Invention content
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of cleaning method for planning track, determines and clean dressSet whether the programme path being calculated can meet the requirement of sweep-out pattern rate, when programme path cannot be satisfied sweep-out pattern rateRequirement when, carry out the progress of task route and plan is carried out at the same time alarm again, sweeper according to the path execution planned again clearlyTask is swept, to make cleaning effect reach the requirement of sweep-out pattern rate.
To achieve the above object, the present invention provides a kind of cleaning method for planning track, the cleaning method for planning trackIncluding：
Central processing unit in clearing apparatus generates first task trace information according to task list information；The taskInventory information includes area information to be cleaned and cleaning end point location information；
The central processing unit is by the microprocessing unit in the clearing apparatus by the first task trace informationThe vehicle body control unit being sent in the clearing apparatus is believed to the vehicle body control unit according to the first task trackCease work；
Perception unit in the clearing apparatus monitors the location information of the clearing apparatus, and by the clearing apparatusLocation information is sent to the central processing unit；
When the location information of the clearing apparatus has reached the cleaning end point location information, the central processing unitAnd actual path information is obtained according to the location information of the clearing apparatus；
It is worth to purging zone information according to the actual path information and the unit sweep-out pattern；
Purging zone information and the area information to be cleaned described in comparison, are cleaned area occupation ratio；
Determine whether the sweep-out pattern rate is less than preset value；
When the sweep-out pattern rate is less than preset value, purging zone information and the region to be cleaned are believed described in comparisonBreath, obtains non-purging zone information；
The central processing unit obtains the second task trace information according to the non-purging zone information, by described clearThe second task trace information is sent to the vehicle body control unit in the clearing apparatus by the microprocessing unit in sweeping device,It is worked according to the second task trace information to the vehicle body control unit；
Also, when the sweep-out pattern rate is less than preset value, the central processing unit generates warning message, and by instituteThe display unit that warning message is sent to the clearing apparatus is stated, the alarm signal is shown to user to the display unitBreath.
Preferably, when the location information of the clearing apparatus does not reach the cleaning end point location information, the sideMethod further includes：
The central processing unit stores the location information of the clearing apparatus.
Preferably, the mission area information includes one or more mission area data.
It is further preferred that when the mission area information includes multiple mission area data, the method is alsoIncluding：
The central processing unit determines non task area information and described according to the multiple mission area dataShortest distance routing information between mission area；
When the location information of the clearing apparatus has reached within the scope of the non task area information, the central processingUnit sends pause cleaning to the vehicle body control unit and passes through the instruction in non task region so that the vehicle body control unitPass through the non task region according to the shortest distance routing information between the mission area；
When the location information of the clearing apparatus is not within the scope of the non task area information, the central processing listMember continues to clean instruction to vehicle body control unit transmission so that the vehicle body control unit is according to the mission planning informationWork.
It is further preferred that when the mission area information includes multiple mission area data, it is described according to instituteIt states actual path information and the unit sweep-out pattern is worth to purging zone information and is specially：
According between the actual path information, the mission area shortest distance routing information and the unit clean faceProduct value obtains purging zone information.
Preferably, when the sweep-out pattern rate is less than preset value, the method further includes：
The central processing unit obtains the second task according to the non-purging zone information and the task list informationTrace information.
It is further preferred that the second task trace information includes multiple routing informations；Each routing information packetInclude priority parameters.
It is further preferred that described in the priority parameters ratio of the routing information corresponding to the non-purging zone informationThe priority parameters of the routing information corresponding to area information to be cleaned are high.
Preferably, after display unit shows the warning message to user, the method further includes：
The central processing unit receives the cleaning instruction input by user；
Cleaning instruction is parsed, and third task trace information is generated according to instruction is cleaned after parsing, toThe vehicle body control unit works according to the third task trace information.
A kind of cleaning method for planning track provided in an embodiment of the present invention, determines the programme path that clearing apparatus is calculatedThe requirement that whether can meet sweep-out pattern rate carries out task road when programme path cannot be satisfied the requirement of sweep-out pattern rateLine carries out planning again and is carried out at the same time alarm, and sweeper executes cleaning task according to the path planned again, to make cleaning imitateFruit reaches the requirement of sweep-out pattern rate.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
A kind of cleaning method for planning track provided in an embodiment of the present invention is implemented in the clearing apparatus on cleaning road surface, is usedIn when sweep-out pattern rate is not up to standard, quadratic programming is carried out to cleaning path so that practical sweep-out pattern reaches sweep-out pattern rateIt is required that.Its method flow diagram is as shown in Figure 1, include the following steps：
Step 100, central processing unit generates first task trace information according to task list information；
Specifically, clearing apparatus can be understood as a unpiloted cleaning vehicle, for scene to be cleaned into walking along the streetFace cleaning cleans.Clearing apparatus includes central processing unit, microprocessing unit, vehicle body control unit and perception unit.
Wherein, central processing unit can be understood as the brain of clearing apparatus, mainly for the treatment of various algorithms and logic.Micro-control unit is connected with vehicle body control unit and central processing unit respectively, is used for vehicle body control unit and central processing unitBetween data interaction.Vehicle body control unit can be understood as the unit of the operation for controlling clearing apparatus, including control cleansDirection, the lifting etc. for cleaning speed, cleaning brush.Vehicle body control unit includes motor module and electric power steering module.MotorModule can be understood as providing the driving device of kinetic energy for clearing apparatus.Electric power steering module is appreciated that clean in order to controlThe transfer of device direction of travel.Perception unit can be understood as the module perceived to clearing apparatus ambient enviroment.SenseKnow that unit includes radar module and Differential positioning module.Radar module includes ultrasonic radar and laser radar, for cleaningBarrier is detected near device vehicle body.Differential positioning module can be understood as differential GPS (differential GPS-DGPS, DGPS), be the differential GPS standard station using three-dimensional coordinate, acquire pseudorange correction amount or position correction amount, then by thisCorrection amount is real-time or is sent to GPS navigator afterwards, is modified to measurement data, to improve the device of GPS location precision.DifferenceThe position for dividing locating module to be currently located for accurately positioning clearing apparatus.
It includes mission mode information, task time that task list information, which can be understood as, cleans end point location information, cleansThe mission bit stream of all kinds of cleaning conditions such as start position information and area information to be cleaned.Mission mode information can be understood as usingThe cleaning modes of this cleaning task needed for family.Cleaning modes can there are many, different types of cleaning modes correspond to clearThe different operating mode of sweeping device, for example, commonly, quickly, economize on electricity, the work of clearing apparatus corresponding to clean cleaning modesState is different.It cleans end point location information and cleans start position information and can be understood as the starting point and end that this cleans taskPoint.First area information to be cleaned can be understood as selecting some in scene to be cleaned or multiple specific regions to be cleaned.
Central processing unit parses task list information, and first task trace information is obtained according to analysis result.It is firstBusiness trace information can be understood as clearing apparatus when first time, execution carried out cleaning task to the first area information to be cleaned, in advanceThe traffic line information of meter.
Step 110, digital-to-analogue conversion is carried out to task trace information, obtains corner control information and Motor torque control letterBreath；
Specifically, central processing unit sends first task trace information to microprocessing unit, and to first task trackInformation carries out digital-to-analogue conversion, converts digital signals into analog signal, obtains corner control information and Motor torque control information,And corner control information and Motor torque control information are respectively sent to motor module and electric power steering module.Corner controlInformation processed can be understood as the control letter for controlling clearing apparatus direction of travel that can be identified by electric power steering moduleBreath.Motor torque controls information and starts traveling, stopping for controlling clearing apparatus be interpreted as to be identified by motor moduleThe control information of traveling and gait of march.
Preferably, it before microprocessing unit carries out digital-to-analogue conversion to first task trace information, needs to clearing apparatusIn modules carry out self-test, after self-test success, central processing unit just can send first task track to microprocessing unitInformation.
Further specifically, central processing unit sends self-test to microprocessing unit, vehicle body control unit and perception unitInstruction so that microprocessing unit, vehicle body control unit and perception unit carry out self-test according to self-checking command, and according to self-detection resultIt generates self-detection result code and is back to central processing unit.When the value of self-detection result code is to represent successful first end value of self-testWhen, central processing unit sends conversion instruction to microprocessing unit, to microprocessing unit according to conversion instruction to first taskTrace information carries out digital-to-analogue conversion, and Motor torque control information and corner control information are respectively sent to motor module and electricityDynamic power-assisted steering module.
Step 120, clearing apparatus executes cleaning task；
Specifically, motor module controls information work according to Motor torque so that clearing apparatus is controlled with Motor torque to be believedThe representative speed of breath is advanced.Electric power steering module controls information work according to corner so that clearing apparatus is with corner controlIt advances in direction representated by information processed.Meanwhile the radar module in unit and Differential positioning module are perceived also according to start-up operation.
Further specifically, Differential positioning module is according to the location information for executing signal monitoring clearing apparatus, and will cleanThe location information of device is sent to central processing unit in real time, and radar module starts to obstacle near clearing apparatus vehicle bodyObject is detected.Meanwhile other units in clearing apparatus also begin to work in succession, for example, brush starts to rotate, dust catcher is openedBeginning dust suction etc..When having barrier near radar module detects clearing apparatus vehicle body, clearing apparatus can be as the case may beSelection stops advancing, detouring barrier or follows barrier, until barrier is far from clearing apparatus.
Mission area information may include one or more mission area data.Cleaning mission area as shown in Figure 2Schematic diagram, it includes mission area A, mission area B and mission area C to clean mission area.When mission area information includes multipleWhen mission area data, central processing unit is determined according to multiple tasks area data between non task area information and mission areaShortest distance routing information.The shortest distance path of namely mission area A to mission area B and mission area B take officeThe shortest distance path of business region C.
When the location information of clearing apparatus has reached within the scope of non task area information, that is, when in figure in the D of region,Central processing unit sends pause cleaning to vehicle body control unit and passes through the instruction in non task region so that vehicle body control unitPass through non task region according to the shortest distance routing information between mission area.When by dividing mission area, vehicle body control unitControl brush is lifted, and dust catcher stops dust suction, and accelerates to pass through.When the location information of clearing apparatus is not in non task area informationWhen in range, that is, when being again introduced into mission area A in figure, mission area B or mission area C, central processing unit toVehicle body control unit transmission continues to clean instruction so that vehicle body control unit is according to mission planning information work.That is, clearSweeping device is not execute cleaning works when by path representated by the shortest distance routing information between mission area.
What needs to be explained here is that each unit included in clearing apparatus is not limited only to above-mentioned central processing listMember, microprocessing unit, perception unit, motor module and electric power steering module, those skilled in the art can be as neededOther units or component included in clearing apparatus are voluntarily set.
Step 130, determine whether the location information of clearing apparatus has reached cleaning end point location information；
Specifically, central processing unit determines whether the location information of the clearing apparatus transmitted by Differential positioning module has reachedTo cleaning end point location information.When the location information of clearing apparatus is to have not yet been reached to clean end point location information, illustrate to cleanTask is still underway, then executes following step 141.When the location information of clearing apparatus is to have reached cleaning end point location informationWhen, illustrate that cleaning task is completed, then executes following step 142.This process can be understood as determining that current cleaning task isNo completed process.
Step 141, the location information of clearing apparatus is stored；
Specifically, when the location information of clearing apparatus is to have not yet been reached to clean end point location information, central processing unitIt will get off when the location information record storage of front cleaning equipment, by rear use.Also, clearing apparatus continues to execute cleaning task,Differential positioning module continues to monitor the location information of clearing apparatus, that is, returns and execute above-mentioned steps 120, until clearing apparatusLocation information be reach clean end point location information until.This process can be understood as to the driving trace of clearing apparatus intoThe process of row real time monitoring and record.
Preferably, when the location information of clearing apparatus is to have not yet been reached to clean end point location information, central processing unit is everyAs soon as obtaining the location information of a clearing apparatus, a cleannes parameter is obtained from vehicle body control unit, and cleannes are joinedNumber is corresponding with the location information of clearing apparatus to be stored so that each cleannes parameter corresponds to the position letter of a clearing apparatusBreath.Cleaning parameter information can be understood as the cleaning action parameter of clearing apparatus, such as brush rotating speed and suction power etc..SoAfterwards, central processing unit is according to the location information of clearing apparatus and the corresponding cleannes parameter of the location information of clearing apparatus,Generate cleaning record information.This process can be understood as the process that central processing unit is acquired to cleaning situation in real time,It can be used for reappearing the cleaning situation at that time recorded together when track reappears, convenient for for being carried out more comprehensively to cleaning processGrasp.
Step 142, actual path information is obtained according to the location information of clearing apparatus；
Specifically, central processing unit is according to the obtained first task trace information of task list information, that is, rootIt is a kind of ideal state according to the travelling route for the clearing apparatus that task list obtains.But the traveling road obtained by task listLine does not consider actual conditions so that clearing apparatus can not be advanced according to task path always in certain real works, mustTask path must be revised, otherwise can not continue to execute cleaning.For example, a rubbish is placed in task path temporarilyRubbish bucket plugs the route of clearing apparatus traveling so that clearing apparatus can not be continued on according to scheduled travelling route, at this timeClearing apparatus needs, to detour dustbin, can just work on.During row, task path is altered so that cleansDevice can continue to complete cleaning task.Therefore, central processing unit needs are painted according to the actual advanced positions of clearing apparatusThe Actual path track of clearing apparatus is made, practical feelings of clearing apparatus during executing cleaning task can be just graspedCondition.When the location information of clearing apparatus is to have reached to clean end point location information, illustrate that cleaning task is completed, then centreReason unit obtains actual path information according to the location information of the clearing apparatus stored.
Step 150, purging zone information is worth to according to actual path information and unit sweep-out pattern；
Specifically, central processing unit obtains unit sweep-out pattern first.When mission area information only includes a taskWhen area data, purging zone letter is calculated according to actual path information and unit sweep-out pattern value in central processing unitBreath.When mission area information includes multiple tasks area data, due to most short distance of the clearing apparatus between by mission areaIt is not execute cleaning works, therefore central processing unit first uses actual path information when from path representated by routing informationThe driving path of representative clearing apparatus subtracts the path representated by the shortest distance routing information between mission area, obtains realityBorder cleans track, and purging zone information is calculated further according to practical cleaning track and unit sweep-out pattern value.
Unit sweep-out pattern can be understood as the area that a clearing apparatus can be swept under non-driving state, with clearThe unit sweep-out pattern of sweeping device is multiplied by clearing apparatus actual path and can be obtained clearing apparatus to be swept into cleaning processArea.Purging zone information can be understood as the area that clearing apparatus is swept into cleaning process.
Step 160, purging zone information and area information to be cleaned are compared, area occupation ratio is cleaned；
Specifically, in previous step, central processing unit draws actual path information institute energy according to actual path informationThe region area being swept into, that is, region area that clearing apparatus actually cleans in this cleaning task.Obtaining realityAfter the region area that border cleans, central processing unit can compare the sweep-out pattern representated by purging zone information and wait for clearThe sweep-out pattern representated by area information is swept, area occupation ratio is cleaned.Sweep-out pattern rate can be understood as central processing unit meterThe obtained practical cleaning coverage for treating purging zone of clearing apparatus.
Step 170, determine whether sweep-out pattern rate is less than preset value；
Specifically, central processing unit can be understood as the cleaning covering of setting firstly the need of preset value, preset value is obtainedThe threshold value of area occupation ratio.Due to, the reasons such as practical road conditions, the road surface that the clearing apparatus representated by purging zone information can cleanThe area in region may there are certain errors compared with the area in the region to be cleaned needed for user, but this error Ying YiIn a reasonable range, this clean up task is just calculated effectively.Therefore, it before clearing apparatus executes clean up task, needs first to determineWhether above-mentioned error is in a reasonable range, that is, determines whether sweep-out pattern rate is less than preset value.
When sweep-out pattern rate is less than preset value, above-mentioned error is represented not in a reasonable range, that is to say, thatThis clean up task just calculates invalid or partial invalidity, needs to carry out quadratic programming to task track again, then executes following stepsRapid 180.When sweep-out pattern rate is not less than preset value, above-mentioned error is represented in a reasonable range, then this flow knotBeam.
Preferred preset value is 95%.That is, the area in the road surface region that clearing apparatus can clean must cover95% or more of region to be cleaned.
Step 180, central processing unit obtains the second task trace information, and notifies user；
Specifically, when sweep-out pattern rate be less than preset value when, illustrate central processing unit need again to task track intoRow quadratic programming.
First choice, central processing unit compares purging zone information and area information to be cleaned, by purging zone informationRepresentative region is removed from the region representated by area information to be cleaned, obtains non-purging zone information, that is, obtainThe area information not being swept into.
Then, central processing unit only obtains the second task trace information according to non-purging zone information.At this point, secondPath in business trace information only includes the part that do not swept to, that is to say, that in this fashion, only cleans and is not cleanedThe region arrived can improve task and complete speed to greatest extent in this way.
Alternatively, the second task track is calculated according to non-purging zone information and task list information in central processing unitInformation.Second task trace information includes multiple routing informations, and each routing information includes priority parameters.Priority parametersRepresent priority of this section of path in secondary cleaning.The priority of routing information corresponding to non-purging zone information is joinedNumber is higher than the priority parameters of the routing information corresponding to area information to be cleaned.In secondary cleaning, central processing unit meetingControlling clearing apparatus, preferentially cleaning is the path corresponding to purging zone information.At this point, the path in the second task trace informationBoth included the part that do not swept to, and also included the part cleaned, can ensure cleaning effect to greatest extent in this way.It should be noted that the generating mode that the second task trace information can be voluntarily arranged in those skilled in the art as needed is onlyIt is generated according to non-purging zone information, according further to non-purging zone information and task list information.
Finally, the second task trace information is sent to clearly by central processing unit by the microprocessing unit in clearing apparatusVehicle body control unit in sweeping device works to vehicle body control unit according to the second task trace information.Specific workflowWith step 110- steps 160.
Also, when sweep-out pattern rate is less than preset value, central processing unit also generates warning message, and by warning messageIt is sent to the display unit of clearing apparatus, to display unit to user's display alarm information.It is used when central processing unit receivesFamily is instructed according to the cleaning that warning message inputs, and is parsed to cleaning instruction, and generates third according to instruction is cleaned after parsingTask trace information works to vehicle body control unit according to third task trace information.Third task trace information can be managedSolution is that the routing information of obtained quadratic programming is indicated according to user.If central processing unit receives user according to alarm signalThe cleaning instruction of breath input, then clearing apparatus can clean task according to cleaning instruction execution input by user.If centreReason unit does not receive user and is instructed according to the cleaning that warning message inputs, then clearing apparatus can be according to central processing unit meterThe second obtained task trace information executes cleaning task.
A kind of cleaning method for planning track provided in an embodiment of the present invention, determines the programme path that clearing apparatus is calculatedThe requirement that whether can meet sweep-out pattern rate carries out task road when programme path cannot be satisfied the requirement of sweep-out pattern rateLine carries out planning again and is carried out at the same time alarm, and sweeper executes cleaning task according to the path planned again, to make cleaning imitateFruit reaches the requirement of sweep-out pattern rate.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosureUnit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrateThe interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.Professional technician can use different methods to achieve the described function each specific application, but this realizationIt should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, user terminal to executeSoftware module or the combination of the two implement.Software module can be placed in random access memory (RAM), memory, read-only storageDevice (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neckIn any other form of storage medium well known in domain.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effectIt is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present inventionProtection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all includeWithin protection scope of the present invention.