CN108545359B - Intelligent garbage can based on visual identification and control method thereof - Google Patents
Intelligent garbage can based on visual identification and control method thereof Download PDFInfo
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- CN108545359B CN108545359B CN201810459423.8A CN201810459423A CN108545359B CN 108545359 B CN108545359 B CN 108545359B CN 201810459423 A CN201810459423 A CN 201810459423A CN 108545359 B CN108545359 B CN 108545359B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1468—Means for facilitating the transport of the receptacle, e.g. wheels, rolls
- B65F1/1473—Receptacles having wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
- B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
- B65F1/1638—Electromechanically operated lids
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- 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
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses an intelligent garbage can based on visual identification, which comprises a can body, a can cover and a control system, wherein a suction pipe is arranged on the can body, one end of the suction pipe is communicated with the can body, the other end of the suction pipe is connected with a wind gathering cover, and the bottom of the suction pipe is provided with a movable chassis; a barrel cover door is arranged on one side of the barrel cover, and a fan is arranged in the barrel cover; the control system comprises a control module, a pan-tilt camera and an ultrasonic sensor group, wherein the pan-tilt camera is mounted at the upper end of the barrel cover through a camera support, the ultrasonic sensor group is used for detecting obstacles, and the control module is connected with a traction rope driving motor, a driving device of the movable chassis, the pan-tilt camera and the ultrasonic sensor group. The intelligent garbage can provided by the invention can intelligently identify garbage, automatically position the garbage based on a visual identification technology, automatically pick up the garbage through negative pressure suction, automatically open and close the cover door when people need to lose the garbage, and transmit signals to the manual control center to judge and store the objects into a corresponding database in a manual auxiliary mode when objects which cannot be identified are detected.
Description
Technical Field
The invention relates to the technical field of intelligent garbage cans, in particular to an intelligent garbage can based on visual identification and a control method thereof.
Background
With the continuous increase of national economy and the remarkable improvement of the living standard of people, leisure and entertainment places become an indispensable part in city construction. But the activities of a large number of urban residents in places such as urban living squares and parks also bring a large amount of garbage. Even if a lot of garbage cans are placed at fixed points in the places, the phenomenon that garbage is all over the places cannot be avoided, and therefore the cleaning staff can be arranged to clean the garbage cans regularly by the long leaders in the places. Meanwhile, the conventional trash can cannot avoid emitting bad smell if it is open. If closed, individual personnel may choose to throw the trash out because they are unwilling to touch the trash can, which increases the cleaning burden. Aiming at the problems, the intelligent garbage can based on visual identification is designed, and can be used as a traditional garbage can and can also replace manual ground garbage cleaning work.
The chinese patent discloses an intelligent garbage bin, application number 201710928304.8, when the recognition user has the trend of throwing away rubbish through pronunciation and vision, run to user's side. Some existing intelligent garbage cans intelligently identify certain specific garbage, and the garbage identification capability cannot be continuously improved in the using process; the intelligent garbage can picking structure with the automatic garbage picking function is complex, low in efficiency and high in cost.
Disclosure of Invention
In view of this, the present invention provides an intelligent trash can based on visual recognition and a control method thereof, and aims to continuously improve the trash recognition capability through a manual judgment and autonomous memory manner, and the adopted vacuum suction manner is used for picking up trash, so that the efficiency is high and the cost is low.
In order to achieve the purpose, the invention adopts the technical scheme that: an intelligent garbage can based on visual identification comprises a can body, a can cover and a control system, wherein the can cover is fixed on the can body, a first storage area and a second storage area which are completely isolated from each other are arranged inside the can body, a suction pipe is arranged on the can body, one end of the suction pipe is communicated with the inside of the second storage area through an air inlet of the can body, the other end of the suction pipe is connected with an air gathering cover, and a movable chassis is arranged at the bottom of the suction pipe; a barrel cover door is arranged on one side of the barrel cover, an air outlet and an air inlet are arranged on the other side of the barrel cover, a power supply and a fan are further arranged in the barrel cover, a traction rope is arranged on the barrel cover door, the other end of the traction rope is fixed on a traction rope driving motor, the traction rope driving motor is installed on the barrel cover through a traction rope driving motor fixing plate, the air inlet end of the fan is tightly connected with the air inlet, a filter screen is installed between the air inlet end and the air inlet, the air outlet end of the fan is tightly connected with the air outlet, and a balancing; the control system comprises a control module, a pan-tilt camera and an ultrasonic sensor group, wherein the pan-tilt camera is mounted at the upper end of the barrel cover through a camera support, the ultrasonic sensor group is used for detecting obstacles, and the control module is connected with a traction rope driving motor, a driving device of the movable chassis, the pan-tilt camera and the ultrasonic sensor group.
The control system further comprises a photoelectric sensor used for detecting the height of the garbage in the barrel, the photoelectric sensors are arranged on the barrel cover and are respectively arranged on the left side and the right side, when the garbage in the barrel reaches a certain height, the photoelectric sensors can be triggered, and signals are transmitted to the control module.
The control system further comprises a manual control center, the control module is communicated with the manual control center through a network, and the picture of the unknown object detected by the pan-tilt camera is transmitted to the manual control center.
The ultrasonic sensor group comprises a plurality of ultrasonic sensor monomers, and the annular array of the ultrasonic sensor group is distributed at the bottom of the barrel body.
The suction pipe is provided with a plurality of annular coils in an annular array mode, the wind-collecting cover connected with the suction pipe is also provided with cylindrical coils with the same number as the annular coils in an annular array mode, the cylindrical coils are sleeved in the middle of the annular coils, and the control module controls the annular coils and the cylindrical coils to be powered on and off.
The movable chassis comprises a driving wheel, a flange assembly, a base, a motor supporting seat, a movable chassis driving motor, a damping assembly and universal wheels, wherein the driving wheel is installed on the flange assembly and is connected with an output shaft of the movable chassis driving motor, the movable chassis driving motor and the flange assembly are installed on the motor supporting seat, the motor supporting seat is installed on the base, the universal wheels are installed on the damping assembly, the damping assembly is installed on the base, and the base is installed on the barrel body.
A control method of an intelligent garbage can based on visual identification comprises the following steps:
① storing the characteristics of common garbage and the characteristics of non-garbage in the control module, and establishing a garbage database and a non-garbage database;
② turning on the pan-tilt camera to make it enter into real-time detection mode, and detecting whether there is rubbish or whether someone is approaching the rubbish can;
③ when the pan-tilt camera detects garbage, path planning is carried out by taking the position coordinate of the garbage as a terminal point, the control module starts the ultrasonic sensor group to detect obstacles, when no obstacle is detected, the control module drives the moving chassis driving motor to move the garbage can to a target position, the control module powers off the annular coil and the cylindrical coil, the air gathering cover is put down, the fan is started to suck the garbage into the second storage area, then the fan stops working, the annular coil and the cylindrical coil are powered on, and the air gathering cover is lifted;
④ when the pan-tilt camera detects that a person comes in front of the garbage can, the control module starts timing the standing time of the person, when the standing time is more than or equal to 3s, the control module drives the traction rope driving motor to start working, the door of the garbage can is opened, the person leaves the front of the garbage can, the control module drives the traction rope driving motor to rotate reversely, and the door of the garbage can is closed;
⑤ when the pan-tilt camera detects an unknown object, the control module transmits the image to the manual control center through the network for judgment, if the image is judged to be garbage, the garbage feature is extracted and stored in the garbage database, if the image is judged not to be garbage, the image is extracted and stored in the non-garbage database.
Compared with the prior art, the invention has the beneficial effects that:
1. the intelligent garbage can disclosed by the invention is provided with the fan, the suction pipe and the air collecting cover, the negative pressure suction technology is applied to the intelligent garbage can, and the real-time detection of the control module and the pan-tilt camera is combined, so that when the garbage can identifies garbage, the automatic garbage picking can be realized through the negative pressure suction technology.
2. The technology of visual identification is applied to the intelligent garbage can, the first is used for identifying garbage, the second is used for identifying whether people want to lose the garbage or not, the automatic opening and closing of the cover door is controlled through the control module, the judgment precision is high, and the third is used for extracting the position coordinates of the garbage.
3. The movable chassis technology for automatically avoiding the barrier is installed on the intelligent garbage can, so that the intelligent garbage can move to a corresponding position after detecting garbage, and can avoid the barrier.
4. When the cloud platform camera detects an unidentified object, the control module transmits the picture to the manual control center through the network for judgment, if the picture is judged to be garbage, the garbage features are extracted and stored in the garbage database, if the picture is judged not to be garbage, the picture is extracted and stored in the non-garbage database, and the database is continuously perfected through the manual auxiliary judgment capability, so that the identification capability is improved.
5. The invention discloses an intelligent garbage can, which is characterized in that a balancing weight is arranged inside a can cover door, so that the can cover door can be completely closed when a can cover door traction rope is released, and the garbage can is prevented from emitting unpleasant smell due to untight closing of the can cover door.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the external structure of the barrel cover of the present invention;
fig. 3 is a schematic view of the internal structure of the barrel cover of the present invention;
FIG. 4 is a schematic view of a weight member according to the present invention;
FIG. 5 is a schematic view of the internal structure of the barrel according to the present invention;
FIG. 6 is a partial schematic view of an assembly of the suction tube and the air collection cover of the present invention;
FIG. 7 is a schematic view of a mobile chassis of the present invention;
FIG. 8 is a schematic diagram of the intelligent control system of the present invention;
FIG. 9 is a flow chart of a control method of the present invention;
wherein, 1-barrel body, 101-first storage area, 102-second storage area, 103-barrel body air inlet, 2-barrel cover, 21-air outlet, 22-air inlet, 23-barrel cover door, 231-counterweight block, 24-hauling cable, 25-hauling cable driving motor, 26-hauling cable driving motor fixing plate, 27-power supply, 28-blower, 29-filter screen, 3-pan-tilt camera, 4-camera bracket, 5-suction pipe, 51-annular coil, 6-wind gathering cover, 61-cylindrical coil, 7-moving chassis, 71-driving wheel, 72-flange component, 73-base, 74-motor supporting seat, 75-moving chassis driving motor, 76-damping component, 77-universal wheel, 8-control module, 9-ultrasonic sensor group, 10-photoelectric sensor, 11-manual control center.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention relates to an intelligent trash can based on visual identification, which comprises a can body 1, a can cover 2 and a control system, wherein the control system comprises a control module 8, a pan-tilt camera 3 and an ultrasonic sensor group 9, wherein the pan-tilt camera 3 is installed at the upper end of the can cover 2 through a camera support 4, and the ultrasonic sensor group is used for detecting obstacles.
As shown in fig. 1, the barrel cover 2 is fixed on the barrel body 1, and a movable chassis 7 is arranged at the bottom; ultrasonic sensor group 9 includes a plurality of ultrasonic sensor monomers, ultrasonic sensor group 9 annular array distributes the bottom of ladle body 1, and wind-gathering cover 6 passes through suction tube 5 to be installed on ladle body 1, and cloud platform camera 3 passes through camera support 4 to be installed on bung 2.
As shown in fig. 2-4, a barrel cover door 23 is arranged on one side of the barrel cover 2, an air outlet 21 and an air inlet 22 are arranged on the other side of the barrel cover 2, a power supply 27 and a fan 28 are further arranged in the barrel cover, a traction rope 24 is arranged on the barrel cover door 23, the other end of the traction rope 24 is fixed on a traction rope driving motor 25, the traction rope driving motor 25 is mounted on the barrel cover 2 through a traction rope driving motor fixing plate 26, the traction rope 24 is wound and released along with the rotation of the traction rope driving motor 25, and the barrel cover door 23 is correspondingly opened and closed; the air inlet end of the fan 28 is tightly connected with the air inlet 22, a filter screen 29 is arranged between the air inlet end and the air inlet 22 and used for filtering various impurities with the volume larger than or equal to that of dust, the air outlet end of the fan 28 is tightly connected with the air outlet 21, and a balancing weight 231 is further arranged inside the barrel cover door 23 so as to ensure that the barrel cover door can be completely closed when a pulling rope of the barrel cover door is released; the control system further comprises a photoelectric sensor 10 for detecting the height of the garbage in the barrel, the photoelectric sensors 10 are arranged on the barrel cover 2, the left and the right of each photoelectric sensor 10 are respectively arranged, when the garbage in the barrel reaches a certain height, the photoelectric sensors 10 are triggered to transmit signals to the control module 8, and the control module 8 is arranged in the barrel cover 2;
as shown in fig. 5, a first storage area 101 and a second storage area 102 which are completely isolated from each other are arranged inside the barrel 1, a suction pipe 5 is arranged on the barrel cover 2, one end of the suction pipe 5 is communicated with the inside of the second storage area 12 through a barrel air inlet 103, and the other end is connected with the air-gathering cover 6;
as shown in fig. 6, a plurality of annular coils 51 are mounted on the suction tube 5 in an annular array, and the connected air-collecting cover 6 is also mounted with the same number of cylindrical coils 61 as the annular coils 51 in an annular array, wherein the cylindrical coils 61 are sleeved in the annular coils 51, the control module 8 controls the annular coils 51 and the cylindrical coils 61 to be powered on and powered off, and when the annular coils 51 and the cylindrical coils 61 are powered on, the air-collecting cover 6 moves in a direction facing vertically upwards under the action of electromagnetic force driven by the cylindrical coils 61; when the toroidal coil 51 and the cylindrical coil 61 are de-energized, the windshield 6 will move in a direction vertically downward under the influence of gravity.
As shown in fig. 7, the movable chassis 7 includes a driving wheel 71, a flange assembly 72, a base 73, a motor supporting seat 74, a movable chassis driving motor 75, a damping assembly 76 and a universal wheel 77, the driving wheel 71 is mounted on the flange assembly 72 and is connected with an output shaft of the movable chassis driving motor 75, the movable chassis driving motor 75 and the flange assembly 72 are both mounted on the motor supporting seat 74, the motor supporting seat 74 is mounted on the base 73, the universal wheel 77 is mounted on the damping assembly 76, the damping assembly 76 is mounted on the base 73, the base 73 is mounted on the barrel body 2, and the damping assembly 76 serves to damp vibration of the intelligent trash can when the chassis passes through uneven places.
As shown in fig. 8, the traction rope driving motor 25, the fan 28, the moving chassis driving motor 75, the pan-tilt camera 3, the annular coil 51, the cylindrical coil 61, the ultrasonic sensor group 9, and the photoelectric sensor 10 are all connected to the control module 8, the manual control center 11 is connected to the control module 8 through a network, and the control module 8 is an embedded controller;
as shown in fig. 9, the present invention further provides a control method of an intelligent trash can based on visual identification, which includes the following steps:
① storing the common characteristics of garbage and non-garbage in the control module 8, and establishing a garbage database and a non-garbage database;
②, turning on the pan-tilt camera 3 to make the pan-tilt camera 3 enter a real-time detection mode to detect whether garbage exists or whether a person approaches the garbage can;
③ when the pan-tilt camera 3 detects garbage, the path planning is performed by taking the garbage position coordinate as a terminal point, the control module 8 starts the ultrasonic sensor group 9 to detect an obstacle, when the obstacle is not detected, the control module 8 drives the moving chassis driving motor 75 to move the garbage can to a target position, the control module 8 powers off the annular coil 51 and the cylindrical coil 61, the air collecting cover 6 is put down, the fan 28 is started to suck the garbage into the second storage area 12, then the fan 28 stops working, the annular coil 51 and the cylindrical coil 61 are powered on, and the air collecting cover 6 is lifted;
④ the pan-tilt camera 3 detects that a person comes in front of the garbage bin, the control module 8 starts timing the standing time of the person, when the standing time is more than or equal to 3s, the control module 8 drives the traction rope driving motor 25 to start working, the bin cover door 23 is opened, the person leaves the front of the garbage bin, the control module 8 drives the traction rope driving motor 25 to rotate reversely, and the bin cover door is closed;
⑤ when the pan-tilt camera 3 detects an unidentified object, the control module 8 transmits the picture to the manual control center 11 through the network for judgment, if the picture is judged to be garbage, the garbage feature is extracted and stored in the garbage database, and if the picture is judged not to be garbage, the feature is extracted and stored in the non-garbage database.
The present invention has been described in detail with reference to the specific embodiments, but the present invention is only one of the embodiments, and the present invention is not limited to the specific embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (1)
1. A control method of an intelligent garbage can based on visual identification is characterized in that: the garbage can comprises an intelligent garbage can body (1), a can cover (2) and a control system, wherein the can cover (2) is fixed on the can body (1), a first storage area (101) and a second storage area (102) which are completely isolated from each other are arranged inside the can body (1), a suction pipe (5) is arranged on the can body (1), one end of the suction pipe (5) is communicated with the inside of the second storage area (102) through a can body air inlet (103), the other end of the suction pipe is connected with an air gathering cover (6), and a movable chassis (7) is arranged at the bottom of the suction pipe;
a barrel cover door (23) is arranged on one side of the barrel cover (2), an air outlet (21) and an air inlet (22) are arranged on the other side of the barrel cover (2), a power supply (27) and a fan (28) are further arranged in the barrel cover, a traction rope (24) is arranged on the barrel cover door (23), the other end of the traction rope (24) is fixed on a traction rope driving motor (25), the traction rope driving motor (25) is installed on the barrel cover (2) through a traction rope driving motor fixing plate (26), the air inlet end of the fan (28) is tightly connected with the air inlet (22), a filter screen (29) is installed between the air inlet end and the air inlet, the air outlet end of the fan (28) is tightly connected with the air outlet (21), and a balancing weight (231) is;
a plurality of annular coils (51) are arranged on the suction pipe (5) in an annular array manner, cylindrical coils (61) with the same number as the annular coils (51) are also arranged on the air collecting cover (6) connected with the suction pipe in an annular array manner, the cylindrical coils (61) are sleeved in the middle of the annular coils (51), and the control module (8) controls the annular coils (51) and the cylindrical coils (61) to be powered on and powered off;
remove chassis (7) including drive wheel (71), flange subassembly (72), base (73), motor supporting seat (74), remove chassis driving motor (75), damper unit (76) and universal wheel (77), drive wheel (71) is installed on flange subassembly (72) to with the output shaft who removes chassis driving motor (75), remove chassis driving motor (75) and all install on motor supporting seat (74) flange subassembly (72), install on base (73) motor supporting seat (74), install on damper unit (76) universal wheel (77), damper unit (76) are installed on base (73), and base (73) are installed on ladle body (1)
The control system comprises a control module (8), a pan-tilt camera (3) arranged at the upper end of the barrel cover (2) through a camera support (4), and an ultrasonic sensor group (9) for detecting obstacles, wherein the control module (8) is connected with a traction rope driving motor (25), a driving device of the movable chassis (7), the pan-tilt camera (3) and the ultrasonic sensor group (9); the control system further comprises a photoelectric sensor (10) and a manual control center, wherein the photoelectric sensor (10) is used for detecting the height of the garbage in the barrel, the photoelectric sensors (10) are arranged on the barrel cover (2), the left and the right of each photoelectric sensor are respectively arranged, when the garbage in the barrel reaches a certain height, the photoelectric sensors (10) are triggered to transmit signals to the control module (8), the control module (8) is communicated with the manual control center through a network, and pictures of unknown objects detected by the pan-tilt camera (3) are transmitted to the manual control center (11); the ultrasonic sensor group (9) comprises a plurality of ultrasonic sensor units, and the ultrasonic sensor group (9) is distributed at the bottom of the barrel body (1) in an annular array manner;
the control method comprises the following steps:
① storing the common characteristics of garbage and non-garbage in the control module (8), and establishing a garbage database and a non-garbage database;
②, turning on the pan-tilt camera (3), so that the pan-tilt camera (3) enters a real-time detection mode to detect whether garbage exists or whether a person approaches the garbage can;
③ when the pan-tilt camera (3) detects garbage, path planning is carried out by taking a garbage position coordinate as a terminal point, the control module (8) starts the ultrasonic sensor group (9) to detect obstacles, when no obstacle is detected, the control module (8) drives the moving chassis driving motor (75) to move the garbage can to a target position, the control module (8) cuts off the power of the annular coil (51) and the cylindrical coil (61), the air gathering cover (6) is put down, the fan (28) is started to suck the garbage into the second storage area (102), then the fan (28) stops working, the annular coil (51) and the cylindrical coil (61) are electrified, and the air gathering cover (6) is lifted;
④ when the pan-tilt camera (3) detects that a person comes in front of the garbage can, the control module (8) starts timing the standing time of the person, when the standing time is more than or equal to 3s, the control module (8) drives the traction rope driving motor (25) to start working, the cover door (23) is opened, the person leaves the front of the garbage can, the control module (8) drives the traction rope driving motor (25) to rotate reversely, and the cover door is closed;
⑤ when the pan-tilt camera (3) detects an unknown object, the control module (8) transmits the picture to the manual control center (11) through the network for judgment, if the picture is judged to be garbage, the garbage features are extracted and stored in the garbage database, if the picture is judged not to be garbage, the extracted features are stored in the non-garbage database.
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| CN201810459423.8A CN108545359B (en) | 2018-05-15 | 2018-05-15 | Intelligent garbage can based on visual identification and control method thereof |
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| CN201810459423.8A CN108545359B (en) | 2018-05-15 | 2018-05-15 | Intelligent garbage can based on visual identification and control method thereof |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109625706A (en) * | 2018-11-30 | 2019-04-16 | 湖南人文科技学院 | A kind of intelligent garbage bin and its control method |
| CN109746931A (en) * | 2019-03-13 | 2019-05-14 | 厦门中高智能电器科学研究院有限公司 | A kind of polymorphic type foreign matter removing robot towards GIS cavity |
| CN111287131A (en) * | 2020-02-24 | 2020-06-16 | 鑫炜吉建工集团有限公司 | Building construction removes ponding environment-friendly device |
| CN112173497A (en) * | 2020-11-10 | 2021-01-05 | 珠海格力电器股份有限公司 | Control method and device of garbage collection equipment |
| CN113796783B (en) * | 2021-09-26 | 2022-10-25 | 黄福平 | Household environment control management system based on artificial intelligence |
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| JP2005231890A (en) * | 2004-02-19 | 2005-09-02 | Takashi Yoshida | Home duster chute |
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