Self-adaptive safe driving method and system for unmanned sweeper on bumpy road surface

Abstract

The invention discloses a self-adaptive safe driving method and system for an unmanned sweeper on a bumpy road surface. According to the invention, a monocular camera, a binocular camera, an ultrasonic sensor, an IMU inertial navigation assembly and three vibration sensors are fused to identify a bumpy road section, the bumpy road section is graded by combining the walking limit and the vibrationcondition of a sweeper and the sweeping effect on the bumpy road surface, and for bumpy road surfaces with different bumpy grades, the sweeper is controlled to make a driving strategy of avoiding, decelerating or directly passing, so that the sweeper can adaptively adjust the driving strategy according to the bumpy grades, and the sweeping coverage and the operation effect of the sweeper are ensured to the maximum extent while the sweeper safely passes through the bumpy road sections.

Description

technical field [0001] The invention relates to the technical field of sweeping vehicles, in particular to a method and system for self-adaptive and safe driving of an unmanned sweeping vehicle on bumpy roads. Background technique [0002] As a new generation of intelligent unmanned sanitation products, unmanned sweeping vehicles are gradually being favored and applied by the sanitation industry due to their advantages such as autonomous driving, independent timing of cleaning tasks, high operating efficiency, and long operating hours. However, due to factors such as immature unmanned driving technology and poor environmental adaptability, the application scenarios of unmanned sweeping vehicles in China are very limited. For example, the common application environment of unmanned sweeping vehicles includes urban roads, parks, parking lots, parks and other places, and the road conditions in the above places often have harsh road conditions such as gravel, speed bumps, sewer c...

AI Technical Summary

Problems solved by technology

However, due to factors such as immature unmanned driving technology and poor environmental adaptability, the application scenarios of unmanned sweeping vehicles in China are very limited.

For example, the common application environment of unmanned sweeping vehicles includes urban roads, parks, parking lots, parks and other places, and the road conditions in the above places often have harsh road conditions such as gravel, speed bumps, sewer covers, potholes, etc. When passing through such road conditions, it is impossible to make a correct judgment and fall into a dangerous situation. If an avoidance strategy is implemented for all identified bumpy roads, the cleaning effect of the sweeper will be greatly affected, and even the sweeper will not be able to operate.

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