Obstacle avoidance method of unmanned sweeper

• Main Authors: OUYANG LIFEN, XIAO FUHUI, YANG JIAN
• Format: Patent
• Language: Chinese; English
• Published: 18.04.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to the technical field of unmanned sweeping, in particular to an obstacle avoidance method of an unmanned sweeping vehicle, which comprises the following steps: configuring an unmanned aerial vehicle for the unmanned sweeping vehicle; when the unmanned sweeping vehicle enters the to-be-swept site, the unmanned sweeping vehicle stops, the unmanned aerial vehicle is controlled to take off, the to-be-swept site is photographed through the unmanned aerial vehicle, and the photographing height of the unmanned aerial vehicle and the position relation between the unmanned aerial vehicle and the unmanned sweeping vehicle at the photographing position are determined; establishing a scene model of a to-be-swept site, and marking the initial position of the unmanned sweeper and the position of an obstacle in the scene model; determining a sweeping route of the unmanned sweeper according to the scene model, the initial position of the unmanned sweeper and the obstacle position; and the unmanned swee