A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Road full-traversal sweeping path planning method of unmanned sweeper
The invention discloses a road full-traversal sweeping path planning method of an unmanned sweeper. The method comprises the following steps that the unmanned sweeper judges the type of a to-be-sweptroad; if the lane is a single lane, autonomously identifying the road edge, the road edge is marked as a welt cleaning area, the welt cleaning area is preferentially cleaned according to related traffic rules, and a spiral inward cleaning path is planned; if the vehicle is in a double-lane or multi-lane mode, the road edge and the middle lane line or the middle isolation belt are autonomously recognized, and a sweeping path is planned according to the principle that the welt sweeping area is swept preferentially, the middle lane line area or the middle isolation belt area is swept secondly andthe area in the lane is swept finally. Planning of various paths complies with traffic rules, no retrograde driving risk exists, the vehicle cannot press or cross a middle lane line or a middle isolation belt to drive, and driving safety is guaranteed; the spiral inward path and the sweeping sequence can guarantee driving safety, sweeping missing and repeated sweeping are avoided, and the sweeping efficiency is improved.
一种无人清扫车的道路全遍历清扫路径规划方法，包括如下步骤：无人清扫车判断待清扫道路的类型；如为单车道，自主识别道路边缘，将道路边缘标记为贴边清扫区域，依据相关交通规则，优先清扫贴边清扫区域，规划出螺旋向内式的清扫路径；如为双车道或多车道，自主识别道路边缘和中间车道线或中间隔离带，以优先清扫贴边清扫区域、其次清扫中间车道线区域或中间隔离带区域、最后清扫车道内区域为原则，规划清扫路径。本发明对于各种路径的规划均遵从交通规则，无逆行风险，且不会压着或跨越中间车道线或中间隔离带行驶，保证行车安全；“螺旋向内式”的路径以及清扫顺序可保证行车安全，避免漏扫和重复清扫，提高清扫的效率。
Road full-traversal sweeping path planning method of unmanned sweeper
The invention discloses a road full-traversal sweeping path planning method of an unmanned sweeper. The method comprises the following steps that the unmanned sweeper judges the type of a to-be-sweptroad; if the lane is a single lane, autonomously identifying the road edge, the road edge is marked as a welt cleaning area, the welt cleaning area is preferentially cleaned according to related traffic rules, and a spiral inward cleaning path is planned; if the vehicle is in a double-lane or multi-lane mode, the road edge and the middle lane line or the middle isolation belt are autonomously recognized, and a sweeping path is planned according to the principle that the welt sweeping area is swept preferentially, the middle lane line area or the middle isolation belt area is swept secondly andthe area in the lane is swept finally. Planning of various paths complies with traffic rules, no retrograde driving risk exists, the vehicle cannot press or cross a middle lane line or a middle isolation belt to drive, and driving safety is guaranteed; the spiral inward path and the sweeping sequence can guarantee driving safety, sweeping missing and repeated sweeping are avoided, and the sweeping efficiency is improved.
一种无人清扫车的道路全遍历清扫路径规划方法，包括如下步骤：无人清扫车判断待清扫道路的类型；如为单车道，自主识别道路边缘，将道路边缘标记为贴边清扫区域，依据相关交通规则，优先清扫贴边清扫区域，规划出螺旋向内式的清扫路径；如为双车道或多车道，自主识别道路边缘和中间车道线或中间隔离带，以优先清扫贴边清扫区域、其次清扫中间车道线区域或中间隔离带区域、最后清扫车道内区域为原则，规划清扫路径。本发明对于各种路径的规划均遵从交通规则，无逆行风险，且不会压着或跨越中间车道线或中间隔离带行驶，保证行车安全；“螺旋向内式”的路径以及清扫顺序可保证行车安全，避免漏扫和重复清扫，提高清扫的效率。
Road full-traversal sweeping path planning method of unmanned sweeper
一种无人清扫车的道路全遍历清扫路径规划方法
LI LIANGYUAN (author) / ZHOU JIANGTAO (author) / LI HAO (author)
2021-01-19
Patent
Electronic Resource
Chinese
Unmanned sweeper road pollution condition identifying and sweeping system
| European Patent Office | 2022