CN111506071A - Autonomous navigation unmanned sweeping vehicle based on two-dimensional code landmarks - Google Patents
Autonomous navigation unmanned sweeping vehicle based on two-dimensional code landmarks Download PDFInfo
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- 238000010408 sweeping Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims abstract description 8
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- 238000005096 rolling process Methods 0.000 claims description 12
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an autonomous navigation unmanned sweeping vehicle based on a two-dimensional code landmark. The automatic navigation assembly comprises a camera installed at the front end of the frame and used for acquiring and shooting lane lines and two-dimensional codes, the data output end of the camera is connected with the single chip microcomputer, the single chip microcomputer receives and processes images sent by the camera and sends control instructions to the H-type full-bridge motor control chip, and the H-type full-bridge motor control chip controls the first driving motor and the second driving motor according to the control instructions sent by the single chip microcomputer. The invention shoots and collects lane lines and landmark two-dimensional codes through the camera, analyzes path information in the lane lines and the landmark two-dimensional codes through the singlechip, and then controls the motor to operate through instructions given by the singlechip, thereby achieving the function of autonomous navigation and autonomous cleaning. Therefore, the efficiency of cleaning the garbage is improved, and the burden of sanitation workers is reduced.
Description
Technical Field
The invention relates to the field of intelligent navigation, in particular to an autonomous navigation unmanned sweeping vehicle based on a two-dimensional code landmark.
Background
The road sweeper is a special vehicle for sweeping road surface garbage, is novel efficient sweeping equipment integrating road surface sweeping, garbage recycling and transportation, and can be widely applied to road sweeping operations of urban streets, municipal squares, airport pavement, urban residential areas, parks and the like.
The existing sweeping machine has certain requirements on the driving technique and the operation technique of a driver, and if the sweeping machine is not operated properly, a series of problems such as accidents are easily caused. Most importantly, most of the existing sweeping machines need to be driven or controlled by sanitation workers, so that automatic and intelligent operation cannot be realized, the work efficiency cannot be improved, and the waste of manpower and financial resources is caused.
Disclosure of Invention
The invention aims to provide an autonomous navigation unmanned sweeping vehicle based on a two-dimensional code landmark, which aims at overcoming the defects in the prior art.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
an autonomous navigation unmanned sweeping vehicle based on a two-dimensional code landmark comprises a vehicle frame, and a walking assembly, a sweeping assembly and an automatic navigation assembly which are arranged on the vehicle frame;
the walking assembly comprises a first driving motor and a second driving motor which are arranged at the rear end of the frame, the output ends of the first driving motor and the second driving motor are connected with and drive a first rear wheel and a second rear wheel which are positioned at two sides of the rear end of the frame, and the front end of the frame is provided with a front wheel;
the cleaning assembly comprises a first disc brush motor and a second disc brush motor which are arranged on two sides of the front end of the frame, the output ends of the first disc brush motor and the second disc brush motor penetrate through the frame and are connected with a first disc brush and a second disc brush which are positioned at the bottom of the frame, a rolling brush and a garbage can are arranged in the middle of the bottom of the frame, the rolling brush is used for cleaning, and the garbage can collects garbage in the cleaning process through an opening which is opposite to the rolling brush;
the automatic navigation assembly comprises a camera installed at the front end of the frame and used for acquiring and shooting lane lines and two-dimensional codes, the data output end of the camera is connected with the single chip microcomputer, the single chip microcomputer receives and processes images sent by the camera and sends control instructions to the H-type full-bridge motor control chip, and the H-type full-bridge motor control chip controls the first driving motor and the second driving motor according to the control instructions sent by the single chip microcomputer.
Furthermore, the rear end of frame is equipped with the power, and it is used for providing the energy for first driving motor, second driving motor, first dish brush motor and second dish brush motor, and the power has the external notch of charging that charges.
Furthermore, a liquid crystal screen for displaying the residual electric quantity and the current speed of the power supply is arranged on the frame.
Furthermore, a power switch button, an automatic navigation switch button and a forward button of the sweeping machine are arranged on the frame.
Further, a photoelectric encoder is arranged on the side of the rolling brush and used for detecting the current running speed of the autonomous navigation unmanned sweeping vehicle.
Further, the principle of the automatic navigation component is as follows:
1) a lane line is drawn on a traveling path, the autonomous navigation unmanned sweeping vehicle obtains a lane line image through shooting by a camera (1), the image is grayed, denoised and processed at the edge by a singlechip (9), the middle points of the lane line are extracted, and the extracted middle points are connected to form a guide line for the advancing of the trolley;
2) measuring the actual central position of the lane line, and calculating the offset of the extracted leading line M and the actual central position;
Δ＝M-center
the first driving motor (11) and the second driving motor (12) are adopted to control the autonomous navigation unmanned sweeping vehicle to advance, and the steering of the trolley is controlled by adopting a differential steering control principle; controlling the rotating speed of the two motors by different PWM duty ratios;
if the offset is too large or too small, the default sweeping machine is driven to deviate from the track line, the PWM duty ratio is 0, and the trolley stops moving;
if the offset is greater than 0, the sweeper deviates to the left of the lane line, the rotating speed of the right wheel is unchanged, the PWM duty ratio of the left wheel is increased, the rotating speed of the left wheel is increased, and the sweeper turns to the right;
if the offset is less than 0, the sweeper indicates that the sweeper deviates to the right of the lane line, the rotating speed of the left wheel is unchanged, the PWM duty ratio of the right wheel is increased, the rotating speed of the right wheel is increased, and the sweeper turns left;
if the offset is equal to 0, the sweeping vehicle is positioned in the center of the lane line, and the left and right wheels keep moving straight at the same rotating speed.
A two-dimensional code generation method for an autonomous navigation unmanned sweeping vehicle comprises the steps of carrying out data analysis, determining the character type of codes, selecting error correction levels and carrying out data coding; the two-dimensional code fault tolerance is realized by error correction coding, a code word sequence is partitioned, and error correction code words are generated according to the error correction level and the partitioned code words; calculating the generated whole sequence, and putting each error correcting code behind the sequence code for error correction; and finally, constructing a matrix, and filling the complete sequence into the area of the two-dimensional code matrix with the corresponding specification.
A two-dimensional code decoding method for an autonomous navigation unmanned sweeping vehicle comprises the following steps:
1) positioning and acquiring a graph according to a position detection graph and a positioning graph, converting the black and white color blocks into an array consisting of 0 and 1, determining a threshold value, and converting the image into a series of dark and light pixels by using the threshold value;
2) identifying format and version information, and determining the error correction level of the two-dimensional code;
3) removing the mask, namely obtaining the positioning graph of the coding region from the format information and carrying out exclusive OR processing to remove the mask;
4) and the recovered data code words and the error correction code words are subjected to error checking and error correction by using the error correction code words to ensure that accurate information is obtained, and finally the data codes are decoded.
Further, the two-dimensional code is arranged at a turn of the traveling road.
Compared with the prior art, the invention has the beneficial effects that:
the camera shoots and collects lane lines and landmark two-dimensional codes, the singlechip analyzes path information in the lane lines and sends instructions to control the motor to operate, and therefore the autonomous navigation and autonomous cleaning function is achieved. Therefore, the efficiency of cleaning the garbage is improved, and the burden of sanitation workers is reduced.
Drawings
Fig. 1 is a schematic view of an autonomous navigation unmanned sweeping vehicle according to the present invention.
Fig. 2 is a schematic view of the autonomous navigation unmanned sweeping vehicle according to the present invention.
Fig. 3 is a bottom view of the autonomous navigation unmanned sweeping vehicle according to the present invention.
Fig. 4 is a schematic structural diagram of a two-dimensional code according to the present invention.
Fig. 5 is a schematic diagram of a two-dimensional code according to the present invention.
Fig. 6 is a flowchart of decoding a two-dimensional code according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 3, the autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark of the present invention includes a vehicle frame, and a walking assembly, a sweeping assembly and an automatic navigation assembly which are arranged on the vehicle frame;
the walking assembly comprises a first driving motor (11) and a second driving motor (12) which are arranged at the rear end of the frame, the output ends of the first driving motor (11) and the second driving motor (12) are connected with each other and drive a first rear wheel (15) and a second rear wheel (16) which are positioned at two sides of the rear end of the frame, and the front end of the frame is provided with a front wheel (2);
the sweeping assembly comprises a first disc brush motor (5) and a second disc brush motor (6) which are installed on two sides of the front end of the frame, the output ends of the first disc brush motor (5) and the second disc brush motor (6) penetrate through the frame and are connected with a first disc brush (3) and a second disc brush (4) which are located at the bottom of the frame, a rolling brush (8) and a garbage can (7) are arranged in the middle of the bottom of the frame, the rolling brush (8) is used for sweeping, and the garbage can (7) collects garbage in the sweeping process through an opening which is opposite to the rolling brush (8);
the automatic navigation subassembly is including installing camera (1) at the frame front end, and it is used for acquireing and shoots lane line and two-dimensional code, and the data output end and singlechip (9) of camera (1) are connected, and singlechip (9) receive and handle the image that camera (1) sent to send control command for H type full-bridge motor control chip (10), first driving motor (11) and second driving motor (12) are controlled according to the control command that singlechip (9) sent in H type full-bridge motor control chip (10).
The rear end of frame is equipped with power (13), and it is used for providing the energy for first driving motor (11), second driving motor (12), first dish brush motor (5) and second dish brush motor (6), and power (13) have external charging notch (14) that charge.
And a liquid crystal screen (17) for displaying the residual capacity and the current speed of the power supply (13) is arranged on the frame.
The frame is provided with a power switch button (18), an automatic navigation switch button (19) and a forward button (20) of the sweeping machine.
And a photoelectric encoder (21) is arranged on the side of the rolling brush (8) and used for detecting the current running speed of the autonomous navigation unmanned sweeping vehicle.
The single chip microcomputer (9) is a raspberry module, is a microcomputer mainboard based on ARM, takes an SD/MicroSD card as a memory hard disk, is provided with 1/2/4 USB interfaces and a 10/100 Ethernet interface around the mainboard, can be connected with a keyboard, a mouse and a network cable, and simultaneously has a television output interface of video analog signals and an HDMI high-definition video output interface, all the components are integrated on a mainboard which is only slightly larger than a credit card, and the basic functions of all PCs can be executed by only connecting the television and the keyboard, such as spreadsheets, word processing, game playing, high-definition video playing and the like.
The H-shaped full-bridge motor control chip (10) is mainly used for controlling the motor and mainly has the following advantages:
PWM supports 0-100%, and supports high-level full-speed operation. 2. And the occupied resources are less, and each path only needs one path of PWM control. 3. The motor end supports wide voltage of 3V-36V, under-voltage protection and power supply transient interference suppression. 4. Two paths of motors are supported to be controlled respectively. The maximum rated current of each path is 10A, and can be automatically adjusted in the range of 0-10A according to the load. 5. The peak current of each path reaches 60A, and frequent starting, positive and negative rotation and acceleration are supported. 6. The control end and the motor end are effectively isolated, isolated power supply is adopted, and the single chip microcomputer is not influenced by high-current operation. 7. The control signal of 3-5.5V is supported, and the range supports most of single-chip microcomputers. 8. Can be separated from the MCU and directly controlled by an external switch.
The principle of the automatic navigation component is as follows:
1) a lane line is drawn on a traveling path, the autonomous navigation unmanned sweeping vehicle obtains a lane line image through shooting by a camera (1), the image is grayed, denoised and processed at the edge by a singlechip (9), the middle points of the lane line are extracted, and the extracted middle points are connected to form a guide line for the advancing of the trolley;
2) measuring the actual central position of the lane line, and calculating the offset of the extracted leading line M and the actual central position;
Δ＝M-center
the first driving motor (11) and the second driving motor (12) are adopted to control the autonomous navigation unmanned sweeping vehicle to advance, and the steering of the trolley is controlled by adopting a differential steering control principle; controlling the rotating speed of the two motors by different PWM duty ratios;
if the offset is too large or too small, the default sweeping machine is driven to deviate from the track line, the PWM duty ratio is 0, and the trolley stops moving; if the offset is greater than 0, the sweeper deviates to the left of the lane line, the rotating speed of the right wheel is unchanged, the PWM duty ratio of the left wheel is increased, the rotating speed of the left wheel is increased, and the sweeper turns to the right; if the offset is less than 0, the sweeper indicates that the sweeper deviates to the right of the lane line, the rotating speed of the left wheel is unchanged, the PWM duty ratio of the right wheel is increased, the rotating speed of the right wheel is increased, and the sweeper turns left; if the offset is equal to 0, the sweeping vehicle is positioned in the center of the lane line, and the left and right wheels keep moving straight at the same rotating speed.
Referring to fig. 4 and 5, the navigation two-dimensional code of the present invention first performs data analysis, determines the type of the encoded character, selects the error correction level, and then performs data encoding. The two-dimensional code fault tolerance is mainly realized by error correction coding, a code word sequence is partitioned, and error correction code words are generated according to the error correction level and the partitioned code words. Finally, the whole sequence generated above is calculated, and each error correcting code is placed behind the sequence code for error correction. Such as: the last step of D1, D12, D23, D35, D2, D13, D24, D36, … D11, D22, D33, D45, D34, D46, E1, E23, E45, E67, E2, E24, E46, E68[16], … is a construction matrix. And filling the above complete sequence into the area of the two-dimensional code matrix with the corresponding specification.
Referring to fig. 6, decoding of the two-dimensional code is actually the reverse process of the two-dimensional code coding, and in the first step, a graph is located and obtained according to a position detection graph and a positioning graph, a threshold value is determined according to an array formed by converting black and white blocks into 0 and 1, and the value is used for converting an image into a series of dark color and light color pixels. The second step is to identify format and version information, determine the error correction level of the two-dimensional code, the third step is to remove the mask, namely to obtain the swing bitmap of the coding region from the format information to carry out exclusive-or processing to remove the mask, the fourth step is to recover the data code words and the error correction code words to carry out error check by using the error correction code words and correct errors so as to ensure that accurate information is obtained, and finally, the data code is decoded.
Because the working environment of the unmanned sweeping vehicle is mostly in an outdoor industrial area, landmarks are easy to wear, when part of the marks of the traditional landmarks are damaged, the sweeping vehicle can not accurately identify the contents of the landmarks, so that the sweeping vehicle can not work normally, the two-dimensional code landmarks can be adopted to reduce the accident situation caused by damage of the landmarks to a certain extent, and the information can be recovered even if the damaged area reaches 30% under the special condition, so that the two-dimensional code landmarks are arranged at the key positions (turning positions) of the path as the auxiliary means of the lane lines, if the lane lines are damaged or shielded, the camera extracts the path information from the shot two-dimensional codes, and the sweeping vehicle is ensured to run on the correct path.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides an unmanned sweeping machine of autonomous navigation based on two-dimensional code landmark which characterized in that: comprises a frame, a walking component, a cleaning component and an automatic navigation component which are arranged on the frame;
the walking assembly comprises a first driving motor (11) and a second driving motor (12) which are arranged at the rear end of the frame, the output ends of the first driving motor (11) and the second driving motor (12) are connected with each other and drive a first rear wheel (15) and a second rear wheel (16) which are positioned at two sides of the rear end of the frame, and the front end of the frame is provided with a front wheel (2);
the sweeping assembly comprises a first disc brush motor (5) and a second disc brush motor (6) which are installed on two sides of the front end of the frame, the output ends of the first disc brush motor (5) and the second disc brush motor (6) penetrate through the frame and are connected with a first disc brush (3) and a second disc brush (4) which are located at the bottom of the frame, a rolling brush (8) and a garbage can (7) are arranged in the middle of the bottom of the frame, the rolling brush (8) is used for sweeping, and the garbage can (7) collects garbage in the sweeping process through an opening which is opposite to the rolling brush (8);
the automatic navigation subassembly is including installing camera (1) at the frame front end, and it is used for acquireing and shoots lane line and two-dimensional code, and the data output end and singlechip (9) of camera (1) are connected, and singlechip (9) receive and handle the image that camera (1) sent to send control command for H type full-bridge motor control chip (10), first driving motor (11) and second driving motor (12) are controlled according to the control command that singlechip (9) sent in H type full-bridge motor control chip (10).
2. The autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark according to claim 1, characterized in that: the rear end of frame is equipped with power (13), and it is used for providing the energy for first driving motor (11), second driving motor (12), first dish brush motor (5) and second dish brush motor (6), and power (13) have external charging notch (14) that charge.
3. The autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark according to claim 1, characterized in that: and a liquid crystal screen (17) for displaying the residual capacity and the current speed of the power supply (13) is arranged on the frame.
4. The autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark according to claim 1, characterized in that: the frame is provided with a power switch button (18), an automatic navigation switch button (19) and a forward button (20) of the sweeping machine.
5. The autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark according to claim 1, characterized in that: and a photoelectric encoder (21) is arranged on the side of the rolling brush (8) and used for detecting the current running speed of the autonomous navigation unmanned sweeping vehicle.
6. The autonomous navigation unmanned sweeping vehicle based on the two-dimensional code landmark according to claim 1, characterized in that: the principle of the automatic navigation component is as follows:
1) a lane line is drawn on a traveling path, the autonomous navigation unmanned sweeping vehicle obtains a lane line image through shooting by a camera (1), the image is grayed, denoised and processed at the edge by a singlechip (9), the middle points of the lane line are extracted, and the extracted middle points are connected to form a guide line for the advancing of the trolley;
2) measuring the actual central position of the lane line, and calculating the offset of the extracted leading line M and the actual central position;
Δ＝M-center
the first driving motor (11) and the second driving motor (12) are adopted to control the autonomous navigation unmanned sweeping vehicle to advance, and the steering of the trolley is controlled by adopting a differential steering control principle; controlling the rotating speed of the two motors by different PWM duty ratios;
if the offset is too large or too small, the default sweeping machine is driven to deviate from the track line, the PWM duty ratio is 0, and the trolley stops moving;
if the offset is greater than 0, the sweeper deviates to the left of the lane line, the rotating speed of the right wheel is unchanged, the PWM duty ratio of the left wheel is increased, the rotating speed of the left wheel is increased, and the sweeper turns to the right;
if the offset is less than 0, the sweeper indicates that the sweeper deviates to the right of the lane line, the rotating speed of the left wheel is unchanged, the PWM duty ratio of the right wheel is increased, the rotating speed of the right wheel is increased, and the sweeper turns left;
if the offset is equal to 0, the sweeping vehicle is positioned in the center of the lane line, and the left and right wheels keep moving straight at the same rotating speed.
7. A two-dimensional code generation method for the autonomous navigation unmanned sweeping vehicle according to claim 1, characterized in that: the method comprises the steps of carrying out data analysis, determining the type of coded characters, selecting error correction levels and carrying out data coding; the two-dimensional code fault tolerance is realized by error correction coding, a code word sequence is partitioned, and error correction code words are generated according to the error correction level and the partitioned code words; calculating the generated whole sequence, and putting each error correcting code behind the sequence code for error correction; and finally, constructing a matrix, and filling the complete sequence into the area of the two-dimensional code matrix with the corresponding specification.
8. A two-dimensional code decoding method for the autonomous navigation unmanned sweeping vehicle of claim 1, characterized in that: the method comprises the following steps:
1) positioning and acquiring a graph according to a position detection graph and a positioning graph, converting the black and white color blocks into an array consisting of 0 and 1, determining a threshold value, and converting the image into a series of dark and light pixels by using the threshold value;
2) identifying format and version information, and determining the error correction level of the two-dimensional code;
3) removing the mask, namely obtaining the positioning graph of the coding region from the format information and carrying out exclusive OR processing to remove the mask;
4) and the recovered data code words and the error correction code words are subjected to error checking and error correction by using the error correction code words to ensure that accurate information is obtained, and finally the data codes are decoded.
9. A two-dimensional code generated by the two-dimensional code generation method according to claim 7, characterized in that: the two-dimensional code is arranged at a turning position of a traveling road.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111979960A (en) * | 2020-09-01 | 2020-11-24 | 上海电机学院 | Unmanned sweeping vehicle |
| CN112124128A (en) * | 2020-09-24 | 2020-12-25 | 广东杜尼智能机器人工程技术研究中心有限公司 | Automatic alignment charging method depending on vision |
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2020
- 2020-04-27 CN CN202010343450.6A patent/CN111506071A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111979960A (en) * | 2020-09-01 | 2020-11-24 | 上海电机学院 | Unmanned sweeping vehicle |
| CN112124128A (en) * | 2020-09-24 | 2020-12-25 | 广东杜尼智能机器人工程技术研究中心有限公司 | Automatic alignment charging method depending on vision |
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Application publication date: 20200807 |