Invention content
The object of the present invention is to provide a kind of processing methods of operation cartographic information, can be blended by multiple sensorsMode, detection obtain the boundary information and fixed obstacle of sweeping area block, based on cartographic information and clean block information generateAccurately cleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus existThe note that can get the bid to map in cleaning process and unlabelled barrier detect, with updating cleaning work according to result of detectionFigure information, to ensure the accuracy of cleaning work map, when saving electricity of the clearing apparatus in cleaning process and cleaningBetween.
To achieve the above object, the present invention provides a kind of processing methods of operation cartographic information, including：
The environmental perception module of clearing apparatus carries out information collection to cleaning block, obtains the acquisition letter for cleaning blockBreath；
The clearing apparatus handles the acquisition information, obtains the location information and fixed obstacle of block borderLocation information, be sent to the server；
The server calls cartographic information；The cartographic information includes road network structure information and multiple cleaning blocks letterBreath；
According to the location information of the location information of the block border and fixed obstacle, marked in the cartographic informationThe block border and fixed obstacle for cleaning block, to generate cleaning work cartographic information；
Block is cleaned to each of described cleaning work cartographic information and carries out cleaning path planning, is obtained corresponding clearSweep routing information；
Establish the cleaning routing information and the incidence relation cleaned between block, and according to the incidence relation andThe cleaning work cartographic information generates cleaning work data packet, is sent to the clearing apparatus；
The clearing apparatus parses the cleaning work data packet, obtains the cleaning work cartographic information, withAnd the incidence relation cleaned between routing information and the cleaning block, and store；
It receives and cleans mission bit stream；The cleaning mission bit stream includes cleaning block information；
Corresponding cleaning routing information is obtained according to the cleaning block；
Cleaning work is carried out according to the cleaning work cartographic information and the cleaning routing information got；
The environmental perception module of the clearing apparatus is detected to cleaning environmental information, obtains obstacle information；
Judge the attribute information of the barrier；The attribute information of the barrier includes fixed obstacle and moving disorderObject；
When the attribute information of the barrier is moving obstacle, the moving obstacle is avoided；
When the attribute information of the barrier is fixed obstacle, the location information of the fixed obstacle is obtained；
Whether the location information of the barrier got described in judgement is consolidated with what is marked in the cleaning work cartographic informationThe location information for determining barrier coincides；
When overlapping, cleaned according to the cleaning routing information；
When misaligned, detour cleaning is carried out to the fixed obstacle, records the location information of the fixed obstacle,And it is stored in cleaning work daily record；
The cleaning work daily record is sent to the server according to preset time；
The server parses the cleaning work daily record, obtains the location information of fixed obstacle, and waiting forThe label number of the fixed obstacle is updated in label fixed obstacle list；Wherein, the fixed obstacle row to be markedThe location information and label number of fixed obstacle are stored in table；
The label number for monitoring the fixed obstacle, when the label number of the fixed obstacle reaches preset times thresholdWhen value, fixed obstacle is marked in the cleaning work cartographic information, to update the cleaning work cartographic information.
Preferably, the environmental perception module includes laser radar, GPS module and camera；
The environmental perception module of the clearing apparatus carries out information collection to cleaning block, obtains adopting for the cleaning blockCollection information specifically includes：
The laser radar carries out information collection to cleaning block, obtains the first gathered data；First gathered dataIncluding laser point cloud data；
The GPS module carries out information collection to cleaning block, obtains the second gathered data；The second gathered data packetInclude three dimensional local information；
The camera carries out information collection to cleaning block, obtains third gathered data；The third gathered data packetInclude image data.
It is further preferred that the clearing apparatus handles the acquisition information, the position letter of block border is obtainedThe location information of breath and fixed obstacle specifically includes：
To the collected laser point cloud data of the laser radar, the collected three-dimensional velocity information of the GPS module andThree dimensional local information and camera the image collected data carry out data fusion, to obtain the position of block borderConfidence ceases and the location information of fixed obstacle.
Preferably, the method further includes：
The environmental perception module detects the fixed obstacle marked in the cleaning work cartographic information；
When not detecting the fixed obstacle of the label, the fixed obstacle region of the label is carried outIt cleans；
The location information of the fixed obstacle of the label is obtained, and is stored in cleaning work daily record.
Preferably, it is described the cleaning work daily record is sent to by the server according to preset time after, it is describedMethod further includes：
The server parses the cleaning work daily record, obtains the fixed obstacle of the label and correspondingLocation information；
According to the location information of the fixation mark barrier of the label described in cleaning work cartographic information deletionThe fixed obstacle of label, and update the cleaning work cartographic information.
Preferably, it is carried out clearly with the cleaning routing information got according to the cleaning work cartographic information describedAfter sweeping operation, the method further includes：
The environmental perception module of the clearing apparatus detects the environmental information for cleaning block, obtains described clearSweep the actual acquisition information of block；
The practical cleaning work for cleaning block is generated according to the actual acquisition information and the cleaning work cartographic informationCartographic information；
After cleaning, the cleaning work cartographic information is sent to the server.
It is further preferred that the method further includes：
The server receives the practical cleaning work cartographic information that multiple clearing apparatus are sent；
Classifying and dividing is carried out to practical cleaning work cartographic information according to the cleaning block information；
Fusion treatment is carried out to the same multiple practical cleaning work cartographic informations for cleaning block, to obtain map amendmentInformation；
Cleaning work cartographic information is updated according to the map update information.
It is further preferred that the method further includes：
According to the updated cleaning work cartographic information, update cleans routing information；
By the updated cleaning work cartographic information and routing information is cleaned, is handed down to the clearing apparatus.
Preferably, described that cleaning path planning is carried out to each of described cleaning work cartographic information cleaning block, it obtainsIt is specifically included to corresponding cleaning routing information：
Based on default cleaning modes information, block is cleaned to each of described cleaning work cartographic information and carries out cleaning roadDiameter is planned, each corresponding cleaning routing information of a variety of cleaning modes information for cleaning block is obtained；Wherein, the cleaning roadDiameter information includes cleaning trace information, cleaning velocity information and side brush rotary speed information.
It is further preferred that further including cleaning modes information in the cleaning mission bit stream；It is described according to the sweeping areaBlock obtains corresponding cleaning routing information and specifically includes：
According to the cleaning block and the corresponding cleaning routing information of the cleaning modes acquisition of information.
The processing method of operation cartographic information provided in an embodiment of the present invention, the side that can be blended by multiple sensorsFormula, detection obtain the boundary information and fixed obstacle of sweeping area block, are generated based on cartographic information and cleaning block information accurateCleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus cleaningThe note that can get the bid in the process to map and unlabelled barrier detect, and update cleaning work map letter according to result of detectionBreath saves electricity of the clearing apparatus in cleaning process and cleans the time to ensure the accuracy of cleaning work map.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The processing method of operation cartographic information provided in an embodiment of the present invention can be applied to server and multiple cleanings dressBetween setting, the environmental perception module of clearing apparatus can carry out data acquisition to cleaning block, obtain fixed obstacle and blockBoundary, and it is uploaded to server, server is marked in cartographic information, to generate cleaning work map.Wherein, it cleansDevice can be understood as unpiloted intelligent sweeper, can be cleaned according to the cleaning path planned, and canEnvironmental information that the environmental perception module of itself perceives such as carries out avoidance, gives way at the actions, realize it is unmanned in the case of peaceEntirely, intelligent operation.
Fig. 1 is the flow chart of the processing method of operation cartographic information provided in an embodiment of the present invention, as shown in Figure 1, describedMethod includes the following steps：
Step 101, the environmental perception module of clearing apparatus carries out information collection to cleaning block, is cleaned adopting for blockCollect information；
To ensure that the accuracy of acquisition, the environmental perception module can specifically include laser radar, GPS module and camera shootingHead, is specifically used for acquisition and detection to cleaning the environmental information in block, and clearing apparatus is cleaning block according to desired guiding trajectoryIt is inside run, environmental perception module carries out information collection.It refers to the estimated region cleaned to clean block, and cleaning block can beOne square, a playground etc..
Specifically, laser radar can be installed on the top of sweeper vehicle shell, laser radar is to cleaning the fixation in blockBarrier and boundary carry out information collection, obtain the first gathered data；Wherein, the first gathered data includes laser point cloud data.GPS module is specifically as follows two differential GPS modules, is set to the top of sweeper vehicle shell, to cleaning the solid obstacle of blockObject and boundary carry out information collection, obtain the second gathered data；Wherein, the second gathered data includes three dimensional local information.Camera shootingHead quantity can be it is at least one, it is more accurate for the block map of acquisition, can all around all installing in vehicleThere are camera, camera to carry out information collection to the fixed obstacle and boundary that clean block, obtain third gathered data；ItsIn, third gathered data includes image data.
Step 102, clearing apparatus handles acquisition information, obtains the location information and fixed obstacle of block borderLocation information, be sent to server；
Different clearing apparatus can be acquired processing respectively to different cleaning blocks, each acquisition process for cleaning blockMethod all same, each clearing apparatus handle acquisition information, obtain the location information and fixed obstacle of block borderLocation information, and be sent respectively to server.In such a way that multiple sensors blend, it is accurately positioned the position of block borderConfidence ceases and the location information of fixed obstacle.
Specifically, to the collected laser point cloud data of laser radar, the collected three-dimensional velocity information of GPS module and threeIt ties up location information and camera the image collected data carries out data fusion, to obtain the location information of block borderWith the location information of fixed obstacle；Wherein, fixed obstacle refers to the barrier that change in location will not occur for a long time, specificallyCan be flower bed, trees, fitness equipment etc..
Step 103, server calls cartographic information；
Specifically, server can obtain cartographic information from third party's map server, cartographic information includes road network knotStructure information and multiple cleaning block informations, road network structure information refer to the road network structure between multiple cleaning blocks, need to illustrate, may include multiple cleaning block informations in cartographic information, but be not each cleaning block to carry out information collection,The information collection for cleaning block needs to carry out according to user.
Step 104, it according to the location information of the location information of block border and fixed obstacle, is marked in cartographic informationThe block border and fixed obstacle for cleaning block, to generate cleaning work cartographic information；
Specifically, obtaining corresponding cleaning block information, root in cartographic information according to the location information of block borderAccording to the location information of block border and the location information of fixed obstacle, the block border for sweeping block is remembered in cartographic information acceptance of the bidAnd fixed obstacle, to generate the cleaning block operation cartographic information of a cleaning block, each block for cleaning block is madeThe generation method of industry cartographic information is all identical, and cleaning work is generated according to multiple cleaning block operation cartographic informations for cleaning blockCartographic information.
Step 105, block is cleaned to each of cleaning work cartographic information and carries out cleaning path planning, obtained correspondingCleaning routing information；
Specifically, area information to be cleaned is determined according to the boundary information and obstacle information that clean block, it is clear according to waiting forIt sweeps area information and preset cleaning coverage rate carries out cleaning path planning, to obtain the cleaning path letter of each purging zoneBreath, wherein it refers to the ratio between estimated sweep-out pattern and purging zone sweep-out pattern to clean coverage rate, with cleaning coverage rate tableShow the clean level of cleaning, cleans bigger, the expression that is formed by overlapping area of bigger two neighboring the cleanings track of explanation of coverage rateWhat is cleaned is cleaner, and a cleaning coverage rate, such as 120% can be preset in server, is planned according to preset cleaning coverage rateClean the trace information in path.
To meet user's different demands, the present invention also provides different cleaning modes, cleaning modes information may includeFast sweep pattern, depth cleaning modes, soft cleaning modes, economize on electricity cleaning modes and standard cleaning modes, each cleans mouldThe corresponding routing information of formula is different, and wherein routing information can be understood as multiattribute trace information, specifically includes cleaningTrace information cleans velocity information and side brush rotary speed information, that is to say, that routing information is especially by cleaning trace information, cleaningVelocity information and side brush rotary speed information are realized.The corresponding cleaning trace information of each pattern cleans velocity information and side brush turnFast information is preset.
Wherein, the type of gesture of cleaning when trace information refers to cleaning work is cleaned, for example may include " bow " font" returning " font, when " bow " zag trajectory cleans, two adjacent spacing cleaned between track are larger, two adjacent cleaning tracksSweep-out pattern is formed by be connected to each other but misaligned；When clearing apparatus is cleaned using " returning " zag trajectory, two adjacent cleaningsSpacing between track is smaller, and two adjacent cleaning tracks are formed by sweep-out pattern and coincide, that is, some places carry outIt repeats to clean.For different cleaning modes, the adjacent track that cleans is formed by the of different sizes of the cleaning face to coincide,For example setting is cleaned using " returning " zag trajectory when depth cleaning modes, setting use " bow " font when fast sweep patternTrack is cleaned.It refers to the speed parameter of clearing apparatus during cleaning to clean velocity information, cleans the slower cleaning of speed moreTotally, slower for the corresponding cleaning speed of depth cleaning modes, cleaning speed corresponding for fast sweep pattern.SideBrush rotary speed information refers to the rotary speed parameter of clearing apparatus bottom sides brush during cleaning, and the faster expression of side brush rotation cleans more dryOnly.
Based on default cleaning modes information, obtains corresponding cleaning trace information, cleans velocity information and side brush rotating speedInformation then according to cleaning trace information, cleaning velocity information and side brush rotary speed information, and cleans the region to be cleaned of blockGenerate the corresponding cleaning routing information of cleaning modes information；Wherein, it includes cleaning trace information, cleaning speed to clean routing informationSpend information and side brush rotary speed information.
Step 106, it establishes and cleans routing information and clean the incidence relation between block, and according to incidence relation and cleaningOperation cartographic information generates cleaning work data packet, is sent to clearing apparatus；
In a preferred embodiment, each clearing apparatus can be responsible for the cleaning of one or more securing cleaning blocks, rightIn such case, the incidence relation cleaned between block and clearing apparatus can be pre-established, according to cleaning block and device IDBetween incidence relation generate block-device and plan list, when data packet issues, the cleaning block be responsible for according to clearing apparatusIncidence relation between information and cleaning routing information, and clean the corresponding road network structure cartographic information life between blockAt block path data packet is cleaned, it is handed down to clearing apparatus, the cleaning being each responsible for only is stored in this way in each clearing apparatusThe path of block, it is possible to reduce data download saves memory headroom, improves the speed of service.
Step 107, clearing apparatus parses cleaning work data packet, is cleaned operation cartographic information, Yi JiqingIt sweeps routing information and cleans the incidence relation between block, and store；
Step 108, it receives and cleans mission bit stream；
May include that one or more cleans block information in cleaning mission bit stream, user can select to want as neededThe region of cleaning.Cleaning task can be that user is directly inputted by the control panel of clearing apparatus, can also be by withThe remote control input of clearing apparatus connection.In addition it can also be and inputted by user terminal, user terminal can be oneThere is platform the terminal device of network savvy, such as smart mobile phone, tablet computer, user terminal to receive cleaning task input by userInformation, and it is sent to background server；Server is corresponding according to cleaning block information in the planning list of block-device and obtainingThe device ID of clearing apparatus will clean mission bit stream then according to device ID and be sent to clearing apparatus.
Step 109, corresponding cleaning routing information is obtained according to cleaning block；
Clearing apparatus calls phase after receiving cleaning mission bit stream, according to the cleaning block information for including in cleaning taskCorresponding cleaning routing information will obtain multiple cleaning routing informations when in cleaning task including multiple cleaning blocks.
In a preferred embodiment, it may also include cleaning modes information in cleaning task input by user, used to meetFamily demand, different blocks can set different cleaning modes, for example block A more totally carries out the clear of fast sweep patternIt sweeps, the messy cleanings for carrying out depth cleaning modes of block B, i.e., includes that each cleaning block information is opposite cleaning mission bit streamThe cleaning modes information answered；Clearing apparatus calls corresponding cleaning road according to multiple cleaning block informations and cleaning modes informationDiameter information realizes cleaning work efficiently, intelligent, greatly so as to realize the cleaning of various modes according to user's different demandsImprove user experience greatly.
Step 110, cleaning work is carried out according to cleaning work cartographic information and the cleaning routing information got；
Clearing apparatus is based on cleaning work map, according to cleaning trace information, the cleaning velocity information for cleaning routing informationCleaning work is carried out with side brush rotary speed information.
In a preferred embodiment, it when cleaning task includes multiple cleaning blocks, is determined in cleaning work mapThe two neighboring location information for cleaning block, then it is based on road network structure information, two neighboring sweeping area is gone out by A* algorithm searchMost short transition path between block, then according to path and most short transition path progress cleaning work is cleaned, so as to intelligenceIt plans transition path, does not need artificial transition, save a large amount of cost of labor.
Step 111, the environmental perception module of clearing apparatus is detected to cleaning environmental information, obtains obstacle information；
When clearing apparatus is started to work, the environmental perception module of trigger device is started to work, and multiple sensors are to cleaningEnvironmental information is detected and is merged, and obstacle information is obtained.
Step 112, the attribute information of disturbance in judgement object；
In cleaning process, radar and camera when perceiving barrier, sentence operating environment information detection and acquisitionThe attribute information of disconnected barrier, the attribute information of barrier includes two kinds of fixed obstacle and moving obstacle, can specifically be led toThe residence time for crossing barrier judged, when barrier is when the residence time of a location point reaching preset time threshold,The barrier is judged for fixed obstacle, is otherwise moving obstacle；Fixed obstacle can be the dustbin placed temporarily,May be the vehicle etc. stopped temporarily, moving obstacle can be the vehicle etc. of pedestrian or driving.
When the attribute information of barrier is moving obstacle, step 113 is executed.When the attribute information of barrier is to fixWhen barrier, step 114 is executed.
Step 113, moving obstacle is avoided.
When the attribute information of disturbance in judgement object is moving obstacle, moving obstacle is avoided, obstacle to be movedObject does not account for after cleaning track, continues to carry out operation cleaning along cleaning trace information.
Step 114, the location information of fixed obstacle is obtained；
When the attribute information of disturbance in judgement object is fixed obstacle, which is obtained by environmental perception moduleLocation information.
Step 115, judge whether the location information of the barrier got is consolidated with what is marked in cleaning work cartographic informationThe location information for determining barrier coincides；
Specifically, in cleaning block cartographic information, judge the location information of the fixed obstacle perceived whether pre-In the shared location information of the fixed obstacle first marked, when the location information of the fixed obstacle perceived is in advance label barrierHinder in the shared location information of object, that is, thinks that the location information of the location information and label barrier of barrier coincides, executeStep 116；When the fixed obstacle perceived location information not in advance label barrier shared location information in, that is, recognizeLocation information for the location information and label barrier of barrier is misaligned, executes step 117.
Step 116, it is cleaned according to cleaning routing information；
The location information of the location information of barrier and label barrier, which coincides, illustrates that the fixed obstacle recognized isBarrier of the label in map in advance, then the fixed obstacle is allowed in path planning, therefore according to advanceThe cleaning routing information of setting is cleaned.
Step 117, detour cleaning is carried out to fixed obstacle, records the location information of fixed obstacle, and be stored in clearIt sweeps in job logging；
The location information of barrier and the location information of label barrier are misaligned, illustrate to deposit in the map for cleaning blockIn unlabelled fixed obstacle, for ease of the update of follow-up map, clearing apparatus records the location information of fixed obstacle, andIt is stored in cleaning work daily record, and detour cleaning is carried out to the fixed obstacle.Cleaning task letter is stored in cleaning daily recordCease and detect the location information of unlabelled fixed obstacle.
Step 118, cleaning work daily record is sent to by server according to preset time；
Those skilled in the art can as needed set preset time, for example can be set as preset timeEvery night 23:00, in every night 23:When 00, all clearing apparatus upload onto the server cleaning work daily record.
Step 119, server parses cleaning work daily record, obtains the location information of fixed obstacle, and waiting forMark the label number of fixed obstacle list update fixed obstacle；
Wherein, fixed obstacle list to be marked is used to store the location information and label number of fixed obstacle.
Specifically, server parses cleaning work daily record, the location information of fixed obstacle is obtained, server is sentencedWhether there is the barrier in disconnected fixed obstacle list to be marked, if not provided, illustrating that the barrier is to be detected for the first timeIt arrives, adds the barrier and corresponding location information in fixed obstacle list to be marked, and by corresponding labelNumber is denoted as 1 time；If so, being detected before illustrating the barrier, then just in fixed obstacle list to be markedUpdate the label number of fixed obstacle.
Step 120, the label number for monitoring fixed obstacle, when the label number of fixed obstacle reaches preset times thresholdWhen value, fixed obstacle is marked in cleaning work cartographic information, to update cleaning work cartographic information.
In a specific example, clearing apparatus in cleaning process determine dustbin be fixed obstacle carry out aroundRow, and the location information of dustbin is recorded in and is cleaned in daily record, it is uploaded to server, server is in fixed obstacle to be markedMark the position of dustbin in list, and recording mark number when clearing apparatus cleans the cleaning block next time again, and detectsTo the dustbin, the position of dustbin is continued to be recorded in cleaning daily record, server is reported to, when server is to the barrierThe label number of position reach predetermined threshold value, for example at 4 times, fixed obstacle is defined as label barrier, in mapIt is fixed obstacle to mark the dustbin, and updates the map for cleaning block, to realize cleaning work cartographic information moreNewly, so as to according to updated map to clean track planned again, it is not necessary to every time to fixed obstacle progressIt identifies avoidance and reports, save time and the electricity of cleaning work, improve sweeping efficiency.
Label of the update of map in addition to increasing fixed obstacle, further includes the revocation to marked barrier, specifically, environmental perception module is detected to cleaning the label barrier in block；When not detecting label barrier, to markThe region of note barrier is cleaned；The location information of label barrier is obtained, and is stored in cleaning work daily record,After cleaning work daily record is sent to server according to preset time, server parses cleaning work daily record, obtainsMark barrier and corresponding location information；Block cartographic information deletion mark is being cleaned according to the location information of label barrierRemember barrier, and updates cleaning work cartographic information.If do not detected to marked barrier, if that markedBarrier is not present, for example the dustbin marked in map is removed, and clearing apparatus continuation is cleaned according to original place figure, justMeeting drain sweep falls to mark barrier region.After updating cleaning work cartographic information, according to updated cleaning work mapInformation, update clean routing information, then by updated cleaning work cartographic information and cleaning routing information, are handed down to cleaningDevice can accomplish not drain sweep so as to find the fixed obstacle for the label being not present in the figure of original place in time, realize efficientThe cleaning work of intelligence.
In a preferred embodiment, in order to realize that operation map is precisely corrected, clearing apparatus is according to cleaning routing informationWhen carrying out cleaning work, the environmental perception module of clearing apparatus detects the environmental information for cleaning block, is cleaned areaThe actual acquisition information of block believes environment specifically, being blended by laser radar, ultrasonic radar, GPS module and cameraBreath is detected, to obtaining true, accurate actual acquisition information in clearing apparatus cleaning process, then according to actually adoptingCollect information and original cleaning work cartographic information generates the practical cleaning work cartographic information for cleaning block；It is finished in cleaningAfterwards, cleaning work cartographic information is sent to server, that is, clearing apparatus has often executed a cleaning task, it will will beThe practical cleaning work map of acquisition during cleaning work is uploaded onto the server, and is equally marked in practical cleaning work mapThere is the boundary information of block and clean fixed obstacle information in block, wherein fixed obstacle is the same as above-mentioned fixed obstacleIt is identical, can be specifically flower bed, trees, fitness equipment etc., which is with timeliness and accuracy.
After this, server receives the practical cleaning work cartographic information that clearing apparatus is sent, in the reality receivedCleaning work map can be derived from the identical or different cleaning block that same clearing apparatus cleans, and can also be to derive fromThe identical or different cleaning block that different clearing apparatus clean；Server according to clean block information to practical cleaning workFigure information carries out classifying and dividing, thus by the collected practical cleaning work map partitioning of same cleaning block to one group；ThenFusion treatment is carried out to the same multiple practical cleaning work cartographic informations for cleaning block, that is, same clearing apparatus is multipleCollected multiple practical cleaning work maps, or by the collected multiple practical cleaning work maps of different clearing apparatus intoRow data fusion, to based on original cleaning work map obtain map update information, then update information is more according to the mapNew cleaning work cartographic information, makees according to the cleaning of the updated corresponding block of cleaning work map information update after thisThen corresponding clearing apparatus is handed down in industry path, so as to be carried out to the cleaning work accuracy of map according to actual conditionsIt corrects, ensures accuracy, the timeliness of operation map, and then cleaning work path is modified according to actual conditions in time,Ensure the accuracy and timeliness in cleaning path.
The processing method of operation cartographic information provided in an embodiment of the present invention, the side that can be blended by multiple sensorsFormula, detection obtain the boundary information and fixed obstacle of sweeping area block, are generated based on cartographic information and cleaning block information accurateCleaning work cartographic information, so as to accurately plan the working path of clearing apparatus, and can clearing apparatus cleaningThe note that can get the bid in the process to map and unlabelled barrier detect, and update cleaning work map letter according to result of detectionBreath saves electricity of the clearing apparatus in cleaning process and cleans the time to ensure the accuracy of cleaning work map.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present 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, processor to executeThe combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical fieldIn any other form of storage medium well known to interior.
Above specific implementation mode has carried out further in detail the purpose of the present invention, technical solution and advantageous effectIllustrate, it should be understood that these are only the specific implementation mode of the present invention, the protection model being not intended to limit the present inventionIt encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present inventionProtection domain within.