CN114626696A - Sweeper scheduling method and device, computer equipment and storage medium - Google Patents
Sweeper scheduling method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a sweeper scheduling method, a sweeper scheduling device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring an image shot by each binocular camera; determining whether the area corresponding to each image is an area to be cleaned or not according to each image; according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined; determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper; and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper. Thereby can guarantee that the real-time health state in target area is good, compare with the motor sweeper of fixed time scheduling cleans, the scheduling mode of this application is more reasonable and comprehensive. Thereby improving the cleaning efficiency and improving the maximum utilization of the resources of the sweeper.
Description
Technical Field
The present application relates to the field of sweeper scheduling technologies, and in particular, to a sweeper scheduling method, device, computer device, storage medium, and computer program product.
Background
At present, a scheduling method of a garden sweeper is generally single, and the sweeper cleans the whole garden at a fixed time; the scheduling method does not consider the real-time sanitary condition of the park, has unreasonable and incomplete performance, low cleaning efficiency and unsatisfactory effect, and cannot utilize the resources of the sweeper to the maximum extent.
Disclosure of Invention
In view of the above, there is a need to provide a sweeper truck scheduling method, a sweeper truck scheduling apparatus, a sweeper truck scheduling computer device, a computer readable storage medium, and a computer program product, which can reasonably and comprehensively schedule a sweeper truck, have high sweeping efficiency, and achieve maximum utilization of sweeper truck resources.
In a first aspect, the application provides a sweeper scheduling method. The method comprises the following steps:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In one of the embodiments, the first and second parts of the device,
according to each image, determining whether the area corresponding to each image is the area to be cleaned or not, wherein the determining step comprises the following steps:
inputting each image into a first preset model, and outputting the corresponding garbage amount of each image;
and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
In one embodiment, determining a target cleaning zone for each sweeper truck based on the volume of tasks to clean for each sweeper truck includes:
taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area;
judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle;
if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
In one embodiment, determining a cleaning path for each sweeper truck based on map information for a target area and a target cleaning area for each sweeper truck includes:
for any sweeper, determining the current position of any sweeper and taking the current position as a cleaning starting point; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
taking the position of the target garbage which is farthest away from any sweeper truck as a cleaning terminal of any sweeper truck, taking the positions of the remaining target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any sweeper, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
In one embodiment, the method further comprises:
and correspondingly generating a running control signal of each sweeper according to the cleaning path of each sweeper, and sending the running control signal of each sweeper to the corresponding sweeper, wherein the running control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
In one embodiment, the method further comprises:
acquiring a current image shot by each binocular camera at the current moment;
judging whether garbage exists in each target cleaning area according to each current image; if the garbage exists in the target cleaning area, the cleaning path of the target cleaning vehicle is determined according to the map information of the target area and the target cleaning area with the garbage, and the cleaning path is sent to the corresponding target cleaning vehicle.
In a second aspect, the application further provides a sweeper scheduling device. The device comprises:
the first acquisition module is used for acquiring images shot by each binocular camera;
the first determining module is used for determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
the second determination module is used for determining the cleaning task amount of each sweeper in the target area according to the image corresponding to each area to be cleaned;
the third determination module is used for determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and the fourth determining module is used for determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper and sending the cleaning path to the corresponding sweeper.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
According to the sweeper scheduling method, the sweeper scheduling device, the computer equipment, the storage medium and the computer program product, the images shot by each binocular camera are acquired; determining whether the area corresponding to each image is an area to be cleaned or not according to each image; according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined; determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper; and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper. Because the clean condition to the target area is monitored in real time, when there is rubbish in the target area, instruct the motor sweeper to clean the region that has rubbish to can guarantee that the real-time health state of target area is good, compare with the motor sweeper of fixed time scheduling cleans, the scheduling mode of this application is more reasonable and comprehensive. In addition, when garbage exists in the target area, all the cleaning vehicles in the target area are dispatched to clean, and the cleaning task amount of each cleaning vehicle is not greatly different, so that the cleaning efficiency is improved, and the maximum utilization of the cleaning vehicle resources is improved. In addition, after the target cleaning area of each sweeper is determined, a cleaning path is planned for each sweeper, so that each sweeper can reach the target cleaning area more quickly, and the cleaning efficiency is improved.
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FIG. 1 is a schematic flow chart diagram of a sweeper truck scheduling method in one embodiment;
FIG. 2 is a block diagram of a sweeper truck scheduling apparatus in one embodiment;
FIG. 3 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
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.
At present, a scheduling method of a garden sweeper is generally single, and the sweeper cleans the whole garden at a fixed time; the scheduling method does not consider the real-time sanitary condition of the park, has unreasonable and incomplete performance, low cleaning efficiency and unsatisfactory effect, and cannot utilize the resources of the sweeper to the maximum extent.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various terms, but these terms are not limited by these terms unless otherwise specified. These terms are only used to distinguish one term from another. For example, the first and second determination modules may be the same or different without departing from the scope of the present application.
In view of the problems in the related art, the embodiment of the present invention provides a sweeper scheduling method, which may be applied to a server, a terminal, or a system including the terminal and the server, and is implemented through interaction between the terminal and the server. The server may be implemented by an independent server or a server cluster composed of a plurality of servers. The terminal can be but not limited to various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be intelligent sound boxes, intelligent televisions, intelligent air conditioners, intelligent vehicle-mounted equipment and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. It should be noted that, the numbers of "a plurality" and the like mentioned in the embodiments of the present application each refer to a number of "at least two", for example, "a plurality" refers to "at least two".
In one embodiment, as shown in fig. 1, a method for scheduling a sweeper truck is provided, in which a plurality of binocular cameras are disposed in a target area, and this embodiment is exemplified by applying the method to a server, where the server may include an intelligent scheduling platform, and specifically, the method is performed by the intelligent scheduling platform, and includes the following steps:
102. and acquiring images shot by each binocular camera.
The target area may be a garden or a cell with a sweeper truck, and the embodiment of the present invention is not particularly limited thereto. It should be noted that the camera is not limited to a binocular camera, and may be a camera having a distance measurement function. It can be understood that if the target area is a garden and the area swept by the sweeper is mainly the road surface in the garden, the plurality of binocular cameras arranged in the target area are used for shooting the road surface in the garden and feeding back the shot images to the server, and the server obtains the cleaning condition of the road surface through the images.
104. And determining whether the area corresponding to each image is the area to be cleaned or not according to each image.
Specifically, the corresponding garbage amount of each image can be determined through a deep learning target detection algorithm; and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
106. And determining the cleaning task amount of each sweeper in the target area according to the image corresponding to each area to be cleaned.
Specifically, the cleaning task amount corresponding to each area to be cleaned can be determined according to the image corresponding to each area to be cleaned; the cleaning task amount corresponding to each area to be cleaned comprises the required time length for cleaning each area to be cleaned; determining the total cleaning task amount corresponding to all the areas to be cleaned according to the cleaning task amount corresponding to each area to be cleaned; and determining the cleaning task amount of each sweeper according to the total cleaning task amount corresponding to all the areas to be cleaned.
Specifically, the determining of the cleaning task amount corresponding to each to-be-cleaned area according to the image corresponding to each to-be-cleaned area includes, but is not limited to: inputting the image corresponding to each area to be cleaned into a second preset model, outputting the quantity and the type of the garbage contained in the image corresponding to each area to be cleaned, and determining the cleaning task quantity corresponding to each area to be cleaned according to the quantity and the type of the garbage contained in the image corresponding to each area to be cleaned. Since the cleaning task amount is quantified by the time length, it can be understood that the more the amount of garbage each to-be-cleaned area contains, the higher the cleaning task amount corresponding to each to-be-cleaned area is. Meanwhile, it can be understood that the type of garbage also affects the cleaning task amount. For example, leaves and water bottles, the sweeper truck requires a longer period of time to sweep the water bottles than the leaves.
It should be noted that the cleaning task amount of each sweeper truck may be in a range or may be a specific numerical value, which is not limited in the embodiment of the present application. Specifically, if it is a specific value, the cleaning task amount of each sweeper truck can be determined by the following steps: the number of the sweeper trucks in the target area is determined, the ratio between the total cleaning task amount corresponding to all the areas to be cleaned and the number of the sweeper trucks is obtained, and the ratio is used as the cleaning task amount of each sweeper truck. If the range is one, after the ratio between the total cleaning task amount corresponding to all the areas to be cleaned and the number of the cleaning vehicles is obtained, a range is determined according to the ratio, and the range is used as the cleaning task amount of each cleaning vehicle.
108. And determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper.
110. And determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
After the cleaning path of each of the cleaning vehicles is determined and transmitted to the corresponding cleaning vehicle, each of the cleaning vehicles performs cleaning according to the corresponding cleaning path.
In the method for scheduling the sweeper, images shot by each binocular camera are acquired; determining whether the area corresponding to each image is an area to be cleaned or not according to each image; according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined; determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper; and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper. Because the clean condition to the target area is monitored in real time, when there is rubbish in the target area, instruct the motor sweeper to clean the region that has rubbish to can guarantee that the real-time health state of target area is good, compare with the motor sweeper of fixed time scheduling cleans, the scheduling mode of this application is more reasonable and comprehensive. In addition, when garbage exists in the target area, all the cleaning vehicles in the target area are dispatched to clean, and the cleaning task amount of each cleaning vehicle is not greatly different, so that the cleaning efficiency is improved, and the maximum utilization of the cleaning vehicle resources is improved. In addition, after the target cleaning area of each sweeper is determined, a cleaning path is planned for each sweeper, so that each sweeper can reach the target cleaning area more quickly, and the cleaning efficiency is improved.
In one embodiment, determining whether the area corresponding to each image is the area to be cleaned according to each image comprises:
and inputting each image into the first preset model, and outputting the corresponding garbage amount of each image.
Wherein, the first preset model may adopt a YOLOv5 model. It can be understood that, in order to make the result output by the first preset model more accurate, before each image is input to the first preset model, the problem of insufficient training samples can be solved through data fusion, training sample expansion, transfer learning and other modes, specifically, a large number of sample images obtained by shooting a target area and other areas similar to the target area can be obtained, and the first preset model is obtained by training the preset training model based on the sample images.
And determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
It will be appreciated that the preset threshold may be determined by the needs of the manager of the target area, for example, if the manager of the campus wishes to maintain a high sanitary condition at all times, the preset threshold may be lowered a little, for example, set to 10, and if the manager of the campus does not have a high requirement for a sanitary condition, the preset threshold may be raised a little, for example, set to 50. It can be understood that the higher the preset threshold value is, the larger the cleaning task amount of the sweeper truck for cleaning each time is, and the lower the preset threshold value is, the smaller the cleaning task amount of the sweeper truck is, so that the sanitation condition of the target area can be ensured to be kept in a higher state in real time.
In the embodiment, the garbage amount corresponding to each image is output by inputting each image into the first preset model; and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned. Because the first preset model is obtained through training, the quantity of the garbage corresponding to each output image is more accurate.
In one embodiment, determining a target cleaning zone for each sweeper truck based on the volume of tasks to clean for each sweeper truck includes:
and taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area.
Judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, the initial area is taken as the target cleaning area of any cleaning vehicle.
It should be noted that, the process of determining the cleaning task amount corresponding to each area to be cleaned may refer to the process of "determining the cleaning task amount corresponding to each area to be cleaned according to the image corresponding to each area to be cleaned" in the above embodiment, and details are not repeated herein.
If not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
Specifically, one to-be-cleaned area closest to the target cleaning area set may be repeatedly selected based on the target cleaning area set and added to the target cleaning area set. I.e. each time adding one area to be cleaned to the set of target cleaning areas. It is understood that the target cleaning area set may include a plurality of target cleaning areas, and a plurality of areas to be cleaned closest to each other may be repeatedly selected based on the target cleaning area set and added to the target cleaning area set.
In the embodiment, the area to be cleaned corresponding to any image in all the areas to be cleaned is used as an initial area; judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle; if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned. Therefore, the target cleaning area of each sweeper is ensured to be concentrated, and the cleaning efficiency is improved.
In one embodiment, determining a cleaning path for each sweeper truck based on map information for the target area and the target cleaning area for each sweeper truck includes:
for any sweeper, determining the current position of any sweeper and taking the current position as a cleaning starting point; the location of each target refuse contained in the target cleaning area of any of the sweepers is determined.
It can be understood that, since the camera adopts a binocular camera with a distance measuring function, the position of each piece of garbage contained in the area corresponding to the image can be determined according to the image shot by the binocular camera.
The position of the target refuse which is farthest away from any sweeper truck is taken as the cleaning terminal of any sweeper truck, the positions of the rest target refuse are all taken as cleaning points, and the intersection in the map information is taken as a gathering point.
And traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any cleaning vehicle, and taking the path with the shortest distance in all paths as the cleaning path of any cleaning vehicle.
In this embodiment, the determined cleaning route for each sweeper truck is the shortest route, so that the cleaning efficiency for each sweeper truck can be improved.
In one embodiment, a driving control signal of each sweeper is correspondingly generated according to a cleaning path of each sweeper and is sent to the corresponding sweeper, and the driving control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
It should be noted that the sweeper in the target area may be an intelligent sweeper, the sweeper may include a communication module, a GPS positioning module, and an electronic control unit, the communication module receives the cleaning path, the garbage position information, and the driving control signal sent by the server, the electronic control unit receives the cleaning path, the garbage position information, and the driving control signal sent by the communication module, and controls the sweeper to drive according to the cleaning path, and the GPS positioning module determines whether the sweeper reaches the garbage position, and then cleans when the sweeper reaches the garbage position.
In this embodiment, the driving control signal of each sweeper is generated correspondingly according to the cleaning path of each sweeper, and the driving control signal of each sweeper is sent to the corresponding sweeper, and the driving control signal is used for indicating the sweeper to reach the target cleaning area and cleaning the garbage. On the one hand, the sweeper is helped to quickly reach a target sweeping area, and sweeping efficiency is improved. On the other hand, the sweeper can automatically clean according to the cleaning path, and is more intelligent.
In one embodiment, a current image shot by each binocular camera at the current moment is acquired; judging whether garbage exists in each target cleaning area according to each current image; if the garbage exists in the target cleaning area, the cleaning path of the target cleaning vehicle is determined according to the map information of the target area and the target cleaning area with the garbage, and the cleaning path is sent to the corresponding target cleaning vehicle.
Specifically, each current image is input into a third preset model, the quantity of garbage corresponding to each target cleaning area is output, and whether the quantity of garbage corresponding to any target cleaning area is greater than 0 is judged for any target cleaning area.
The target sweeping vehicle is a sweeping vehicle corresponding to a target sweeping area where dust is present. In addition, the process of determining the cleaning path of the target sweeper truck may refer to the process of determining the cleaning path of each sweeper truck according to the map information of the target area and the target cleaning area of each sweeper truck, which is not described herein again. After the cleaning path of the target sweeper is sent to the corresponding target sweeper, the method may further include: and correspondingly generating a driving control signal of the target sweeper according to the cleaning path of the target sweeper, sending the driving control signal of the target sweeper to the corresponding target sweeper, wherein the driving control signal is used for indicating the target sweeper to reach a target cleaning area with garbage and cleaning the garbage.
In the embodiment, the current image shot by each binocular camera at the current moment is obtained; judging whether garbage exists in each target cleaning area according to each current image; and if the garbage exists in the target cleaning area, determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle. The target cleaning area is monitored in real time, the cleaning condition of the target cleaning area after cleaning of each sweeper is detected, and when garbage still exists in the target cleaning area of any sweeper, the sweeper is indicated to clean the target cleaning area with the garbage again until the target cleaning area of any sweeper is detected to have no garbage. Thereby improving the cleaning efficiency.
In one embodiment, after determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with garbage, the method further comprises the following steps:
determining the quantity of the garbage in the target cleaning area with the garbage according to the current image corresponding to the target cleaning area with the garbage; and generating a vehicle speed control signal of the target sweeper according to the quantity of the garbage in the target cleaning area with the garbage, and sending the vehicle speed control signal to the target sweeper.
The process of determining the quantity of the garbage in the target cleaning area where the garbage exists may refer to the process of determining whether the area corresponding to each image is the area to be cleaned according to each image, and is not described herein again.
It can be understood that the quantity of the garbage is inversely related to the speed of the target sweeper, and the larger the quantity of the garbage is, the smaller the speed of the target sweeper is correspondingly, so that the cleaning effect of the sweeper is improved.
In the embodiment, the quantity of the garbage in the target cleaning area with the garbage is determined according to the current image corresponding to the target cleaning area with the garbage; and generating a vehicle speed control signal of the target sweeper according to the quantity of the garbage in the target cleaning area with the garbage, and sending the vehicle speed control signal to the target sweeper. Thereby improving the cleaning effect of the sweeper.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a sweeper scheduling device for realizing the sweeper scheduling method. The solution of the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more sweeper truck scheduling device embodiments provided below can be referred to the limitations of the sweeper truck scheduling method in the above, and are not described herein again.
In one embodiment, as shown in fig. 2, there is provided a sweeper truck dispatching device, including: a first obtaining module 202, a first determining module 204, a second determining module 206, a third determining module 208, and a fourth determining module 210, wherein:
the first acquisition module 202 is used for acquiring images shot by each binocular camera;
a first determining module 204, configured to determine, according to each image, whether an area corresponding to each image is an area to be cleaned;
the second determining module 206 is configured to determine a cleaning task amount of each sweeper truck in the target area according to the image corresponding to each to-be-cleaned area;
a third determination module 208, configured to determine a target cleaning area of each of the cleaning vehicles according to the cleaning task amount of each of the cleaning vehicles;
the fourth determining module 210 is configured to determine a cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and send the cleaning path to the corresponding sweeper.
In one embodiment, the first determining module 204 includes:
the output unit is used for inputting each image into the first preset model and outputting the corresponding garbage amount of each image;
the first determining unit is used for determining whether the quantity of the garbage corresponding to each image is larger than a preset threshold value or not, and listing the area corresponding to the image with the quantity of the garbage larger than the preset threshold value as an area to be cleaned.
In one embodiment, the third determining module 208 includes:
the device comprises a first serving unit, a second serving unit and a third serving unit, wherein the first serving unit is used for taking a to-be-cleaned area corresponding to any image in all to-be-cleaned areas as an initial area;
the judging unit is used for judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle;
the second determination unit is used for determining a target cleaning area set of any sweeper if the sweeper is not in the target cleaning area set, and the target cleaning area set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
In one embodiment, the fourth determining module 210 includes:
the third determining unit is used for determining the current position of any sweeper as a cleaning starting point for any sweeper; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
a second acting unit, which is used for taking the position of the target garbage with the farthest distance with any sweeper truck as the cleaning terminal of any sweeper truck, taking the positions of the rest target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and the acquisition unit is used for traversing the cleaning starting point, the collection point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any sweeper, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
In one embodiment, the apparatus further comprises: and the generating module is used for correspondingly generating a running control signal of each sweeper according to the cleaning path of each sweeper and sending the running control signal of each sweeper to the corresponding sweeper, and the running control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
In one embodiment, the apparatus further comprises:
the second acquisition module is used for acquiring a current image shot by each binocular camera at the current moment;
the judging module is used for judging whether garbage exists in each target cleaning area according to each current image; and if the garbage exists in the target cleaning area, determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle.
All or part of the modules in the sweeper truck dispatching device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as images shot by each binocular camera, map information of a target area, cleaning paths of each sweeper and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a sweeper scheduling method.
Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
inputting each image into a first preset model, and outputting the corresponding garbage amount of each image;
and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area;
judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle;
if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
for any sweeper, determining the current position of any sweeper and taking the current position as a cleaning starting point; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
taking the position of the target garbage which is farthest away from any sweeper truck as a cleaning terminal of any sweeper truck, taking the positions of the remaining target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any sweeper, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and correspondingly generating a driving control signal of each sweeper according to the cleaning path of each sweeper, sending the driving control signal of each sweeper to the corresponding sweeper, and indicating the sweeper to reach a target cleaning area and cleaning garbage by the driving control signal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a current image shot by each binocular camera at the current moment; judging whether garbage exists in each target cleaning area according to each current image; and if the garbage exists in the target cleaning area, determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In one embodiment, the computer program when executed by the processor further performs the steps of:
inputting each image into a first preset model, and outputting the corresponding garbage amount of each image;
and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
In one embodiment, the computer program when executed by the processor further performs the steps of:
taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area;
judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle;
if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
In one embodiment, the computer program when executed by the processor further performs the steps of:
for any sweeper, determining the current position of any sweeper and taking the current position as a cleaning starting point; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
taking the position of the target garbage which is farthest away from any sweeper truck as a cleaning terminal of any sweeper truck, taking the positions of the remaining target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any sweeper, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and correspondingly generating a running control signal of each sweeper according to the cleaning path of each sweeper, and sending the running control signal of each sweeper to the corresponding sweeper, wherein the running control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a current image shot by each binocular camera at the current moment;
judging whether rubbish exists in each target cleaning area or not according to each current image; and if the garbage exists in the target cleaning area, determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
In one embodiment, the computer program when executed by the processor further performs the steps of:
inputting each image into a first preset model, and outputting the corresponding garbage amount of each image;
and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
In one embodiment, the computer program when executed by the processor further performs the steps of:
taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area;
judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any sweeper; if so, taking the initial area as a target cleaning area of any cleaning vehicle;
if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises an initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper in all the areas to be cleaned.
In one embodiment, the computer program when executed by the processor further performs the steps of:
for any sweeper, determining the current position of any sweeper and taking the current position as a cleaning starting point; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
taking the position of the target garbage which is farthest away from any sweeper truck as a cleaning terminal of any sweeper truck, taking the positions of the remaining target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths from the cleaning starting point to the cleaning end point of any sweeper, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and correspondingly generating a running control signal of each sweeper according to the cleaning path of each sweeper, and sending the running control signal of each sweeper to the corresponding sweeper, wherein the running control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a current image shot by each binocular camera at the current moment;
judging whether garbage exists in each target cleaning area according to each current image; and if the garbage exists in the target cleaning area, determining the cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle.
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 instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for scheduling a sweeper is characterized in that a plurality of binocular cameras are arranged in a target area, and the method comprises the following steps:
acquiring an image shot by each binocular camera;
determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
according to the image corresponding to each area to be cleaned, the cleaning task amount of each sweeper in the target area is determined;
determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper, and sending the cleaning path to the corresponding sweeper.
2. The method according to claim 1, wherein determining whether the area corresponding to each image is the area to be cleaned according to each image comprises:
inputting each image into a first preset model, and outputting the corresponding garbage amount of each image;
and determining whether the quantity of the garbage corresponding to each image is greater than a preset threshold value, and listing the area corresponding to the image with the quantity of the garbage greater than the preset threshold value as an area to be cleaned.
3. The method of claim 1, wherein determining a target cleaning zone for each sweeper truck based on the volume of tasks to clean for each sweeper truck comprises:
taking the area to be cleaned corresponding to any image in all the areas to be cleaned as an initial area;
judging whether the cleaning task amount corresponding to the initial area is within a preset range or not for any sweeper; the preset range is determined according to the cleaning task amount of any one sweeper; if so, taking the initial area as a target cleaning area of any one of the cleaning vehicles;
if not, determining a target cleaning area set of any sweeper, wherein the target cleaning set comprises the initial area; repeatedly selecting the area to be cleaned with the closest distance based on the target cleaning area set and adding the area to be cleaned into the target cleaning area set until the total cleaning task amount corresponding to the target cleaning area set is within a preset range, taking the area to be cleaned in the target cleaning area set as the target cleaning area of any sweeper, and deleting the target cleaning area of any sweeper from all the areas to be cleaned.
4. The method of claim 1, wherein determining a cleaning path for each sweeper truck based on the map information for the target area and the target cleaning area for each sweeper truck comprises:
for any sweeper, determining the current position of the sweeper and taking the current position as a sweeping starting point; determining the position of each target rubbish contained in the target cleaning area of any sweeper truck;
taking the position of the target garbage which is farthest away from any sweeper truck as a cleaning terminal of any sweeper truck, taking the positions of the rest target garbage as cleaning points, and taking the intersection in the map information as a gathering point;
and traversing the cleaning starting point, the collecting point, the cleaning point and the cleaning end point, acquiring all paths of any sweeper from the cleaning starting point to the cleaning end point, and taking the path with the shortest distance in all paths as the cleaning path of any sweeper.
5. The method of claim 1, further comprising:
and correspondingly generating a running control signal of each sweeper according to the cleaning path of each sweeper, and sending the running control signal of each sweeper to the corresponding sweeper, wherein the running control signal is used for indicating the sweeper to reach a target cleaning area and cleaning garbage.
6. The method of claim 1, further comprising:
acquiring a current image shot by each binocular camera at the current moment;
judging whether garbage exists in each target cleaning area according to each current image; and if the garbage exists in the target cleaning area, determining a cleaning path of the target cleaning vehicle according to the map information of the target area and the target cleaning area with the garbage, and sending the cleaning path to the corresponding target cleaning vehicle.
7. A sweeper scheduling device, characterized in that the device comprises:
the first acquisition module is used for acquiring images shot by each binocular camera;
the first determining module is used for determining whether the area corresponding to each image is an area to be cleaned or not according to each image;
the second determination module is used for determining the cleaning task amount of each sweeper truck in the target area according to the image corresponding to each area to be cleaned;
the third determination module is used for determining a target cleaning area of each sweeper according to the cleaning task amount of each sweeper;
and the fourth determining module is used for determining the cleaning path of each sweeper according to the map information of the target area and the target cleaning area of each sweeper and sending the cleaning path to the corresponding sweeper.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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