CN113119998B - Safety pipe connection system for wire-controlled chassis of unmanned vehicle - Google Patents
Safety pipe connection system for wire-controlled chassis of unmanned vehicle Download PDFInfo
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- CN113119998B CN113119998B CN202110414377.1A CN202110414377A CN113119998B CN 113119998 B CN113119998 B CN 113119998B CN 202110414377 A CN202110414377 A CN 202110414377A CN 113119998 B CN113119998 B CN 113119998B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Transportation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a safety take-over system for a wire-controlled chassis of an unmanned vehicle, and belongs to the technical field of control of the chassis of the unmanned vehicle. The system comprises a driving pipe connecting module, a steering pipe connecting module, a braking pipe connecting module and a remote controller; the driving connection module, the steering connection module and the braking connection module respectively receive signals issued by the unmanned vehicle, whether the driving system, the steering system and the braking system need to enter a connection state or not is judged according to the signals, in addition, connection signals can be sent to the driving module, the steering system and the braking system through a remote controller, the driving connection module, the steering connection module and the braking connection module respectively send connection signals to the algorithm signal processing unit, and the algorithm signal processing unit calculates enabling signals to be actually output. The invention can carry out active and passive take-over when meeting emergency in the driving process, thereby fully ensuring the driving safety of the vehicle.
Description
Technical Field
The invention belongs to the technical field of control over a drive-by-wire chassis of an unmanned vehicle, and particularly relates to a safe take-over system for guaranteeing automatic driving safety through structural design of an electronic control system of the chassis.
Background
Under the background of the accelerated intelligent networking development of the vehicle industry in China, unmanned vehicles with multiple functions and different environments are gradually accepted and put into use by people, but the drive-by-wire chassis has no clear industry standard, the quality and the standard of various products are different, and the control system and the most important safety system have great difference and various problems.
The drive-by-wire chassis system is used as an important component of an unmanned vehicle, operating mechanisms such as a steering wheel, an accelerator pedal and a brake pedal of a traditional vehicle are omitted, automatic driving is achieved in a real sense, and meanwhile, many risks in a safe aspect are brought.
Disclosure of Invention
In view of the above, the invention provides a safety takeover system for a chassis controlled by an unmanned vehicle line, which can take over actively or passively when the system is in an emergency in the driving process, and control systems such as steering, driving and braking exit an automatic driving mode after taking over, so that the driving safety of the vehicle is fully ensured.
A safety connection system for a line control chassis of an unmanned vehicle comprises a driving connection module, a steering connection module, a braking connection module and a remote controller;
when the vehicle is in a state of upper control drive, the drive system connecting pipe module receives a signal issued by the unmanned vehicle upper, judges and reads that the drive enable is 0, or the drive out-of-range signal is 1, or when the vehicle is in a state of upper control steering, the passive drive connecting pipe is triggered; the control lever of the remote controller is manually operated to send a driving takeover signal to the drive system takeover module, and then the active driving takeover is triggered; the vehicle exits the autonomous driving state;
when the vehicle is in a state of loading control steering, the steering connection pipe module receives a signal sent by the unmanned vehicle, judges and reads that a steering enable signal is 0, or sends an instruction out of a specified controllable range, or when the vehicle is in a state of loading control driving or braking, a steering connection pipe appears, a passive steering connection pipe is triggered, and an operating lever of a remote controller is manually operated to send a steering connection pipe signal to the steering connection pipe module, and an active steering connection pipe is triggered; the vehicle exits the autonomous driving state;
when the vehicle is in a loading control braking state, the brake takeover module receives a signal issued by the unmanned vehicle loader to judge and read that the brake enable is 0, or an issued instruction overrun value is larger than a set controllable range, or when the vehicle is in the loading control steering state and a steering takeover occurs, a passive brake takeover is triggered, an operating lever of a manual control remote controller is operated to send a brake takeover signal to the brake takeover module, an active brake takeover is triggered, and the vehicle exits from an automatic driving state.
Further, the signals transmitted by the unmanned vehicle comprise a driving enabling signal, a driving boundary crossing signal, a steering enabling signal, a steering boundary crossing signal, a braking enabling signal and a driving torque signal.
Further, the signals received by the driving take-over module include a driving enable signal, a driving out-of-range signal, a steering enable signal, a driving take-over signal and a steering take-over signal.
Further, the signals received by the steering take-over module include a driving enable signal, a driving out-of-range signal, a steering enable signal, a driving take-over signal, a steering take-over signal and a steering out-of-range signal.
Further, the signals received by the brake take-over module include a drive take-over signal, a steering enable signal, a steering out-of-range signal, a brake enable signal and a drive torque signal.
Further, the conditions of the top loading control drive include: the method comprises the steps that a drive connection module collects a drive control enabling bit issued by an upper assembly, when a rising edge is detected, the drive connection module is defaulted to be effective, when an issued target drive instruction is in a set controllable range, the target torque instruction issued by the upper assembly is considered to be effective, at the moment, a drive out-of-range signal is 0, if the issued target drive instruction exceeds the range, the drive out-of-range signal is judged to be out-of-range, the drive is invalid, when a push rod controlled by a remote controller to drive and brake is corresponding to a Hall value between the set ranges, the drive connection signal is 0, the drive connection signal is defaulted to be manual connection, manual connection is considered to be manual connection if the range is exceeded, the drive of the upper assembly is controlled to be invalid, a turning analog value is collected by a knob of the remote controller, when the push rod rotates to the left side to output a digital value, the turning connection signal is 0, and the turning connection is considered to be not performed; and when the drive enable is 1, the drive rising edge issued by the upper assembly is detected, the drive boundary crossing signal is 0, the drive connecting pipe signal is 0 and the steering connecting pipe signal is 0, the upper assembly controls the drive of the vehicle.
Further, the conditions of the upper control brake include: the brake takeover module collects brake control enabling bits issued by the upper assembly, when a rising edge is detected, the brake takeover module is determined to be effective by default, when an issued target drive command is within a set controllable range, the issued target torque command issued by the upper assembly is considered to be effective, the target torque command beyond the range is determined to be out of range and is not effective in braking, when a push rod for controlling and driving the brake of the remote controller corresponds to a digital value of Hall quantity between the set ranges, a brake takeover signal is 0, the default is that manual longitudinal takeover is not carried out, if the target torque command exceeds the range, manual takeover is determined, the upper assembly control drive is not effective, a remote controller knob is used for collecting an analog value of steering, when the push rod rotates to the left side, the steering takeover signal is 0, and the steering is determined not to take over; and when the brake enable 1 is met, the upper loader is detected to send a rising edge, the target brake command is sent within a set controllable range, the brake takeover signal is 0, and the steering takeover signal is 0, the upper loader controls the brake of the vehicle.
Further, the conditions for the top-loading control steering include: the method comprises the steps that a steering connection pipe module collects a steering control enabling bit issued by an upper loader, the steering connection pipe module is valid by default when a rising edge is detected, when an issued target driving instruction is within a set controllable range, the issued target steering stroke instruction issued by the upper loader is considered to be valid, the steering violation is 0 at the moment, the violation is judged to be out of bounds and invalid in steering when the issued target driving instruction exceeds the range, a driving connection pipe signal is 0 when a push rod for driving the brake controlled by a remote controller is within a set range, the manual connection is not performed by default, the manual connection is considered when the push rod exceeds the range, the steering control is invalid, a remote controller knob is used for collecting a steering analog value, when the push rod rotates to the left side to output a digital value, the steering connection pipe signal is 0, and the steering connection pipe is not performed; when the steering control enable is 1, the upper loader is detected to send a rising edge, the target braking command is sent within a set controllable range, and the driving and steering takeover signals are 0, the upper loader can control the driving of the vehicle.
Has the advantages that:
the invention realizes simple and efficient distinguishing of transverse and longitudinal control systems or system control and clear logic of the take-over system, controls the transverse and longitudinal systems and simultaneously realizes safety level protection by switching three modes, namely a manual mode, an automatic driving mode and a take-over mode in practical application, ensures that the safety is in the highest level of the system, responds to various special conditions at any time, and adds safety guarantee to automatic driving application and test.
Drawings
Fig. 1 is a system architecture diagram of the unmanned vehicle drive-by-wire chassis safety take-over system of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in the attached figure 1, the invention provides a safety take-over system for a wire-controlled chassis of an unmanned vehicle, which comprises a driving take-over module, a steering take-over module, a braking take-over module and a remote controller, wherein the remote controller has the function of poking a poking rod or a switch on the remote controller to realize take-over when manual intervention is needed in a situation.
The drive system takes over the function of the module and is carried on the signal receiving and processing and sends and takes over the signal, the drive-by-wire chassis is under the enabling condition of driving at the upper portion, if meet the emergency and can use the remote controller to take over safely, take over the method is: when the condition of entering the drive upper-mounting control is not met or the steering control of the vehicle exits from the automatic driving state, the vehicle drive module exits from the automatic driving mode and enters into the remote controller mode.
Conditions of the upper control drive: the controller collects a drive control enabling bit issued by the upper garment, the default is valid when a rising edge is detected, the issued target drive instruction is in the range of 0-2000, the issued target torque instruction issued by the upper garment is considered to be valid, the drive boundary crossing signal is 0 at the moment, if the issued target drive instruction exceeds the range, the drive is judged to be boundary crossing, the drive is invalid, the remote controller controls the simulation value of the push rod 37pin for driving and braking to be in the range of 1200-1800, the drive takeover signal is 0, the default is that the manual taking over is not carried out for the manual, the range is exceeded, the manual taking over is considered to be carried out, the control drive of the upper garment is invalid, the simulation value of the steering knob is collected by the simulation value of 35pin, and when the value is less than 2500, the steering takeover signal is 0, and the steering is considered to be not carried out for taking over.
When the drive enable is 1, the drive rising edge issued by the upper loader is detected, the drive boundary crossing signal is 0, the drive take-over signal is 0 and the steering take-over signal is 0, the upper loader can control the drive of the vehicle. When the vehicle is in the state of the upper control drive, the drive enable is 0, or the drive out-of-range signal is 1, or when the vehicle is in the state of the upper control steering, the steering take-over signal is controlled to be 1 by the remote controller, the steering take-over is carried out, and the vehicle exits the drive automatic driving state.
When the vehicle is in a driving state of upper-mounted control, the driving rod is pushed or pulled violently to enable a driving connecting pipe signal to be 1, longitudinal connecting pipes can be carried out, when the automatic driving state is that the connecting pipes are connected through a high-pulling gear rod, the connecting pipes are braked during driving, a marker bit is used for clearing a driving torque command issued by the upper-mounted device, and the contradiction that the vehicle has driving torque and adopts hydraulic braking is avoided.
The brake system takes over the function of the module and is carried on the signal receiving and processing and sends and takes over the signal, the chassis of wire control is under the brake enables the condition, if meet the emergency and can use the remote controller to take over safely, take over the method is: when the condition of entering brake loading control is not met or the steering control of the vehicle exits from the automatic driving state, the vehicle brake module exits from the automatic driving mode and enters into the remote controller mode.
Conditions of the upper control brake: the controller collects a brake control enabling bit issued by the upper loader, when a rising edge is detected, the controller is regarded as valid by default, when an issued target driving instruction is in a range of 0-2000, the target torque instruction issued by the upper loader is regarded as valid, when the issued target driving instruction exceeds the range, the upper loader is judged to be out of range, the brake is invalid, when the simulation value of the push rod 37pin for driving the brake by the remote controller is in a range of 1200-1800, a brake takeover signal is 0, the controller is regarded as that manual takeover is not carried out by default, when the issued target torque instruction exceeds the range, manual takeover is regarded as invalid, the upper loader control driving is judged to be invalid, the simulation value of the steering knob is collected by using the simulation value of 35pin, when the value is less than 2500, the steering takeover signal is 0, and the steering is regarded as that no takeover is carried out. When the brake enable 1 is met, the upper assembly is detected to send the rising edge, the target brake command is sent to be between 0 and 2000, the brake takeover signal is 0, and the steering takeover signal is 0, the upper assembly can control the braking of the vehicle.
When the vehicle is in a state of the upper-mounted control brake, the brake enable is 0, or the issued command overrun is larger than 2000, or when the vehicle is in a state of the upper-mounted control steering, the steering take-over signal is controlled to be 1 by the remote controller, the steering take-over is carried out, and the vehicle quits the driving automatic driving state.
When the vehicle is in a state of upper-mounted control brake, the driving rod is pushed or pulled to enable a brake connecting pipe signal to be 1, longitudinal connecting pipes can be carried out, when the automatic driving state is that the driving connecting pipes are connected by pushing the gear rod, the connecting pipes are driven during braking, a marker bit is used for clearing a brake torque command issued by the upper-mounted device, and the contradiction that the vehicle is subjected to hydraulic brake and is driven immediately is avoided.
The steering system takeover module has the functions of receiving and processing signals and sending takeover signals, and the drive-by-wire chassis can use a remote controller to safely take over if meeting emergency under the steering enabling condition when being installed, so that the takeover strategy is as follows: the remote control knob can be used for carrying out transverse take-over, and when the conditions for controlling steering by the upper device are not met or when the vehicle is exiting from an automatic driving state of braking or driving, the vehicle steering module exits from an automatic driving mode and enters into a remote control mode.
The conditions of the upper control steering are as follows: the controller collects a steering control enabling bit issued by the upper garment, when a rising edge is detected, the controller is in effect by default, when an issued target driving instruction is within a range of +/-800, the target steering travel instruction issued by the upper garment is considered to be effective, at the moment, the steering violation is 0, the range is judged to be violation, the steering is invalid, when the analog value of a push rod 37pin for controlling the driving brake by the remote controller is between 1200 and 1800, a driving takeover signal is 0, the controller defaults to that manual taking over is not carried out, when the range is exceeded, the controller considers manual taking over is invalid, the analog value of a steering knob is collected by using the analog value of 35pin, when the value is less than 2500, the steering takeover signal is 0, and the steering is not taken over. When the steering control enable is 1, the upper assembly is detected to send the rising edge, the target braking command is sent to be within +/-800, and the driving and steering takeover signals are 0, the upper assembly can control the driving of the vehicle.
When the vehicle is in the state of the upper control steering, the steering enable signal is 0, or the issued command is not within the range of +/-800, or when the vehicle is in the state of the upper control driving or braking, the driving take-over signal is controlled to be 1 by the remote controller, the driving or braking take-over is carried out, and the vehicle exits the driving automatic driving state.
When the vehicle is in a steering state controlled by the upper device, the steering connecting pipe signal is controlled to be 1 by using the knob, and transverse connecting pipe can be carried out.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A safety pipe connection system for a wire-controlled chassis of an unmanned vehicle is characterized by comprising a driving pipe connection module, a steering pipe connection module, a braking pipe connection module and a remote controller;
when the vehicle is in a state of top loading control drive, a drive system take-over module receives a signal issued by unmanned vehicle top loading to judge that the drive enable is 0, or a drive out-of-range signal is 1, or when a steering take-over appears in the state of top loading control steering of the vehicle, a passive drive take-over is triggered; the control lever of the remote controller is manually operated to send a driving takeover signal to the drive system takeover module, and then the active driving takeover is triggered; the vehicle exits the autonomous driving state;
when the vehicle is in a state of upper control steering, the steering connection pipe module receives a signal sent by an unmanned vehicle upper loader to judge that a steering enable signal is 0, or a sent command is not in a set controllable range, or when the vehicle is in a state of upper control driving or braking, a steering connection pipe appears, a passive steering connection pipe is triggered, and an operating lever of a remote controller is manually operated to send a steering connection pipe signal to the steering connection pipe module, and an active steering connection pipe is triggered; the vehicle exits the automatic driving state;
when the vehicle is in an upper-mounted control brake state, the brake takeover module receives a signal sent by an unmanned vehicle upper-mounted device to judge that the brake enable is 0, or the sent command overrun is larger than a controllable safety range, or when the vehicle is in the upper-mounted control steering state and steering takeover occurs, a passive brake takeover is triggered, an operating lever of a manual operation remote controller sends a brake takeover signal to the brake takeover module, an active brake takeover is triggered, and the vehicle exits an automatic driving state;
the conditions of the upper control drive include: the method comprises the steps that a driving connection module collects a driving control enabling bit issued by an upper assembly, when a rising edge is detected, the driving connection module is defaulted to be effective, when an issued target driving instruction is within a set controllable safety range, the target moment instruction issued by the upper assembly is considered to be effective, at the moment, a driving out-of-range signal is 0, if the issued target driving instruction exceeds the range, the driving out-of-range signal is judged to be out-of-range, the driving is invalid, when a push rod controlled by a remote controller to drive and brake is corresponding to a Hall value between the set ranges, the driving connection signal is 0, the driving connection signal is defaulted to be manual connection, if the range is exceeded, the manual connection is considered to be manual connection, the upper assembly controls driving to be invalid, a remote controller knob is used for collecting a steering analog value, when the digital value is rotated to the left side to output, the steering connection signal is 0, and the steering connection is considered to be not performed; and when the drive enable is 1, the drive rising edge issued by the upper assembly is detected, the drive boundary crossing signal is 0, the drive connecting pipe signal is 0 and the steering connecting pipe signal is 0, the upper assembly controls the drive of the vehicle.
2. The unmanned aerial vehicle drive-by-wire chassis safety takeover system of claim 1 wherein the signals issued by the unmanned aerial vehicle include a drive enable signal, a drive out-of-range signal, a steering enable signal, a steering out-of-range signal, a brake enable signal, and a drive torque signal.
3. The unmanned aerial vehicle drive-by-wire chassis safety take-over system of claim 2, wherein the signals received by the drive take-over module comprise a drive enable signal, a drive out-of-range signal, a steering enable signal, a drive take-over signal and a steering take-over signal.
4. The unmanned aerial vehicle line controlled chassis safety take-over system of claim 3, wherein the signals received by the steering take-over module comprise a drive enable signal, a drive out-of-range signal, a steering enable signal, a drive take-over signal, a steering take-over signal and a steering out-of-range signal.
5. The unmanned aerial vehicle drive-by-wire chassis safety takeover system of claim 4, wherein the signals received by the brake takeover module include a drive takeover signal, a steering enable signal, a steering over-limit signal, a brake enable signal, and a drive torque signal.
6. The unmanned vehicle drive-by-wire chassis safety takeover system of claim 5 wherein the conditions of the on-board control brake include: the brake takeover module collects brake control enabling bits issued by the upper assembly, when a rising edge is detected, the brake takeover module is determined to be effective by default, when an issued target drive command is within a set controllable safety range, the issued target torque command issued by the upper assembly is considered to be effective, when the issued target drive command exceeds the range, the target torque command is determined to be out of range and brake is invalid, when a push rod for controlling and driving the brake of the remote controller corresponds to a Hall value between the set ranges, a brake takeover signal is 0, the default is that manual work does not take over longitudinally, when the push rod exceeds the range, the manual takeover is determined, the upper assembly control drive is invalid, a remote controller knob is used for collecting an analog value of steering, when the push rod rotates to the left side, the steering takeover signal is 0, and the steering takeover signal is determined to be not taken over; and when the brake enable 1 is met, the upper loader is detected to send a rising edge, the target brake command is sent within a set controllable range, the brake takeover signal is 0, and the steering takeover signal is 0, the upper loader controls the brake of the vehicle.
7. The unmanned vehicle drive-by-wire chassis safety takeover system of claim 6 wherein the conditions of the upper-mounted control steering include: the steering connection module acquires a steering control enabling bit issued by the upper loader, defaults to be valid when a rising edge is detected, determines that the steering is out of range when an issued target driving instruction is in a set range, considers that a target steering stroke instruction issued by the upper loader is valid, determines that the steering is out of range when the steering is out of range to be 0, determines that the steering is invalid when the range is exceeded, drives a push rod for driving braking by the remote controller to be in a set range, drives a connection signal to be 0, defaults to manual connection without longitudinal connection if the numerical value of a Hall value corresponding to the push rod is in the set range, determines that manual connection is performed when the range is exceeded, controls steering to be invalid by the upper loader, acquires a steering analog value by using a knob of the remote controller, outputs the numerical value when the push rod rotates to the left side, and determines that the steering connection signal is 0, and determines that the steering is not performed connection; and when the steering control enable is 1, the upper assembly is detected to send a rising edge, the sent target braking instruction is in a set controllable range, and the driving and steering takeover signals are both 0, the upper assembly controls the driving of the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110414377.1A CN113119998B (en) | 2021-04-16 | 2021-04-16 | Safety pipe connection system for wire-controlled chassis of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110414377.1A CN113119998B (en) | 2021-04-16 | 2021-04-16 | Safety pipe connection system for wire-controlled chassis of unmanned vehicle |
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| CN113119998A CN113119998A (en) | 2021-07-16 |
| CN113119998B true CN113119998B (en) | 2022-08-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114063497A (en) * | 2021-11-04 | 2022-02-18 | 上海智能网联汽车技术中心有限公司 | Remote control tracking system and method based on four-wheel drive and steering chassis |
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| CN108563228A (en) * | 2018-05-02 | 2018-09-21 | 合加新能源汽车有限公司 | A kind of unmanned operation system of sanitation cart |
| US11447126B2 (en) * | 2019-01-31 | 2022-09-20 | Gm Cruise Holdings Llc | Preemptive chassis control intervention for autonomous vehicle |
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| CN105128689A (en) * | 2015-09-08 | 2015-12-09 | 上海瑞华(集团)有限公司 | Chassis system for pure electric truck/minibus |
| CN106843018A (en) * | 2017-04-17 | 2017-06-13 | 徐工集团工程机械有限公司 | Electronic sweeper communication system, method and electronic sweeper |
| CN110422172A (en) * | 2019-08-12 | 2019-11-08 | 西安主函数智能科技有限公司 | Engineering truck line traffic control control method and system |
| CN110816550A (en) * | 2019-11-19 | 2020-02-21 | 苏州智加科技有限公司 | Automatic driving control method and device, vehicle-mounted terminal and readable storage medium |
| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
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