Pavement cleanliness judgment and automatic sweeping method and automatic sweeping environmental sanitation device

The invention provides a pavement cleanliness judgment and automatic cleaning method based on semantic segmentation. The pavement cleanliness judgment and automatic cleaning method specifically comprises the following steps: 1, collecting and labeling a pavement garbage recognition and segmentation data set; 2, carrying out pavement garbage semantic segmentation network training; 3, transplantingthe network to an embedded vehicle-mounted platform to realize online prediction of real-time pavement data input by a vehicle-mounted camera; 4, according to a pavement garbage prediction result, grading the pavement cleanliness by using a measurement algorithm; 5, adjusting the sweeping force of a sweeper truck-mounted mechanism according to the pavement cleanliness evaluation result to realizeintelligent sweeping. and 6, on the basis of a garbage semantic instance segmentation result, feeding back to the pavement cleaning personnel according to the garbage category to realize available garbage recovery. The method