CN108086214A - A kind of outdoor sweeping robot - Google Patents
A kind of outdoor sweeping robot Download PDFInfo
- Publication number
- CN108086214A CN108086214A CN201810079515.3A CN201810079515A CN108086214A CN 108086214 A CN108086214 A CN 108086214A CN 201810079515 A CN201810079515 A CN 201810079515A CN 108086214 A CN108086214 A CN 108086214A
- Authority
- CN
- China
- Prior art keywords
- car body
- rubbish
- sweeping robot
- controller
- outdoor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
Abstract
The present invention relates to a kind of outdoor sweeping robots, including cleaning car body, the upside for cleaning car body is equipped with camera, servomechanism and controller are set in sweeper body, path planning module and picture recognition module are equipped in controller, path planning module is connected with servomechanism, and controller receives the image information of camera acquisition, and picture recognition module identifies the article in image；The front side for cleaning car body is equipped with refuse sweeping collecting mechanism, cleans car body and is connected with rubbish car, cleans car body and is equipped with the cleaning agency that refuse sweeping collecting mechanism is driven to move up and down, and the both sides for cleaning car body are equipped with dustbin mechanical arm.The outdoor sweeping robot of the present invention can solve the problems, such as that current cleaner's work is very arduous, especially there is still a need for the problem of sweeping, has liberated manpower under cold winter, hot summer even sleety weather with all weather operations.
Description
Technical field
The present invention relates to intelligent cleaning equipment technical fields, and in particular to a kind of outdoor sweeping robot.
Background technology
Present cell cleaning relies primarily on manpower completion, and winter is cold, summer is hot, and sometimes rainy day is it also seen that cleaner
Arduous work, labor intensity it is very big.
The content of the invention
It is very arduous to solve existing cleaner's work it is an object of the invention to provide a kind of outdoor sweeping robot
The problem of.
To achieve the above object, specifically, which includes cleaning car body, and the upside for cleaning car body is equipped with
Camera, sweeper body is interior to set servomechanism and controller, and path planning module is equipped in controller and image identifies
Module, path planning module are connected with servomechanism, and controller receives the image information of camera acquisition, image identification mould
Article in block identification image；The front side for cleaning car body is equipped with refuse sweeping collecting mechanism, cleans car body and is connected with rubbish car,
It cleans car body and is equipped with the cleaning agency that refuse sweeping collecting mechanism is driven to move up and down, the both sides for cleaning car body are equipped with dustbin
Mechanical arm.
The rear side of the refuse sweeping collecting mechanism is equipped with garbage collection bucket, and garbage collection bucket is laterally installed on cleaning car body
One side, the rubbish testing agency that rubbish whether is filled in detection garbage collection bucket is additionally provided on front side of garbage collection bucket.
Garbage collection bucket can also by connecting automatically, release device be connected to clean car body underbody.This connects automatically,
Release device is similar with the bindiny mechanism of trailer, is installed on vehicle bottom, can be released by laser positioning, electromagnetic mode connection
It puts.
The upside for cleaning car body is equipped with transparent spherical protective cover, and camera is rotatably arranged in spherical protective cover
It is interior；
Assist illuminator is additionally provided on the upside of the cleaning car body.
The assist illuminator is arranged in spherical protective cover, and assist illuminator is arranged at intervals with camera.
The outside of the spherical shape protective cover is equipped with rain shaving blade.
The rubbish car is fixed on a trailer, and trailer front end is connected by a bindiny mechanism with cleaning car body.
Power management module is equipped in the controller, equipped with the automatic charging stake charged for outdoor sweeping robot.
The outdoor sweeping robot can also use other energy as power, such as oil gas.
The front side of the rubbish car is equipped with transparent window, is equipped with graduated scale on transparent window, rubbish car with it is clear
Sweep car body interval setting；
Or the rear portion on the inside of dustbin is equipped with graduated scale；
The camera shoots rubbish car picture, and controller judges whether rubbish car is filled by rubbish car picture
Rubbish.
The controller is connected by wireless communication module with back-stage management center；
External control communications interface is additionally provided on the controller.
Face recognition module is additionally provided in the controller.
Robotic arm, which may be mounted at, to be cleaned on car body, can also be mounted on trailer.
The present invention also provides a kind of outdoor sweeping robot control methods, which is characterized in that including：Map can be used,
Positioned according to BEI-DOU position system or GPS (Global Positioning System, global positioning system) or WIFI modes,
Distinguish the direction for cleaning car body；
The distance with barrier is obtained according to radar or range sensor；
According to the environmental information that camera obtains, judge the scope to be cleaned, border, so control the machine traveling and
It cleans or drives at energy charging device and carry out filling energy.
It further includes：Carry out turf-mown can be reminded；When cutting the grass on a lawn pattern, the environment that can be obtained according to camera is believed
Breath judges the scope to be trimmed, border, and then controls traveling and the trimming of robot.
It further includes：According to the environmental information that camera obtains, judge the dustbin to be collected, capture and be poured into and drag
Vehicle.Also electronics or image identification can be increased on conventional garbage bucket, to facilitate identification.
The present invention also provides a kind of outdoor sweeping robot control devices, which is characterized in that including：
Processor performs above-mentioned control method；And
Memory, for control algorithm storage, the data, the daily record that gather etc.；
Input/output interface for receiving the information of various sensors and sending control instruction, transmits data.
The invention has the advantages that：The outdoor sweeping robot of the present invention can solve clear at present with all weather operations
The problem of clean work work is worked hard very much, especially there is still a need for sweeping under cold winter, hot summer even sleety weather
The problem of, liberate manpower.
In addition the present invention while cleaning, can be equivalent to mostly a mobile monitor, to not with one-machine-multi-function
Method molecule has certain deterrent effect, promotes cell, road safety.
Description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention 1.
Fig. 2 is the clamping schematic diagram of garbage collection bucket.
Fig. 3 is the partial enlarged view at A in Fig. 2.
Fig. 4 is the structure diagram of the embodiment of the present invention 2.
Fig. 5 is the schematic diagram of the embodiment of the present invention 4.
In figure：1- refuse sweeping collecting mechanisms；2- garbage collection buckets；3- dustbin mechanical arms；4- cleans car body；5- is imaged
Head；6- spherical shape protective covers；7- rubbish cars；8- trailers；9- radars；10- start buttons；11- energy storage devices；12- decks；13-
Buffer spring；14- fixes spring；15- arc fixture blocks.
Specific embodiment
Following embodiment is not limited to the scope of the present invention for illustrating the present invention.
Embodiment 1
Referring to Fig. 1, which includes cleaning car body 4, and the upside for cleaning car body 4 is equipped with camera 5, cleans
Servomechanism and controller in car body 4 are set, path planning module and picture recognition module, path rule are equipped in controller
It draws module to be connected with servomechanism, controller receives the image information that camera 5 gathers, picture recognition module identification image
In article；The front side for cleaning car body 4 is equipped with refuse sweeping collecting mechanism 1, cleans car body 4 and is connected with rubbish car 7, rubbish is clear
The motor that collecting mechanism 1 is protruding forward, and cleaning car body 4 is moved up and down equipped with drive refuse sweeping collecting mechanism 1 is swept, clearly
The both sides for sweeping car body 4 are equipped with dustbin mechanical arm 3.The controllable 360 degree of rotations of camera 5, will not since its installation site is higher
It is blocked by car body other parts, to observe the environment of surrounding, cooperation rotation is more easy to determine the position of target object.Controller passes through
Picture recognition module automatically identifies the obstacle on road, is advanced, hidden, and identifies fallen leaves, rubbish, by fallen leaves, rubbish
It collects.It identifies dustbin, collects rubbish in dustbin, identification pedestrian, automobile, trees, to hide.Picture recognition module
By study, the classification to various articles, identification are realized.
Garbage collection bucket 2 is equipped in the rear side of refuse sweeping collecting mechanism 1, garbage collection bucket 2 is laterally installed on sweeper
The one side of body 4, the front side of garbage collection bucket 2 are additionally provided with the rubbish testing agency that rubbish whether is filled in detection bucket, rubbish detection
Whether mechanism is filled using infrared induction or other means detection garbage collection bucket 2.
Dustbin mechanical arm 3 is used for the dustbin in cell and cleans in the self-contained garbage collection bucket 2 of car body 4
Rubbish is poured into rubbish car 7.There is grabbing device in 3 front end of dustbin mechanical arm, can catch dustbin by two robotic arms.Rubbish
Rubbish bucket mechanical arm 3 can be rotated up and down realization and lift, put down, and left rotation and right rotation realization pours into rubbish in dustbin in trailer.
The upside for cleaning car body 4 is equipped with transparent spherical protective cover 6, and camera 5 is rotatably arranged in spherical protective cover 6；
The upside for cleaning car body 4 is additionally provided with assist illuminator, assist illuminator be arranged in spherical protective cover 6, it is necessary to when can open
Assist illuminator is illuminated, and headlamp is isolated with camera 5, with prevent with have in spherical protective cover 6 it is reflective influence image
First 5 effect, headlamp can also be mounted on spherical 6 outside of protective cover, there is the protective cover that oneself is independent.The outside of spherical protective cover 6
It (is not drawn into equipped with rain shaving blade in figure), in order to work in the rain, rain shaving blade is and spherical 6 matched arc of protective cover, rain
The both ends of scraping blade are rotatablely connected with cleaning 4 upside of car body, are cleaned car body 4 and are equipped with the motor that rain shaving blade is driven to rotate.
Rubbish car 7 is fixed on a trailer 8, and 8 front end of trailer is connected by a bindiny mechanism with cleaning car body 4,
Laser positioning can be utilized to realize the automatic butt of cleaning car body 4 and trailer 8 and be connected automatically by automatic connecting mechanism realization,
Release.After discharging trailer 8, what cleaning car body 4 can be more energy efficient goes to clean near zone.Electromagnetic technique may be employed in bindiny mechanism
It realizes.
It cleans car body 4 and trailer 8 is respectively provided with brake gear and steering indicating light.The front side of rubbish car 7 is equipped with transparent window,
Transparent window is equipped with graduated scale；Rubbish car 7 is arranged at intervals with cleaning car body 4, and camera 5 shoots 7 picture of rubbish car,
Controller judges whether rubbish car 7 fills rubbish by 7 picture of rubbish car.Trailer 8 can also be used using infrared induction
It detects whether to fill；Or a trailer 8 can rule of thumb be set at most to fill the rubbish of several respective cells.Equipped with reflective on trailer 8
Item or reflecting piece, with make one or vehicle it will be noted that.7 upside installation lid of rubbish car, prevents scattering of rubbish.Automatic Pilot fills
It puts including range sensor or radar 9, to prevent from colliding, range sensor or radar 9, which are mounted at least, to be cleaned four after this Chinese herbaceous peony
On a angle, two, front radar 9 can be mounted on the vehicle body for cleaning car body 4, can be also mounted on refuse sweeping collecting mechanism 1.
Car body 4 is cleaned using battery as power source, equipped with power management module in controller, equipped with for outdoor sweeping machine
The automatic charging stake that people charges, automatic charging stake has smart lock, has corresponding secret key that could open, to ensure safety.Passage path
Planning module can complete automatic charging, and work in prescribed limit.After the rubbish car 7 of cleaning car body 4 itself is filled, fortune
It is sent to appointed place.The present invention according to circumstances once can download map or using Online Map, according to GPS or the Big Dipper or
WIFI modes position and distinguish this vehicle direction.The cleaning car body 4 of the present invention can also be cleaned using energy such as oil gas as power
Car body 4 is equipped with the energy-storage module of storage oil gas.
Controller is connected by wireless communication module with back-stage management center；External control communications are additionally provided on controller to connect
Mouthful, it external can control the machine and obtain the machine processing daily record.Face recognition module is additionally provided in controller, is realized
Patrol, anti-theft feature can promote cell safety to guard key such as this area confirmed thieves.Wireless communication module can be WIFI,
SIM card or technology of Internet of things realize monitoring machine working condition in real time, preferably to machine maintenance, maintenance, repairing, also to have
There is remote alarming function.
It cleans car body 4 and is equipped with start-stop button, in emergency circumstances, can close rapidly, the outer sweeping robot of priming chamber.It can be with
It is controlled by APP, to save cost, touch-screen can be also installed, the controller of robot of the invention can be with autonomous learning
More intelligent operation is realized in the operation of operating personnel.
Referring to Fig. 2~3,4 one side of cleaning car body in the present embodiment is equipped with deck 12, and 2 open side of garbage collection bucket is turned over
Checkpost enters in deck 12, is equipped in the deck 12 and fixes spring 14, and the rear end for fixing spring 14 sets that there are one arc fixture block 15, arcs
Shape fixture block 15 can ensure that flange is smoothly caught in, departs from deck 12, fix spring 14 and arc fixture block 15 is promoted to be pressed on rubbish receipts
It on the flange for collecting bucket 2, prevents that garbage collection bucket 2 loosens in the process of running, one is additionally provided on rear side of car body cleaning
Vertical buffer spring 13, when dustbin mechanical arm 3 places garbage collection bucket 2 downwards, buffer spring 13 can prevent rubbish
With cleaning car body 4 hard collision occurs for collecting vessel 2, improves the service life of garbage collection bucket 2.
Refuse sweeping collecting mechanism 1 in the present invention can be changed to mowing-apparatus, to be trimmed to lawn.
Embodiment 2
Referring to Fig. 4, there are two the cameras 5 in the present embodiment, and two cameras 5 are in same level, in yi word pattern
It is arranged on the upside for cleaning car body 4.The upside for cleaning car body 4 is equipped with start-stop button 10.
Garbage collection bucket 2 in the present embodiment can also by connecting automatically, release device be connected to the vehicle for cleaning car body 4
Bottom.This is connected automatically, laser positioning may be employed in release device, electromagnetic mode connection, release.
Embodiment 3
Four cameras 5 are installed in the upside for cleaning car body 4 simultaneously in the present embodiment, four cameras 5 are in same level
On face, it is distributed in " ten " font.
Embodiment 4
Referring to Fig. 5, in the present embodiment, dustbin robotic arm 3 at least two or more, two piece rubbish similar to the arm of people
Distance should be slightly bigger than the width of common dustbin between rubbish bucket robotic arm 3, and shoulder joint one end is mounted on the one side of trailer 8, elbow joint
It can bend, so can easily capture the dustbin to be collected, and be poured into 8 railway carriage of trailer；Meanwhile robotic arm 3 is also
It can be used for capturing the garbage collection bucket 2 that car body carries, and be poured into the rubbish car 7 of trailer 8.
Trailer 8 can be furnished with energy storage device 11, on the one hand clean when car body 4 cleans without trailer 8 and all energy storage devices 11,
Compare gently, it is more energy efficient；The energy storage device 11 of another aspect trailer 8 be mounted on 3 corresponding opposite side of dustbin robotic arm, make to drag
Vehicle 8 balances.
Trailer 8 can control the dustbin on trailer 8 by this interface with the interface that can couple with cleaning car body 4, main vehicle
Robotic arm 3 also can use the energy storage device 11 on trailer 8 by this interface；Main vehicle can be cleaned without trailer 8, be cleaned
When the garbage collection bucket 2 completed or carried is filled, garbage collection bucket 2 can be discharged in 3 side of dustbin robotic arm of trailer 8,
It connects and controls the dustbin robotic arm 3 on trailer 8, complete crawl garbage collection bucket 2 and the action toppled over.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (10)
1. a kind of outdoor sweeping robot, it is characterised in that：The outdoor sweeping robot includes cleaning car body, cleans car body
Upside is equipped with camera, and servomechanism and controller are set in sweeper body, be equipped in controller path planning module and
Picture recognition module, path planning module are connected with servomechanism, and controller receives the image information of camera acquisition, figure
As identification module identifies the article in image；The front side for cleaning car body is equipped with refuse sweeping collecting mechanism, cleans car body and is connected with
Rubbish car cleans car body and is equipped with the cleaning agency that refuse sweeping collecting mechanism is driven to move up and down, cleans the both sides of car body
Equipped with dustbin mechanical arm.
2. outdoor sweeping robot according to claim 1, it is characterised in that：The rear side of the refuse sweeping collecting mechanism
Equipped with garbage collection bucket, garbage collection bucket is laterally installed on the one side for cleaning car body, and detection is additionally provided on front side of garbage collection bucket
Whether the rubbish testing agency of rubbish is filled in garbage collection bucket.
3. outdoor sweeping robot according to claim 1, it is characterised in that：The upside for cleaning car body is equipped with transparent
Spherical protective cover, camera is rotatably arranged in spherical protective cover；
Assist illuminator is additionally provided on the upside of the cleaning car body.
4. outdoor sweeping robot according to claim 3, it is characterised in that：The assist illuminator is arranged on spherical guarantor
In shield, assist illuminator is arranged at intervals with camera.
5. the outdoor sweeping robot according to claim 3 or 4, it is characterised in that：It is set on the outside of the spherical shape protective cover
There is rain shaving blade.
6. outdoor sweeping robot according to claim 1, it is characterised in that：The rubbish car is fixed on a trailer
On, trailer front end is connected by a bindiny mechanism with cleaning car body.
7. outdoor sweeping robot according to claim 1, it is characterised in that：Power management mould is equipped in the controller
Block, equipped with the automatic charging stake charged for outdoor sweeping robot.
8. outdoor sweeping robot according to claim 1, it is characterised in that：The front side of the rubbish car is equipped with transparent
Form, is equipped with graduated scale on transparent window, and rubbish car is arranged at intervals with cleaning car body；
Or the rear portion on the inside of dustbin is equipped with graduated scale；
The camera shoots rubbish car picture, and controller judges whether rubbish car fills rubbish by rubbish car picture
Rubbish.
9. the outdoor sweeping robot according to claim 1 or 8, it is characterised in that：The controller passes through wireless telecommunications
Module is connected with back-stage management center；
External control communications interface is additionally provided on the controller.
10. outdoor sweeping robot according to claim 9, it is characterised in that：Face knowledge is additionally provided in the controller
Other module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079515.3A CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079515.3A CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108086214A true CN108086214A (en) | 2018-05-29 |
| CN108086214B CN108086214B (en) | 2023-07-04 |
Family
ID=62182480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810079515.3A Active CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108086214B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544511A (en) * | 2018-06-22 | 2018-09-18 | 芜湖易迅生产力促进中心有限责任公司 | A kind of multifunctional cleaning machine people |
| CN109015692A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of home-services robot |
| CN109098125A (en) * | 2018-09-30 | 2018-12-28 | 徐州徐工环境技术有限公司 | Sweeper and sweeper control method |
| 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 |
| CN110241761A (en) * | 2019-06-20 | 2019-09-17 | 广东博兰迪科技有限公司 | A kind of Intelligent unattended drives refuse sweeping recovery vehicle and system and method |
| CN110602446A (en) * | 2019-08-26 | 2019-12-20 | 恒大智慧科技有限公司 | Garbage recovery reminding method and system and storage medium |
| CN110696883A (en) * | 2019-09-20 | 2020-01-17 | 徐州智瑞工程机械有限公司 | A shallow for on engineering building site |
| WO2020019302A1 (en) * | 2018-07-27 | 2020-01-30 | 江苏品德环保科技有限公司 | Intelligent hand operator for street sweeping car |
| CN111567331A (en) * | 2020-05-11 | 2020-08-25 | 西南科技大学 | Automatic lawn garbage cleaning machine and method based on deep convolutional neural network |
| CN111583695A (en) * | 2020-04-29 | 2020-08-25 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Intelligent environmental sanitation system based on Beidou navigation |
| CN114108531A (en) * | 2021-11-05 | 2022-03-01 | 湖南湘江智能科技创新中心有限公司 | Intelligent network on-line robot road cleaning system |
| CN115481987A (en) * | 2022-10-24 | 2022-12-16 | 成都秦川物联网科技股份有限公司 | Smart city street management method, internet of things system, device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108544511A (en) * | 2018-06-22 | 2018-09-18 | 芜湖易迅生产力促进中心有限责任公司 | A kind of multifunctional cleaning machine people |
| WO2020019302A1 (en) * | 2018-07-27 | 2020-01-30 | 江苏品德环保科技有限公司 | Intelligent hand operator for street sweeping car |
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| CN109098125A (en) * | 2018-09-30 | 2018-12-28 | 徐州徐工环境技术有限公司 | Sweeper and sweeper control method |
| 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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| CN110241761A (en) * | 2019-06-20 | 2019-09-17 | 广东博兰迪科技有限公司 | A kind of Intelligent unattended drives refuse sweeping recovery vehicle and system and method |
| CN110602446A (en) * | 2019-08-26 | 2019-12-20 | 恒大智慧科技有限公司 | Garbage recovery reminding method and system and storage medium |
| CN110696883A (en) * | 2019-09-20 | 2020-01-17 | 徐州智瑞工程机械有限公司 | A shallow for on engineering building site |
| CN111583695A (en) * | 2020-04-29 | 2020-08-25 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Intelligent environmental sanitation system based on Beidou navigation |
| CN111567331A (en) * | 2020-05-11 | 2020-08-25 | 西南科技大学 | Automatic lawn garbage cleaning machine and method based on deep convolutional neural network |
| CN114108531A (en) * | 2021-11-05 | 2022-03-01 | 湖南湘江智能科技创新中心有限公司 | Intelligent network on-line robot road cleaning system |
| CN115481987A (en) * | 2022-10-24 | 2022-12-16 | 成都秦川物联网科技股份有限公司 | Smart city street management method, internet of things system, device and storage medium |
| US11776409B2 (en) | 2022-10-24 | 2023-10-03 | Chengdu Qinchuan Iot Technology Co., Ltd. | Methods, internet of things systems and storage mediums for street management in smart cities |
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|---|---|
| CN108086214B (en) | 2023-07-04 |
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