CN112982259A - Operation system and method for unmanned small-sized sweeper - Google Patents
Operation system and method for unmanned small-sized sweeper Download PDFInfo
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- CN112982259A CN112982259A CN202110317517.3A CN202110317517A CN112982259A CN 112982259 A CN112982259 A CN 112982259A CN 202110317517 A CN202110317517 A CN 202110317517A CN 112982259 A CN112982259 A CN 112982259A
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims abstract description 33
- 238000010408 sweeping Methods 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000005507 spraying Methods 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 241000287107 Passer Species 0.000 claims description 4
- 238000003672 processing method Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 244000007853 Sarothamnus scoparius Species 0.000 description 2
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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
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
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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
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Structural Engineering (AREA)
- Electromagnetism (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an operation system and method for an unmanned small sweeper, and particularly relates to the technical field of sweepers, wherein the technical scheme is as follows: the environment-friendly mobile terminal comprises a storage module and an environment acquisition module, wherein the storage module and the environment acquisition module are connected with an identification module, the identification module is connected with a control module, the control module is connected with a central processing unit, the central processing unit is connected with a terminal, the terminal is connected with an operation module, and the operation module is connected with a display module; the cleaning device comprises an operation module, a control module, a cleaning module and a sweeping module, wherein the operation module is connected with a switching module, the control module is connected with a reminding module, the reminding module is composed of a light module and a voice module, and the sweeping module is composed of a sweeping module, a water spraying module, a cleaning module, a shoveling module and a collecting module, and the cleaning device has the beneficial effects that: the sweeper is controlled by driving without using a worker, so that the cleaning efficiency is improved, and the human resource cost is greatly reduced.
Description
Technical Field
The invention relates to the field of sweeper vehicles, in particular to an operation system and method for an unmanned small sweeper vehicle.
Background
The sweeper is a novel efficient sweeping device integrating road surface sweeping, garbage recycling and transporting, is a vehicle type device suitable for all-dimensional sweeping work of road surfaces of factories, highways, parks, squares and the like, can complete the work of ground sweeping, road curb cleaning, water spraying on the ground after sweeping and the like at one time, and is suitable for sweeping operation of various climates and different dry road surfaces.
The prior art has the following defects: most of the existing sweeper trucks are controlled by driving of workers, so that the cost of human resources is increased, and the sweeping efficiency is reduced.
Therefore, it is necessary to provide an operation system and method for an unmanned small-sized sweeper.
Disclosure of Invention
Therefore, the invention provides an operation system and a method for unmanned small-sized sweeper, which can obtain the real-time dynamic state of a road through an environment acquisition module, the environment acquisition module can transmit the acquired data to a terminal through a central processing unit after the dynamic state is obtained, then the terminal displays the acquired data in the display module, and controls the sweeper through the operation module after the data is displayed, thereby realizing the remote control of the sweeper and the comparison and analysis of the acquired data by the identification module through the switching module, after the analysis, the identification module transmits the analyzed data to the central processing unit, then the central processor controls the sweeper through the control module, thereby achieving the purpose that the sweeper automatically cleans the road, the problem of most current motor sweeper drive control through the staff is solved.
In order to achieve the above purpose, the invention provides the following technical scheme: an operation operating system of an unmanned small sweeper comprises a storage module and an environment acquisition module, wherein the storage module and the environment acquisition module are connected with an identification module, the identification module is connected with a control module, the control module is connected with a central processing unit, the central processing unit is connected with a terminal, the terminal is connected with an operation module, and the operation module is connected with a display module;
the operation module is connected with the switching module.
Preferably, the control module is connected with the reminding module.
Preferably, the control module is connected with the cleaning module.
Preferably, the reminding module consists of a light module and a voice module.
Preferably, the sweeping module consists of a sweeping module, a water spraying module, a cleaning module, a shoveling module and a collecting module.
Preferably, the control module is connected with the driving module.
Preferably, the environment acquisition module is composed of a laser radar and a vision sensor.
An operation method of an unmanned small-sized sweeper comprises the following specific operation methods:
s1, when the sweeper works, the environment acquisition module acquires real-time dynamic state of a road, after the acquisition, the environment acquisition module transmits acquired data to the central processing unit, after the transmission, the central processing unit transmits the acquired data to the terminal, after the transmission, the acquired data is displayed in the display module through the terminal, and after the display, a worker can control the sweeper through the displayed data;
s2, when the sweeper needs to be controlled, firstly, the sweeper is operated in an operation module, after the operation module transmits operation data to a central processing unit, the central processing unit receives operation information and controls the control module, if the movement of the sweeper needs to be controlled, the control module controls a driving module, the driving module controls the movement of the sweeper after being controlled, if the road surface needs to be cleaned, the control module controls a corresponding cleaning module to clean the road, if the road people around the sweeper needs to be reminded, the control module controls a reminding module, wherein a light module in the reminding module can be lightened to remind passers, and a voice module in the reminding module can be used for sounding to remind passers, therefore, passers-by are far away from the sweeper, accidents are avoided, and the sweeper is remotely controlled;
s3, when the worker needs to leave, the switching module in the operation module is started firstly, after switching, the environment acquisition module transmits the acquired data to the identification module, then the identification module compares the data acquired by the environment acquisition module with the stored data in the storage module, so that a similar road scene is found out, after finding out, the identification module transmits the compared and analyzed data to the central processing unit, then the central processing unit analyzes the corresponding processing method according to the transmitted data, and after analysis, the central processing unit controls the control module, so that the sweeper can automatically sweep the road.
The invention has the beneficial effects that:
1. the using process of the invention is as follows: when the sweeper is used, the environment acquisition module acquires real-time dynamic state of a road when the sweeper works, the acquired data are transmitted to the central processing unit by the environment acquisition module, the acquired data are transmitted to the terminal by the central processing unit, the acquired data are displayed in the display module through the terminal after being transmitted, a worker can control the sweeper by the displayed data after being displayed, when the sweeper needs to be controlled, the sweeper is firstly operated in the operation module, the operation module transmits the operated data to the central processing unit after being operated, the central processing unit controls the control module after receiving operation information, if the sweeper needs to be controlled to move, the control module controls the driving module, and after being controlled, the driving module controls the sweeper to move, if the road surface needs to be cleaned, the control module controls the corresponding cleaning module, so that the road is cleaned, if the road people around the sweeper needs to be reminded, the control module controls the reminding module, the light module in the reminding module can be lightened to remind the road people, the voice module in the reminding module can be sounded to remind the road people, so that the road people are far away from the sweeper, accidents are avoided, the sweeper can be remotely controlled, and the sweeper can be remotely controlled, so that the labor intensity of workers is reduced;
2. when a worker needs to leave, a switching module in an operation module is started firstly, after switching, an environment acquisition module transmits acquired data to an identification module, then the identification module performs comparative analysis on the data acquired by the environment acquisition module and the data stored in a storage module, so that a similar road scene is found out, after finding out, the identification module transmits the comparative analysis data to a central processing unit, then the central processing unit analyzes a corresponding processing method according to the transmitted data, and after analysis, the central processing unit controls a control module, so that the sweeper automatically cleans the road, and the sweeper automatically cleans the road, so that convenience is improved, and cleaning efficiency is improved;
3. the sweeper is controlled by driving without using a worker, so that the cleaning efficiency is improved, and the human resource cost is greatly reduced.
Drawings
FIG. 1 is a schematic view of the operation process provided by the present invention.
In the figure: the environment cleaning system comprises a storage module 1, an environment acquisition module 2, an identification module 3, a control module 4, a reminding module 41, a lighting module 411, a voice module 412, a cleaning module 42, a sweeping module 421, a water spraying module 422, a cleaning module 423, a shoveling module 424, a collecting module 425, a driving module 43, a central processing unit 5, a terminal 6, an operation module 7, a switching module 71 and a display module 8.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1, the operation system for the unmanned small-sized sweeper provided by the invention comprises a storage module 1 and an environment acquisition module 2;
further, the storage module 1 and the environment obtaining module 2 are connected to an identification module 3, the identification module 3 is connected to a control module 4, the control module 4 is connected to a central processing unit 5, the central processing unit 5 is connected to a terminal 6, the terminal 6 is connected to an operation module 7, the operation module 7 is connected to a display module 8, specifically, the storage module 1 has an effect of storing data such as pictures, videos, and voices, the storage module 1 is preferably a storage card, the storage card generally refers to a device capable of storing data such as images, the environment obtaining module 2 has an effect of obtaining real-time dynamic data of roads, the identification module 3 has an effect of comparing the data obtained by the environment obtaining module 2 with the data stored in the storage module 1, so as to find out similar road scenes, the control module 4 is preferably a controller, and the controller controls the electric circuit by changing the wiring of a main circuit or a control circuit and changing the resistance value in the circuit according to a predetermined sequence The function of the central processing unit 5 is mainly to interpret computer instructions and process data in computer software, all operations in the computer are the core components for reading instructions, decoding instructions and executing instructions, the terminal 6 is also called terminal equipment, which is equipment in the outermost periphery of the network in the computer network and is mainly used for inputting user information and outputting processing results, the operation module 7 has the function of controlling the reminding module 41, the cleaning module 42 and the driving module 43 through the control module 4, the display module 8 has the function of displaying operation steps in the operation module 7 and data obtained by the environment obtaining module 2, the display module 8 is preferably a display, the display is an I/O (input/output) device belonging to the computer, and is a display device which displays certain electronic files on a screen through a specific transmission device and reflects the electronic files to human eyes And displaying the tool.
Further, the operation module 7 is connected to the switching module 71, and specifically, the switching module 71 is preferably a switch, and the switch is used for controlling the output signal or data.
Further, the control module 4 is connected with the reminding module 41, specifically, the control module 4 has a control function on the reminding module 41, and the reminding module 41 has a function of reminding passers around the sweeper.
Further, the control module 4 is connected to the cleaning module 42, specifically, the control module 4 controls the cleaning module 42, and the cleaning module 42 cleans the road.
Further, the reminding module 41 is composed of a light module 411 and a voice module 412, specifically, the light module 411 is preferably an LED lamp, the LED lamp is a solid semiconductor device capable of converting electric energy into visible light and directly converting the electricity into light, and the voice module 412 is preferably a speaker, which is also called a horn and is a very common electroacoustic transducer.
Further, the sweeping module 42 is composed of a sweeping module 421, a water spraying module 422, a cleaning module 423, a shoveling module 424 and a collecting module 425, specifically, the sweeping module 421 is preferably an electric broom, a cleaning head of the electric broom adopts an advanced technology to drive a high-speed and powerful rotating cleaning head, and can simultaneously clean from four directions of the square cleaning head, the sweeping module 421 has an effect of cleaning dirt on the ground, the water spraying module 422 is preferably a water pump, the water pump is a machine for conveying liquid or pressurizing liquid, the water spraying module 422 has an effect of wetting the road, the cleaning module 423 is preferably an electric mop, and the electric mop has the following structural components: the ground cleaning mechanism adopts a direct current motor to drive a planetary reduction gear box to realize speed change and torque amplification, the planetary reduction gear box drives a cam to rotate, power is transmitted to a moving plate through horizontally-opposite connecting rods to realize deep cleaning of the ground, a cleaning module 423 has the function of cleaning the road, a ground shoveling module 424 is preferably a shovel blade, the ground shoveling module 424 has the function of shoveling soil on the road, a collecting module 425 is preferably a dust collector, the working principle of the dust collector is that a motor is used for driving blades to rotate at a high speed, air negative pressure is generated in a sealed shell to absorb dust, and the collecting module 425 has the function of collecting dust.
Further, the control module 4 is connected to the driving module 43, specifically, the control module 4 has a control function on the driving module 43, and the driving module 43 has a control function on the movement of the sweeper.
Further, the environment obtaining module 2 is composed of a laser radar and a vision sensor, specifically, the laser radar is a radar system for emitting laser beams to detect characteristic quantities such as position, speed and the like of a target, the vision sensor is a direct source of information of the whole machine vision system, mainly composed of one or two image sensors, sometimes a light projector and other auxiliary equipment are also needed, and the main function of the vision sensor is to obtain enough most original images to be processed by the machine vision system.
The using process of the invention is as follows: when the sweeper is used, the environment acquisition module 2 acquires real-time dynamic state of a road when the sweeper works, the acquired data are transmitted to the central processing unit 5 by the environment acquisition module 2, the acquired data are transmitted to the terminal 6 by the central processing unit 5, the acquired data are displayed in the display module 8 through the terminal 6 after being transmitted, a worker can control the sweeper through the displayed data after being displayed, when the sweeper needs to be controlled, the sweeper is firstly operated in the operation module 7, after the operation module 7 transmits the operated data to the central processing unit 5, the central processing unit 5 controls the control module 4 after receiving operation information, if the movement of the sweeper needs to be controlled, the control module 4 controls the driving module 43, after the driving module 43 is controlled, the movement of the sweeper is controlled, if the road surface needs to be cleaned, the control module 4 controls the corresponding cleaning module 42, so as to clean the road, if the road people around the sweeper needs to be reminded, the control module 4 controls the reminding module 41, wherein the light module 411 in the reminding module 41 is bright to remind the road people, the voice module 412 in the reminding module 41 is sound to remind the road people, so as to keep the road people away from the sweeper, so as to avoid accidents, so as to remotely control the sweeper, when the staff needs to leave, the switching module 71 in the operation module 7 is started first, after switching, the environment acquisition module 2 transmits the acquired data to the recognition module 3, and then the recognition module 3 transmits the data acquired by the environment acquisition module 2 to the storage module 1 Data are contrasted and analyzed, so that similar road scenes can be found, after the similar road scenes are found, the recognition module 3 transmits contrasted and analyzed data to the central processing unit 5, then the central processing unit 5 analyzes a corresponding processing method according to the transmitted data, and after the data are analyzed, the central processing unit 5 controls the control module 4, so that the sweeper can automatically clean the road.
The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a small-size motor sweeper operation operating system of unmanned, includes storage module (1) and environment acquisition module (2), its characterized in that: the storage module (1) and the environment acquisition module (2) are connected with an identification module (3), the identification module (3) is connected with a control module (4), the control module (4) is connected with a central processing unit (5), the central processing unit (5) is connected with a terminal (6), the terminal (6) is connected with an operation module (7), and the operation module (7) is connected with a display module (8);
the operation module (7) is connected with a switching module (71).
2. The operation system of an unmanned small-sized sweeper truck according to claim 1, characterized in that: the control module (4) is connected with a reminding module (41).
3. The operation system of an unmanned small-sized sweeper truck according to claim 1, characterized in that: the control module (4) is connected with the cleaning module (42).
4. The operation system of the unmanned small-sized sweeping vehicle according to claim 2, wherein: the reminding module (41) is composed of a light module (411) and a voice module (412).
5. The operation system of the unmanned small-sized sweeping vehicle according to claim 3, wherein: the sweeping module (42) is composed of a sweeping module (421), a water spraying module (422), a cleaning module (423), a shoveling module (424) and a collecting module (425).
6. The operation system of an unmanned small-sized sweeper truck according to claim 1, characterized in that: the control module (4) is connected with a driving module (43).
7. The operation system of an unmanned small-sized sweeper truck according to claim 1, characterized in that: the environment acquisition module (2) is composed of a laser radar and a vision sensor.
8. An operation method of an unmanned small-sized sweeper is characterized in that: the method comprises the following specific operation methods:
s1, when the sweeper works, the environment acquisition module (2) acquires real-time dynamic state of a road, after the acquisition, the environment acquisition module (2) transmits the acquired data to the central processing unit (5), after the transmission, the central processing unit (5) transmits the acquired data to the terminal (6), after the transmission, the acquired data are displayed in the display module (8) through the terminal (6), and after the display, a worker can control the sweeper through the displayed data;
s2, when the sweeper needs to be controlled, firstly, the sweeper is operated in the operation module (7), after the operation, the operation module (7) transmits operation data to the central processing unit (5), the central processing unit (5) controls the control module (4) after receiving operation information, if the movement of the sweeper needs to be controlled, the control module (4) controls the driving module (43), the driving module (43) controls the movement of the sweeper after being controlled, if the road surface needs to be cleaned, the control module (4) controls the corresponding cleaning module (42), so that the road is cleaned, if the road people around the sweeper needs to be reminded, the control module (4) controls the reminding module (41), wherein the light module (411) in the reminding module (41) can be brightly reminded to remind passers, the voice module (412) in the reminding module (41) can generate sound to remind passers-by, so that the passers-by are far away from the sweeper, accidents are avoided, and the sweeper can be remotely controlled;
s3, when the worker needs to leave, the switching module (71) in the operation module (7) is started firstly, after switching, the environment acquisition module (2) transmits the acquired data to the recognition module (3), then the recognition module (3) compares the data acquired by the environment acquisition module (2) with the data stored in the storage module (31) for analysis, so as to find out similar road scenes, after finding out, the recognition module (3) transmits the data for comparison and analysis to the central processing unit (5), then the central processing unit (5) analyzes a corresponding processing method according to the transmitted data, after analysis, the central processing unit (5) controls the control module (4), and therefore the sweeper can automatically sweep the road.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023050641A1 (en) * | 2021-09-30 | 2023-04-06 | 上海仙途智能科技有限公司 | Remote control over driverless sweeping vehicle |
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| CN110989591A (en) * | 2019-12-02 | 2020-04-10 | 长沙中联重科环境产业有限公司 | Sanitation robot for performing auxiliary operation control based on road edge identification |
| CN111962436A (en) * | 2020-08-26 | 2020-11-20 | 吉林大学 | Unmanned automatic planning environment-friendly sweeper for non-motor vehicle lane and sweeping method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023050641A1 (en) * | 2021-09-30 | 2023-04-06 | 上海仙途智能科技有限公司 | Remote control over driverless sweeping vehicle |
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