instructions and modules stored in the memory 132, that is, implements the full coverage cleaning path planning method of the above method embodiment.
The memory 132 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the full-coverage cleaning path planning apparatus, and the like. Further, the memory 132 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 132 may optionally include memory located remotely from the processor 131, which may be connected to the sweeper vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 132, and when executed by the one or more processors 131, perform the full coverage sweeping path planning method in any of the above-described method embodiments, for example, performing the above-described method steps 101 to 104 in fig. 1; the functions of blocks 801 and 804 in fig. 8a and 8051 and 8055 in fig. 8b are realized.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application provide a non-transitory computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more processors, such as one of the processors 131 in fig. 9, and enable the one or more processors to perform the full coverage cleaning path planning method in any of the method embodiments, such as performing the method steps 101 to 104 in fig. 1 described above; the functions of blocks 801 and 804 in fig. 8a and 8051 and 8055 in fig. 8b are realized.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A full-coverage cleaning path planning method is characterized by being applied to a sweeper; the method comprises the following steps:
determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned;
taking the end point of the long edge of the area to be cleaned as a cleaning starting point, and planning a circular path of the area to be cleaned;
taking the end point of the circular path as an initial position, and planning a path along the edge of the area to be cleaned;
and splicing the circular path and the edge path to obtain a full-coverage cleaning path.
2. The method according to claim 1, wherein the loop-back path comprises a plurality of large-period sweeping paths, and the large-period sweeping paths are sequentially spliced end to form the loop-back path;
the large-cycle sweeping path includes a forward circulation path and a reverse circulation path, wherein the reverse circulation path is a mirror image of the forward circulation path in a vertical direction.
3. The method of claim 2, wherein the forward circulation path includes a plurality of short-cycle sweeping paths, the short-cycle sweeping path being a single loop and a next short-cycle sweeping path being a lateral offset of a previous short-cycle sweeping path, the plurality of short-cycle sweeping paths being end-to-end to provide the forward circulation path.
4. The method of claim 3, wherein the small-cycle sweeping path comprises:
starting cleaning along the long edge of the area to be cleaned from the cleaning starting point, and determining that the current position of the sweeper is at a first inflection point when the current position of the sweeper meets a first preset condition;
turning the arc radius of the small-period sweeping path at the first turning point and then reaching a second turning point, and straightly moving the transverse offset of the small-period sweeping path at the second turning point and reaching a third turning point;
turning at the third turning point by the arc radius of the small-period sweeping path to reach a fourth turning point;
at the fourth inflection point, when the length of the straight line reaches a second preset condition, a fifth inflection point is reached;
and at the fifth inflection point, turning by the arc radius of the small-period sweeping path to reach a sixth inflection point so as to finish the small-period sweeping path.
5. The method of claim 4, wherein at the first inflection point or at the third inflection point, the arc that makes a turn at the arc radius of the short-cycle sweeping path is 1/4 of the arc of the short-cycle sweeping path;
at the fifth inflection point, the arc that makes a turn at the arc radius of the short-period cleaning path is 1/2 of the arc of the short-period cleaning path.
6. The method of claim 4, wherein the lateral offset of the small-period sweeping path is calculated based on the total lateral offset of the area to be swept, the total longitudinal movement times, the arc radius of the small-period sweeping path, and the sweeping width of the sweeper broom;
the total longitudinal movement times are calculated based on the total number of forward circulating paths and the longitudinal movement times of one forward circulating path;
the longitudinal movement times of the forward circulating path are calculated based on the arc radius of the small-period sweeping path and the sweeping width of the sweeper broom.
7. The method according to any one of claims 1-6, wherein the performing of the edgewise path planning along the edge of the area to be cleaned with the end point of the loop-like path as the starting position comprises:
finding a boundary of a swept area nearest to the sweeper;
calculating the offset distance between the cleaning rings;
when switching to a different sweeping circle, switching to another sweeping circle using a spline curve according to the offset distance.
8. The method of claim 7, wherein the number of sweeping turns is calculated based on a radius of a circular arc of the short-cycle sweeping path and a sweeping width of the sweeper broom, and the offset distance is calculated based on the radius of a circular arc of the short-cycle sweeping path and the number of sweeping turns.
9. A full-coverage cleaning path planning device is applied to a sweeper and comprises:
the long edge determining module is used for determining the long edge of the area to be cleaned according to the shape information of the area to be cleaned;
the loop-shaped path planning module is used for planning a loop-shaped path of the area to be cleaned by taking an end point of a long edge of the area to be cleaned as a cleaning starting point;
the edgewise path planning module is used for performing edgewise path planning along the edge of the area to be cleaned by taking the end point of the loop-shaped path as an initial position;
and the splicing module is used for splicing the circular path and the edge path to obtain a full-coverage cleaning path.
10. A sweeper truck, characterized in that the sweeper truck comprises:
at least one processor, and
a memory communicatively coupled to the processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-8.
11. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a sweeper truck, cause the sweeper truck to perform the method of any one of claims 1-8.
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