CN107414866A - A kind of inspection sweeping robot system and its inspection cleaning method - Google Patents
A kind of inspection sweeping robot system and its inspection cleaning method Download PDFInfo
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- CN107414866A CN107414866A CN201710799783.8A CN201710799783A CN107414866A CN 107414866 A CN107414866 A CN 107414866A CN 201710799783 A CN201710799783 A CN 201710799783A CN 107414866 A CN107414866 A CN 107414866A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of inspection sweeping robot system and its inspection cleaning method, inspection sweeping robot system includes UAS, performs robot and control centre, UAS can communicate with control centre per capita with performing machine, and control centre can obtain robot system and perform the positional information of robot, UAS is provided with First look element, performs robot and is provided with the second vision element and cleans execution unit；Perform the obstacle avoidance aiding unit for being additionally provided with robot and robot being performed for detecting.The crusing robot system of the present invention is made up of the UAS and the execution robot for specifically performing cleaning task that inspection is carried out to region of patrolling and examining, UAS is used to obtain image, the position in the region that needs clean can be aided in confirming, inspection cleaning method inspection sweeping efficiency based on the crusing robot system is high, can effectively keep the health of region of patrolling and examining.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of inspection cleaning robot system and its inspection cleaning side
Method.
Background technology
The rubbish in the outdoor place such as current area, garden and foreign matter cleaning work are still mainly by manually carrying out, on the market
Not yet occur can be used for the robot system for performing cleaning task.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention, which provides one kind, can perform inspection cleaning
The crusing robot system and its inspection cleaning method of task.
Technical scheme：To achieve the above object, inspection sweeping robot system of the invention includes UAS, performed
Robot and control centre, the UAS can communicate with the control centre per capita with the execution machine, and institute
The robot system and the positional information for performing robot can be obtained by stating control centre, be set on the UAS
There is First look element, the execution robot is provided with the second vision element and cleans execution unit；The execution machine
The obstacle avoidance aiding unit that robot is performed for detecting is additionally provided with people.
Further, the execution unit that cleans includes being arranged on the cleaning component performed on robot chassis, described clear
Sweeping component includes the horizontally disposed main brush of rotating shaft and is arranged on main side brushing both sides, that rotating shaft is vertically arranged brush, in addition to rubbish
Rubbish the storage box and the rubbish for the main brush to be cleaned suck the blower fan of the rubbish storage box.
Further, the cleaning execution unit includes mechanical arm and the cleft hand on the mechanical arm.
Further, the UAS can be stopped in the execution robot.
Further, docked and kept by docking unit between the UAS and the execution robot
It is relatively fixed.
Further, it is additionally provided between the UAS and the execution robot for aiding in both fine settings relative
The auxiliary docking system of position.
Further, dispersed placement has multiple setting elements, the UAS and institute in inspection purging zone
State perform be provided with robot can be interactive with the setting element follower element.
Based on the inspection cleaning method of above-mentioned inspection sweeping robot system, control of the UAS in control centre
Taken off under system, obtain the view data on region of patrolling and examining ground, control centre obtains view data and the position of UAS in real time
Confidence ceases, and the view data obtained according to the UAS carries out feature extraction and analysis, tentatively draws doubting on ground
The position coordinates in foreign matter region seemingly be present, the robot that performs is sat by the position given by control centre successively from the near to the remote
Mark, the second vision sensor in robot is performed to carrying out close-up images around at the position coordinates of doubtful existing foreign matter
Close-up images data are collected, control centre carries out feature extraction and analysis to close-up images data, judges whether really
Actually foreign matter, if confirming as foreign matter, the cleaning execution unit performed in robot cleans to foreign matter, if it is different really to admit a fault
Thing, then perform robot and continue traveling to the next position coordinate execution task.
Further, when the UAS completes the patrol task of region of patrolling and examining or its electricity is less than certain threshold
Value, the control centre control both close to each other and right according to UAS and the positional information performed between robot
Connect.
Further, the control centre is simultaneously according to the positional information of the UAS and its picture number of acquisition
According to the map for generating region of patrolling and examining and the walking path of the execution robot is planned, is concretely comprised the following steps：
Step 1：The control centre extracts the picture number that the First look element obtains by ORB vision algorithms
It is believed that the ORB features of breath；
Step 2：The picture number that will have been obtained in the ORB features of the view data just obtained and control centre's database
According to ORB features contrasted, if similarity exceed certain threshold value if abandon the ORB characteristics, if similarity is not up to one
Determine threshold value, then control centre supplements structure map according to the ORB features of the view data；
Step 3：Control centre is according to the track route that robot is performed according to newest map planning；Perform robot
The track route planned according to control centre is run, while its obstacle avoidance aiding unit carried detects to its surrounding environment,
If running into barrier, the track route for then proceeding to plan by control centre using bug algorithm cut-through things is run.
Beneficial effect：The crusing robot system of the present invention is by the UAS and use to region of patrolling and examining progress inspection
In the execution robot composition for specifically performing cleaning task, UAS is used to obtain image, and confirmation can be aided in need to clean
Region position, performing robot and being moveable to needs the region that cleans and performs clean-up task, based on the crusing robot
The inspection cleaning method inspection sweeping efficiency of system is high, can effectively keep the health of region of patrolling and examining.
Brief description of the drawings
Accompanying drawing 1 is the pie graph of inspection sweeping robot system；
Accompanying drawing 2 is the structure composition figure of UAS；
The structure chart of 3 cleaning components of accompanying drawing；
The entirety sectional view of 4 docking units of accompanying drawing；
The structure chart of 5 second docking units of accompanying drawing；
The structure chart of 6 first docking units of accompanying drawing.
Embodiment
In inspection sweeping robot system as shown in Figure 1, including UAS 1, execution robot 2 and control
Heart (not shown), the UAS 1 can communicate with the execution robot 2 with the control centre, and described
Control centre can obtain the robot system and the positional information for performing robot 2, as shown in Figure 2, the nothing
The main body of man-machine system 1 is multi-rotor unmanned aerial vehicle, and UAS 1 is provided with First look element 11, the execution robot 2
Including robot body 22, the second vision element 21 and clean execution unit 23；It is additionally provided with and is used in the execution robot 2
Detection performs the obstacle avoidance aiding unit (not shown) of the surrounding environment of robot 2.The UAS 1 is controlled by control centre
System carries out independent navigation motion or flown by manual control, it is preferable that is also equipped with being used to detect surrounding ring on UAS 1
Border and the unmanned plane probe unit (not shown) of obstacle avoidance aiding.
The execution unit 23 that cleans includes being arranged on the cleaning component performed on the chassis of robot 2, as shown in Figure 3,
The component that cleans includes the horizontally disposed main brush 231 of rotating shaft and is arranged on main side brushing 231 both sides, rotating shaft is vertically arranged
Brush 232, in addition to rubbish storage box 233 and the rubbish for the main brush 231 to be cleaned suck the rubbish storage box 233
Blower fan 234.Main brush 231 is arranged on rubbish by independent motor-driven rotation, blower fan 234 with garbage inlet respectively with side brush 232
The symmetrical both sides of rubbish the storage box 233, blower fan 234, which rotates, to brush volume 231 to garbage inlet by main in garbage inlet generation negative pressure
The rubbish suction rubbish storage box 233 at place.The cleaning component can integrally make relative to the upper and lower translation of robot body 22
When cleaning component and not performing task, it has a gap between ground, reduce the abrasions of main brush 231 and side brush 232, while
It can avoid cleaning the component collision unnecessary with extraneous generation.
Large volume of rubbish is cleared up in order to realize, it is described cleaning execution unit 23 include mechanical arm 235 and
Cleft hand 236 on the mechanical arm 235.The motion of mechanical arm 235 and cleft hand 236 can be people manually control or
Control centre is automatically controlled based on the view data that the second vision element 21 obtains.Preferably, second vision element
21 are arranged on mechanical arm 235, during use can as needed flexible modulation mechanical arm 235 so as to flexibly grasping the second vision
The visual angle of element 21, and so the first visual angle can be provided to be positioned during the crawl article of cleft hand 236, facilitate control centre or operation
The particular location that person grasps article performs grasping manipulation.
The UAS 1 can be stopped in the execution robot 2.Specifically, the UAS 1 with it is described
Perform and docked by docking unit 3 between robot 2 and keep being relatively fixed.
It is additionally provided between the UAS 1 and the execution robot 2 for aiding in both relative positions of fine setting
Aid in docking system.Specifically, dispersed placement has multiple setting elements in inspection purging zone, the UAS 1 with
And it is described perform be provided with robot 2 can be interactive with the setting element follower element.Preferably, the setting element
For signal receiver, the follower element is signal projector, signal projector transmitting electromagnetic wave, multiple signal receivers according to
The time for receiving electromagnetic wave can be determined that the distance between signal projector and signal receiver, so as to extrapolate unmanned plane system
System 1 and the position coordinates and elevation information for performing robot 2.
As shown in accompanying drawing 3- accompanying drawings 5, docking unit 3 includes that unit 31 and second pair of order can be docked with respect to the first of division
Member 32；The first docking unit 31 includes first interface 3101, and the second docking unit 32 includes second interface 3201, the
One interface 3101 can produce electrical connection after being docked with second interface 3201；The first docking unit 31 also docking including ring-type is convex
Edge 3102, the second docking unit 32 include pedestal 3202 and carry out center of circle positioning to the companion flange 3102 and axially determine
The seizure mechanism of position, the seizure mechanism can lift and rotate relative to the pedestal 3202；The phase of second interface 3201
Fixed for pedestal 3202.It is parallel to catch the central shaft that the direction that mechanism lifts relative to pedestal 3202 rotates.
The seizure mechanism includes catching support 3203, and circumference array is provided with least three on the seizure support 3203
Claw 3204 (being six in the present embodiment), the claw 3204 can rotate relative to the seizure support 3203, the claw
3204 one end including flat part 3204-1, the flat part 3204-1 are rotatably installed on the seizure support 3203, described
The flat part 3204-1 other end is provided with positioning shoulder 3204-2, and the shape of the companion flange 3102 is captured in the seizure mechanism
Under state, the flat part 3204-1 of the claw 3204 is described to position shoulder 3204-2 along the axially extending of the seizure support 3203
From flat part 3204-1 end extending radially outwardly to the seizure support 3203；The motion of claw 3204 is by driving
Support 3206 drives, and the driving arm 3206 is under the promotion of the active bracket 3207 in the axle of the seizure support 3203
To lifting, and set between driving arm 3206 and active bracket 3207 and have elastic component 3208；Active bracket 3207 is provided with
For pushing down the flanging flange 3207-1 of the companion flange 3102；Active bracket 3207 is by being arranged on the seizure support 3203
On drive device driving.
Drive link 3205, the drive link 3205 are provided between the claw 3204 and the driving arm 3206
Both ends be respectively hinged on the claw 3204 and the driving arm 3206.
When seizure mechanism is docked with the companion flange 3102, when driving arm 3206 is to close to the side of companion flange 3102
To motion when, driving arm 3206 makes claw 3204 outwards rotate by drive link 3205 so that all claws 3204 from
The inside of companion flange 3102 is outwards burst forth, until the inner periphery that all claws 3204 prop up companion flange 3102 is completed to docking
The centering (i.e. radial positioning) of flange, now active bracket 3207 continue to move to close to the direction of companion flange 3102, due to
Flexible member 3208 is provided between active bracket 3207 and driving arm 3206, driving arm 3206 and then will not continue to move,
Flanging flange 3207-1 on active bracket 3207 promotes companion flange 3102 to be axially moved, until companion flange 3102 is against institute
The positioning shoulder 3204-2 stated on claw 3204 can not continue to move, and now axially position is completed.
The drive device includes the first leading screw 3209 being arranged on the seizure support 3203, the active bracket
3207 are provided with the screw thread being used cooperatively with first leading screw 3209, and first leading screw 3209 is driven by the first motor 3210
Rotate.Specifically, first gear 3211 is fixed with the leading screw, is provided with the output shaft of the motor and first tooth
The second gear 3212 of the engagement of wheel 3211.First leading screw 3209 is hollow lead screw, and second interface 3201 passes through the first leading screw 3209
Center, and second interface 3201 relative to catch support 3203 keep stationary state.
In order to realize the lifting and rotation that catch mechanism relative to pedestal 3202, the seizure mechanism integral installation is rising
On descending branch frame 3213, the seizure support 3203 can rotate relative to the lifting support 3213, and the lifting support 3213 can
Lifted relative to the pedestal 3202.The 3rd gear 3215, the lifting support 3213 are fixed with the seizure support 3203
On the second motor 3214 is installed, be provided with what is engaged with the 3rd gear 3215 on the output shaft of second motor 3214
4th gear 3216.The second leading screw 3218 and the 3rd electricity for driving the second leading screw 3218 are provided with the pedestal 3202
Machine 3217, the feed screw nut 3219 being used cooperatively with the second leading screw 3218 is provided with the lifting support 3213.
In order to be docked after being accurately aimed between first interface 3101 and second interface 3201 with contact, the first docking
Unit 31 also includes the first auxiliary and docks unit 3103, and the second docking unit 32 also includes the second auxiliary and docks unit 3220, the
It is optical signal launch source that one auxiliary docking unit 3103 docks one of them in unit 3220 with the second auxiliary, and another one is believed for light
Number source is received, when direct projection light that optical signal launch source is sent (being preferably infrared ray) receives source by optical signal to be received, said
Bright first interface 3101 is aligned with second interface 3201, can be docked.
The entire protocol that first interface 3101 docks with second interface 3201 is：First, catch mechanism and catch companion flange
3102, and companion flange 3102 is carried out to be radially positioned at axially position, then, it is overall relative to the pedestal to catch mechanism
3202 rotations, docked up to the first auxiliary between unit 3103 docks unit 322 with the second auxiliary and produce signal interaction, finally,
Catch mechanism integrally relative to pedestal 3202 to decline, first interface 3101 is docked with second interface 3201.
It is additionally provided with first interface 3101 and heart mark 3221, control centre is regarded by first on UAS 1
Feel element 11 by obtain image and extracting the feature of heart mark 3221 can adjust UAS 1 with perform robot 2 it
Between relative position so that approximate location between the two can be docked, then catch mechanism start catch companion flange
3102。
Based on the inspection cleaning method of above-mentioned inspection sweeping robot system, the UAS 1 is in control centre
Taken off under control, obtain the view data on region of patrolling and examining ground, control centre obtain in real time the view data of UAS 1 with
Positional information, the view data obtained according to the UAS 1 carry out feature extraction and analysis, tentatively drawn on ground
The doubtful position coordinates that foreign matter region be present, it is described to perform robot 2 from the near to the remote successively by the position given by control centre
Put coordinate, perform the second vision sensor in robot 2 to carrying out low coverage around at the position coordinates of doubtful existing foreign matter
Close-up images data are obtained from IMAQ, control centre carries out feature extraction and analysis to close-up images data, judges
Whether it is really foreign matter, if confirming as foreign matter, the cleaning execution unit 23 performed in robot 2 cleans to foreign matter, if
Really admit a fault foreign matter, then performs robot 2 and continue traveling to the next position coordinate execution task.
When the UAS 1 complete region of patrolling and examining patrol task or its electricity be less than certain threshold value, it is described
Control centre controls both close to each other and docked according to UAS 1 with the positional information performed between robot 2.
The control centre patrols according to the positional information of the UAS 1 and its generation of the view data of acquisition simultaneously
Examine the map in region and plan the walking path of the execution robot 2, concretely comprise the following steps：
Step 1：The control centre extracts the image that the First look element 11 obtains by ORB vision algorithms
The ORB features of data message；
Step 2：The picture number that will have been obtained in the ORB features of the view data just obtained and control centre's database
According to ORB features contrasted, if similarity exceed certain threshold value if abandon the ORB characteristics, if similarity is not up to one
Determine threshold value, then control centre supplements structure map according to the ORB features of the view data；
Step 3：Control centre is according to the track route that robot 2 is performed according to newest map planning；Perform robot
2 track routes planned according to control centre are run, while its obstacle avoidance aiding unit carried detects to its surrounding environment,
If running into barrier, the track route for then proceeding to plan by control centre using bug algorithm cut-through things is run.
Certainly, above-mentioned control to UAS 1, the position for judging to need to clean according to image, control perform machine
People 2 is to need the position that cleans and perform cleaning work this serial procedures can also be by artificial manual operations.
The crusing robot system of the present invention is by carrying out the UAS of inspection to region of patrolling and examining and for specifically holding
The execution robot composition of row cleaning task, UAS are used to obtain image, can aid in confirming the region that needs clean
Position, perform robot and be moveable to the region for needing to clean and perform clean-up task, patrolling based on the crusing robot system
Cleaning method inspection sweeping efficiency height is examined, can effectively keep the health of region of patrolling and examining.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. inspection sweeping robot system, it is characterised in that：Including UAS, perform in robot and control The heart, the UAS can communicate with the control centre per capita with the execution machine, and the control centre can obtain The robot system and the positional information for performing robot, the UAS are provided with First look element, The execution robot is provided with the second vision element and cleans execution unit；It is additionally provided with the execution robot for visiting Survey the obstacle avoidance aiding unit for performing robot.
- 2. inspection sweeping robot system according to claim 1, it is characterised in that：The cleaning execution unit includes peace Mounted in the cleaning component performed on robot chassis, the cleaning component includes the horizontally disposed main brush of rotating shaft and is arranged on master Side brush that brush both sides, that rotating shaft is vertically arranged, in addition to rubbish storage box and the rubbish for the main brush to be cleaned suck The blower fan of the rubbish storage box.
- 3. inspection sweeping robot system according to claim 2, it is characterised in that：The cleaning execution unit includes machine Tool arm and the cleft hand on the mechanical arm.
- A kind of 4. inspection sweeping robot system according to claim 1, it is characterised in that：The UAS can be Stopped in the execution robot.
- A kind of 5. inspection sweeping robot system according to claim 4, it is characterised in that：The UAS and institute State to perform and docked by docking unit between robot and keep being relatively fixed.
- A kind of 6. inspection sweeping robot system according to claim 5, it is characterised in that：The UAS and institute State the auxiliary docking system for performing and being additionally provided between robot for aiding in both relative positions of fine setting.
- A kind of 7. inspection sweeping robot system according to claim 6, it is characterised in that：Divide in inspection purging zone Distribution is equipped with multiple setting elements, and being provided with the UAS and the execution robot can be with the positioning member The interactive follower element of part.
- 8. the inspection cleaning method based on inspection sweeping robot system described in claim 7, it is characterised in that：The unmanned plane System is taken off under the control of control centre, obtains the view data on region of patrolling and examining ground, and control centre obtains unmanned plane in real time The view data and positional information of system, the view data obtained according to the UAS carry out feature extraction and analysis, The preliminary doubtful position coordinates that foreign matter region be present drawn on ground, the execution robot is from the near to the remote successively by control Position coordinates given by center, perform robot on the second vision sensor to the position coordinates of doubtful existing foreign matter at Surrounding carries out close-up images and collects close-up images data, and control centre carries out feature extraction to close-up images data With analysis, judge whether to be really foreign matter, if confirming as foreign matter, the cleaning execution unit performed in robot is carried out to foreign matter Clean, if really admitting a fault foreign matter, perform robot and continue traveling to the next position coordinate execution task.
- 9. inspection cleaning method according to claim 8, it is characterised in that：When the UAS completes region of patrolling and examining Patrol task or its electricity be less than certain threshold value, the control centre is according to UAS and performs between robot Positional information control both are close to each other and dock.
- 10. inspection cleaning method according to claim 8, it is characterised in that：The control centre is simultaneously according to the nothing The map of the positional information of man-machine system and its view data generation region of patrolling and examining of acquisition simultaneously plans the execution robot Walking path, concretely comprise the following steps：Step 1：The control centre by ORB vision algorithms, extract picture number that the First look element obtains it is believed that The ORB features of breath；Step 2：By the view data obtained in the ORB features of the view data just obtained and control centre's database ORB features are contrasted, and the ORB characteristics are abandoned if similarity exceedes certain threshold value, if similarity is not up to certain threshold Value, then control centre is according to the ORB features of view data supplement structure map；Step 3：Control centre is according to the track route that robot is performed according to newest map planning；Perform robot according to The track route operation of control centre's planning, while its obstacle avoidance aiding unit carried detects to its surrounding environment, if meeting To barrier, then the track route for then proceeding to plan by control centre using bug algorithm cut-through things is run.
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|---|---|---|---|
| CN201710799783.8A CN107414866A (en) | 2017-09-07 | 2017-09-07 | A kind of inspection sweeping robot system and its inspection cleaning method |
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| CN201710799783.8A CN107414866A (en) | 2017-09-07 | 2017-09-07 | A kind of inspection sweeping robot system and its inspection cleaning method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109494617A (en) * | 2018-12-14 | 2019-03-19 | 杭州申昊科技股份有限公司 | One kind is removed obstacles crusing robot and its method of removing obstacles |
| CN109483533A (en) * | 2018-11-05 | 2019-03-19 | 长沙中联重科环境产业有限公司 | Control method, device and the robot of robot for environmental sanitation operation |
| CN110125951A (en) * | 2019-06-03 | 2019-08-16 | 深圳市恒博智能安防机器人有限公司 | A kind of outdoor robot aircraft carrier |
| CN113417239A (en) * | 2021-06-02 | 2021-09-21 | 深圳市图元科技有限公司 | Environmental sanitation cleaning system and method adapting to different road sections based on artificial intelligence recognition |
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| WO2022088430A1 (en) * | 2020-10-29 | 2022-05-05 | 上海高仙自动化科技发展有限公司 | Inspection and cleaning method and apparatus of robot, robot, and storage medium |
| CN114468859A (en) * | 2022-03-01 | 2022-05-13 | 宁波博菱电器股份有限公司 | Floor sweeping robot |
| CN115107050A (en) * | 2022-06-24 | 2022-09-27 | 华能新疆能源开发有限公司新能源东疆分公司 | Track type fan inspection robot and inspection maintenance method thereof |
| CN117533245A (en) * | 2024-01-09 | 2024-02-09 | 绵阳师范学院 | Multidirectional vision covered inspection robot |
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- 2017-09-07 CN CN201710799783.8A patent/CN107414866A/en not_active Withdrawn
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| CN109483533A (en) * | 2018-11-05 | 2019-03-19 | 长沙中联重科环境产业有限公司 | Control method, device and the robot of robot for environmental sanitation operation |
| WO2020093767A1 (en) * | 2018-11-05 | 2020-05-14 | 长沙中联重科环境产业有限公司 | Robot control method and device for sanitation work, and robot |
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| CN109494617B (en) * | 2018-12-14 | 2020-06-19 | 杭州申昊科技股份有限公司 | Obstacle clearing inspection robot and obstacle clearing method thereof |
| CN110125951A (en) * | 2019-06-03 | 2019-08-16 | 深圳市恒博智能安防机器人有限公司 | A kind of outdoor robot aircraft carrier |
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| CN113443033A (en) * | 2020-03-25 | 2021-09-28 | 陕西尚亿达物联技术有限责任公司 | Vehicle-mounted cooperative disaster assessment system |
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