CN108086214B - Outdoor cleaning robot - Google Patents
Outdoor cleaning robot Download PDFInfo
- Publication number
- CN108086214B CN108086214B CN201810079515.3A CN201810079515A CN108086214B CN 108086214 B CN108086214 B CN 108086214B CN 201810079515 A CN201810079515 A CN 201810079515A CN 108086214 B CN108086214 B CN 108086214B
- Authority
- CN
- China
- Prior art keywords
- garbage
- cleaning
- vehicle body
- controller
- outdoor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuse-Collection Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an outdoor cleaning robot which comprises a cleaning vehicle body, wherein a camera is arranged on the upper side of the cleaning vehicle body, an automatic driving device and a controller are arranged in the cleaning vehicle body, a path planning module and an image recognition module are arranged in the controller, the path planning module is connected with the automatic driving device, the controller receives image information acquired by the camera, and the image recognition module recognizes objects in an image; the front side of the sweeping vehicle body is provided with a garbage sweeping and collecting mechanism, the sweeping vehicle body is connected with a garbage carriage, the sweeping vehicle body is provided with a sweeping mechanism for driving the garbage sweeping and collecting mechanism to move up and down, and two sides of the sweeping vehicle body are provided with garbage bin mechanical arms. The outdoor cleaning robot can work all the time, solves the problem that the work of the existing cleaner is very hard, particularly the problem that cleaning is still needed in cold winter, hot summer and even rainy and snowy days, and liberates manpower.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning equipment, in particular to an outdoor cleaning robot.
Background
The existing district cleaning is mainly finished by manpower, cold in winter and hot in summer, and sometimes the cleaners are hard to work in rainy days, so that the labor intensity is high.
Disclosure of Invention
The invention aims to provide an outdoor cleaning robot which is used for solving the problem that the existing cleaner works very hard.
In order to achieve the purpose, the outdoor cleaning robot comprises a cleaning vehicle body, wherein a camera is arranged on the upper side of the cleaning vehicle body, an automatic driving device and a controller are arranged in the cleaning vehicle body, a path planning module and an image recognition module are arranged in the controller, the path planning module is connected with the automatic driving device, the controller receives image information acquired by the camera, and the image recognition module recognizes objects in an image; the front side of the sweeping vehicle body is provided with a garbage sweeping and collecting mechanism, the sweeping vehicle body is connected with a garbage carriage, the sweeping vehicle body is provided with a sweeping mechanism for driving the garbage sweeping and collecting mechanism to move up and down, and two sides of the sweeping vehicle body are provided with garbage bin mechanical arms.
The rear side of the garbage cleaning and collecting mechanism is provided with a garbage collecting barrel, the garbage collecting barrel is transversely clamped on one side of the cleaning vehicle body, and the front side of the garbage collecting barrel is also provided with a garbage detecting mechanism for detecting whether garbage is filled in the garbage collecting barrel or not.
The garbage collection can also be connected to the bottom of the sweeping vehicle body through an automatic connecting and releasing device. The automatic connecting and releasing device is similar to a connecting mechanism of a trailer, is arranged at the bottom of a vehicle body, and can be connected and released in an electromagnetic mode through laser positioning.
The upper side of the cleaning vehicle body is provided with a transparent spherical protective cover, and the camera is rotatably arranged in the spherical protective cover;
an auxiliary lighting lamp is further arranged on the upper side of the cleaning vehicle body.
The auxiliary illuminating lamp is arranged in the spherical protective cover, and the auxiliary illuminating lamp is arranged at intervals with the camera.
The outside of spherical safety cover is equipped with the wiper blade.
The garbage carriage is fixed on a trailer, and the front end of the trailer is connected with the cleaning vehicle body through a connecting mechanism.
The controller is internally provided with a power management module and an automatic charging pile for charging the outdoor cleaning robot.
The outdoor cleaning robot may also use other energy sources as power, such as oil and gas.
The front side of the garbage carriage is provided with a transparent window, a graduated scale is arranged on the transparent window, and the garbage carriage and the cleaning vehicle body are arranged at intervals;
or a graduation scale is arranged at the rear part of the inner side of the dustbin;
the camera shoots a picture of the garbage carriage, and the controller judges whether the garbage carriage is full of garbage or not through the picture of the garbage carriage.
The controller is connected with the background management center through the wireless communication module;
and an external control communication interface is also arranged on the controller.
And a face recognition module is further arranged in the controller.
The robot arm can be installed on a cleaning vehicle body or on a trailer.
The invention also provides a control method of the outdoor cleaning robot, which is characterized by comprising the following steps: the map can be used for positioning and distinguishing the direction of the sweeping vehicle body according to a Beidou positioning system or a GPS (Global Positioning System ) or a WIFI mode;
obtaining a distance from the obstacle according to the radar or the distance sensor;
and judging the range and boundary to be cleaned according to the environmental information obtained by the camera, and further controlling the running and cleaning of the camera or running to the energy charging device for energy charging.
Further comprises: the lawn mowing can be reminded; when the lawn is trimmed, the range and the boundary to be trimmed can be judged according to the environmental information obtained by the camera, and then the running and trimming of the robot are controlled.
Further comprises: and judging the garbage bin to be collected according to the environmental information obtained by the camera, grabbing and dumping the garbage bin to the trailer. Electronic or image identifications can be added on the existing garbage can to facilitate identification.
The present invention also provides an outdoor cleaning robot control device, comprising:
a processor executing the control method; and
the memory is used for storing a control algorithm, collected data, logs and the like;
and the input/output interface is used for receiving information of various sensors, sending control instructions and transmitting data.
The invention has the following advantages: the outdoor cleaning robot can work all the time, solves the problem that the work of the existing cleaner is very hard, particularly the problem that cleaning is still needed in cold winter, hot summer and even rainy and snowy days, and liberates manpower.
In addition, the invention can realize multiple functions, is equivalent to one more mobile monitoring while cleaning the sanitation, has a certain deterrent effect on lawbreakers, and improves the safety of communities and roads.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic illustration of the clamping of a garbage can.
Fig. 3 is a partial enlarged view at a in fig. 2.
Fig. 4 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of embodiment 4 of the present invention.
In the figure: 1-a garbage cleaning and collecting mechanism; 2-a garbage collection bin; 3-a dustbin mechanical arm; 4-cleaning a vehicle body; 5-a camera; 6-a spherical protective cover; 7-a garbage carriage; 8-trailer; 9-radar; 10-start button; 11-an energy storage device; 12-a clamping seat; 13-a buffer spring; 14-clamping a spring; 15-arc clamping blocks.
Detailed Description
The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the outdoor cleaning robot comprises a cleaning vehicle body 4, a camera 5 is arranged on the upper side of the cleaning vehicle body 4, an automatic driving device and a controller are arranged in the cleaning vehicle body 4, a path planning module and an image recognition module are arranged in the controller, the path planning module is connected with the automatic driving device, the controller receives image information collected by the camera 5, and the image recognition module recognizes objects in an image; the front side of the cleaning vehicle body 4 is provided with a garbage cleaning and collecting mechanism 1, the cleaning vehicle body 4 is connected with a garbage carriage 7, the garbage cleaning and collecting mechanism 1 extends forwards and outwards, the cleaning vehicle body 4 is provided with a motor for driving the garbage cleaning and collecting mechanism 1 to move up and down, and two sides of the cleaning vehicle body 4 are provided with garbage bin mechanical arms 3. The camera 5 can control 360-degree rotation, and the installation position is higher, so that the camera is not blocked by other parts of the vehicle body, the surrounding environment is observed, and the position of a target object can be determined more easily by matching rotation. The controller automatically recognizes obstacles on the road through the image recognition module, advances and avoids, recognizes fallen leaves and garbage, and collects the fallen leaves and the garbage. The garbage bin is identified, garbage in the garbage bin is collected, and pedestrians, automobiles and trees are identified to avoid. The image recognition module classifies and recognizes various articles through learning.
The rear side of the garbage cleaning and collecting mechanism 1 is provided with a garbage collecting barrel 2, the garbage collecting barrel 2 is transversely clamped on one side of a cleaning vehicle body 4, the front side of the garbage collecting barrel 2 is also provided with a garbage detecting mechanism for detecting whether the garbage is filled in the barrel, and the garbage detecting mechanism detects whether the garbage collecting barrel 2 is full or not by using infrared sensing or other modes.
The garbage bin mechanical arm 3 is used for pouring garbage in the garbage bin 2 carried by the cleaning car body 4 in the district into the garbage carriage 7. The front end of the dustbin mechanical arm 3 is provided with a grabbing device, and the dustbin can be grabbed by two mechanical arms. The mechanical arm 3 of the dustbin can rotate up and down to lift and put down, and rotate left and right to pour the garbage in the dustbin into the trailer.
The upper side of the cleaning vehicle body 4 is provided with a transparent spherical protective cover 6, and the camera 5 is rotatably arranged in the spherical protective cover 6; the upper side of the cleaning vehicle body 4 is also provided with an auxiliary illuminating lamp which is arranged in the spherical protective cover 6, the auxiliary illuminating lamp can be turned on to illuminate when needed, and the illuminating lamp is isolated from the camera 5 so as to prevent the effect of the camera 5 from being influenced by reflection of light in the spherical protective cover 6, and the illuminating lamp can be installed outside the spherical protective cover 6 and is provided with an independent protective cover. The outside of spherical safety cover 6 is equipped with the wiper blade (not shown in the drawing) to in the work of raining, the wiper blade be with spherical safety cover 6 matched with arc, the both ends of wiper blade are rotated with cleaning vehicle body 4 upside and are connected, are equipped with the motor that drives wiper blade pivoted on the cleaning vehicle body 4.
The garbage carriage 7 is fixed on a trailer 8, the front end of the trailer 8 is connected with the cleaning vehicle body 4 through a connecting mechanism, and the automatic butt joint of the cleaning vehicle body 4 and the trailer 8 can be realized by utilizing laser positioning and the automatic connection and release can be realized through the automatic connecting mechanism. After releasing the trailer 8, the cleaning vehicle body 4 can more energy-conserving to clean the vicinity. The connection mechanism may be implemented using electromagnetic technology.
Both the sweeper body 4 and the trailer 8 are provided with a braking device and a turn signal. The front side of the garbage carriage 7 is provided with a transparent window, and a graduated scale is arranged on the transparent window; the garbage carriage 7 and the cleaning vehicle body 4 are arranged at intervals, the camera 5 shoots pictures of the garbage carriage 7, and the controller judges whether the garbage carriage 7 is full of garbage through the pictures of the garbage carriage 7. The trailer 8 may also be used to detect whether it is full using infrared sensing; or it may be empirically arranged that a trailer 8 is loaded with at most a few barrels of refuse from the corresponding cell. The trailer 8 is provided with reflective strips or sheeting to allow a person or vehicle to notice. The upper side of the garbage carriage 7 is provided with a cover to prevent garbage from scattering. The autopilot comprises distance sensors or radars 9 to prevent collisions, the distance sensors or radars 9 being mounted at least at the front and rear corners of the sweeper body, the front two radars 9 being mounted on the body of the sweeper body 4 or on the garbage collection mechanism 1.
The cleaning vehicle body 4 takes a battery as a power source, a power management module is arranged in the controller, an automatic charging pile for charging the outdoor cleaning robot is arranged, the automatic charging pile is provided with an intelligent lock, and the cleaning vehicle body can be opened only by a corresponding secret key so as to ensure safety. The automatic charging can be completed through the path planning module, and the automatic charging works within a specified range. After the garbage truck compartment 7 of the cleaning truck body 4 is filled up, the cleaning truck is transported to a designated place. According to the invention, the map can be downloaded once or an online map is used according to the situation, and the direction of the vehicle can be positioned and distinguished according to the GPS or Beidou or WIFI mode. The cleaning vehicle body 4 can also take energy sources such as oil gas and the like as power, and the cleaning vehicle body 4 is provided with an energy storage module for storing the oil gas.
The controller is connected with the background management center through the wireless communication module; the controller is also provided with an external control communication interface which can externally control the local machine and acquire the local processing log. The controller is also internally provided with a face recognition module, so that patrol and anti-theft functions are realized, key precautions such as inertial theft in the local area can be taken, and the safety of the community is improved. The wireless communication module can be WIFI, SIM card or Internet of things technology, realizes real-time monitoring of the working state of the machine, so that the machine can be better maintained, maintained and repaired, and has a remote alarm function.
The cleaning vehicle body 4 is provided with a start-stop button, and can be rapidly closed and started for outdoor cleaning robots in emergency. The controller of the robot can autonomously learn the operation of operators to realize more intelligent operation.
Referring to fig. 2-3, in this embodiment, a clamping seat 12 is disposed on one side of the cleaning vehicle body 4, a flange on the opening side of the garbage collection barrel 2 is clamped into the clamping seat 12, a clamping spring 14 is disposed in the clamping seat 12, an arc clamping block 15 is disposed at the rear end of the clamping spring 14, the arc clamping block 15 can ensure that the flange is smoothly clamped into and separated from the clamping seat 12, the clamping spring 14 pushes the arc clamping block 15 to be tightly pressed on the flange of the garbage collection barrel 2, the garbage collection barrel 2 is prevented from loosening in the operation process, a vertical buffer spring 13 is further disposed on the rear side of the cleaning vehicle body, and when the garbage collection barrel 2 is placed downwards by the garbage collection barrel mechanical arm 3, the buffer spring 13 can prevent the garbage collection barrel 2 from hard collision with the cleaning vehicle body 4, so that the service life of the garbage collection barrel 2 is prolonged.
The garbage cleaning and collecting mechanism 1 in the invention can be replaced by a mowing device so as to trim lawns.
Example 2
Referring to fig. 4, in this embodiment, two cameras 5 are provided, and the two cameras 5 are arranged on the upper side of the cleaning vehicle body 4 in a straight line on the same horizontal plane. A start-stop button 10 is arranged on the upper side of the cleaning vehicle body 4.
The garbage collection bin 2 in the embodiment can also be connected to the bottom of the cleaning vehicle body 4 through an automatic connection and release device. The automatic connecting and releasing device can adopt laser positioning and electromagnetic mode connection and release.
Example 3
In this embodiment, four cameras 5 are installed on the upper side of the cleaning vehicle body 4 at the same time, and the four cameras 5 are distributed in a cross shape on the same horizontal plane.
Example 4
Referring to fig. 5, in this embodiment, at least two garbage can robot arms 3 are provided, and the distance between the two garbage can robot arms 3 is slightly larger than the width of a common garbage can, and one end of a shoulder joint is installed on one side of a trailer 8, and an elbow joint can be bent, so that the garbage can to be collected can be conveniently grasped and dumped into a carriage of the trailer 8; at the same time, the robot arm 3 can also be used to grab the garbage can 2 of the car body itself and dump it into the garbage compartment 7 of the trailer 8.
The trailer 8 can be provided with the energy storage device 11, so that on one hand, the cleaning vehicle body 4 is lighter and more energy-saving without the trailer 8 and all the energy storage devices 11; on the other hand, the energy storage device 11 of the trailer 8 is installed on the other side corresponding to the garbage can robot 3, so that the trailer 8 is balanced.
The trailer 8 is provided with an interface which can be connected with the cleaning vehicle body 4, the main vehicle can control the garbage can robot arm 3 on the trailer 8 through the interface, and the energy storage device 11 on the trailer 8 can also be used through the interface; the main vehicle can clean without the trailer 8, and when the garbage collection bin 2 is cleaned or is filled, the garbage collection bin 2 can be released at the garbage bin robot arm 3 side of the trailer 8, and the garbage bin robot arm 3 on the trailer 8 is connected and controlled to finish the actions of grabbing the garbage collection bin 2 and dumping.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (9)
1. An outdoor cleaning robot which is characterized in that: the outdoor cleaning robot comprises a cleaning vehicle body, a garbage cleaning and collecting mechanism and a garbage carriage; the automatic cleaning device comprises a cleaning vehicle body, a camera is arranged on the upper side of the cleaning vehicle body, an automatic driving device and a controller are arranged in the cleaning vehicle body, a path planning module and an image recognition module are arranged in the controller, the path planning module is connected with the automatic driving device, the controller receives image information collected by the camera, and the image recognition module recognizes objects in an image; the rear side of the garbage cleaning and collecting mechanism is provided with a garbage collecting bin which is transversely clamped on one side of a cleaning vehicle body, the front side of the cleaning vehicle body is provided with the garbage cleaning and collecting mechanism, the garbage carriage is fixed on a trailer, the trailer is connected with the cleaning vehicle body through a connecting mechanism, and the automatic connection and release of the cleaning vehicle body and the trailer are realized by utilizing laser positioning; the garbage cleaning and collecting device comprises a garbage cleaning and collecting device, a garbage bin mechanical arm is arranged on two sides of the garbage cleaning and collecting device, one end of a shoulder joint of the mechanical arm is arranged on one side of a trailer, and the mechanical arm is used for grabbing the garbage bin and dumping the garbage bin into the garbage bin of the trailer.
2. The outdoor cleaning robot of claim 1, wherein: the front side of the garbage collection bin is also provided with a garbage detection mechanism for detecting whether garbage is filled in the garbage collection bin or not.
3. The outdoor cleaning robot of claim 1, wherein: the upper side of the cleaning vehicle body is provided with a transparent spherical protective cover, and the camera is rotatably arranged in the spherical protective cover;
an auxiliary lighting lamp is further arranged on the upper side of the cleaning vehicle body.
4. The outdoor cleaning robot of claim 3, wherein: the auxiliary illuminating lamp is arranged in the spherical protective cover, and the auxiliary illuminating lamp is arranged at intervals with the camera.
5. The outdoor cleaning robot according to claim 3 or 4, wherein: the outside of spherical safety cover is equipped with the wiper blade.
6. The outdoor cleaning robot of claim 1, wherein: the controller is internally provided with a power management module and an automatic charging pile for charging the outdoor cleaning robot.
7. The outdoor cleaning robot of claim 1, wherein: the front side of the garbage carriage is provided with a transparent window, a graduated scale is arranged on the transparent window, and the garbage carriage and the cleaning vehicle body are arranged at intervals;
or a graduation scale is arranged at the rear part of the inner side of the dustbin;
the camera shoots a picture of the garbage carriage, and the controller judges whether the garbage carriage is full of garbage or not through the picture of the garbage carriage.
8. The outdoor cleaning robot according to claim 1 or 7, wherein: the controller is connected with the background management center through the wireless communication module;
and an external control communication interface is also arranged on the controller.
9. The outdoor cleaning robot of claim 8, wherein: and a face recognition module is further arranged in the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079515.3A CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079515.3A CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108086214A CN108086214A (en) | 2018-05-29 |
| CN108086214B true CN108086214B (en) | 2023-07-04 |
Family
ID=62182480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810079515.3A Active CN108086214B (en) | 2018-01-26 | 2018-01-26 | Outdoor cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108086214B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544511A (en) * | 2018-06-22 | 2018-09-18 | 芜湖易迅生产力促进中心有限责任公司 | A kind of multifunctional cleaning machine people |
| WO2020019302A1 (en) * | 2018-07-27 | 2020-01-30 | 江苏品德环保科技有限公司 | Intelligent hand operator for street sweeping car |
| CN109015692A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of home-services robot |
| CN109098125A (en) * | 2018-09-30 | 2018-12-28 | 徐州徐工环境技术有限公司 | Sweeper and sweeper control method |
| CN109483533A (en) * | 2018-11-05 | 2019-03-19 | 长沙中联重科环境产业有限公司 | Control method, device and the robot of robot for environmental sanitation operation |
| CN110241761A (en) * | 2019-06-20 | 2019-09-17 | 广东博兰迪科技有限公司 | A kind of Intelligent unattended drives refuse sweeping recovery vehicle and system and method |
| CN110602446A (en) * | 2019-08-26 | 2019-12-20 | 恒大智慧科技有限公司 | Garbage recovery reminding method and system and storage medium |
| CN110696883A (en) * | 2019-09-20 | 2020-01-17 | 徐州智瑞工程机械有限公司 | A shallow for on engineering building site |
| CN111583695A (en) * | 2020-04-29 | 2020-08-25 | 长沙酷哇人工智能及大数据产业技术研究院有限公司 | Intelligent environmental sanitation system based on Beidou navigation |
| CN111567331A (en) * | 2020-05-11 | 2020-08-25 | 西南科技大学 | Automatic lawn garbage cleaning machine and method based on deep convolutional neural network |
| CN114108531A (en) * | 2021-11-05 | 2022-03-01 | 湖南湘江智能科技创新中心有限公司 | Intelligent network on-line robot road cleaning system |
| CN115481987B (en) * | 2022-10-24 | 2023-03-24 | 成都秦川物联网科技股份有限公司 | Smart city street management method, internet of things system, device and storage medium |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB341762A (en) * | 1929-03-22 | 1931-01-22 | Rudolf Diederich | Improvements in road sweeping machines |
| CN202073063U (en) * | 2011-05-11 | 2011-12-14 | 隋华楠 | Road sweeper |
| CN104179141B (en) * | 2014-08-28 | 2017-01-11 | 冯基顺 | Sweeper truck |
| US10039367B2 (en) * | 2015-05-25 | 2018-08-07 | Chevron (Hk) Limited | Back-mounted power tool systems and methods of use |
| DE102015109111A1 (en) * | 2015-06-09 | 2016-12-15 | Hochschule für Technik und Wirtschaft Dresden | Working machine for mobile cleaning |
| CN205421127U (en) * | 2016-03-11 | 2016-08-03 | 陈猛 | Rubbish cleans machine people |
| CN106760627A (en) * | 2016-12-09 | 2017-05-31 | 滕松 | A kind of intelligent robot road garbage cleaning car |
| CN107034821A (en) * | 2017-04-12 | 2017-08-11 | 侨银环保科技股份有限公司 | It is a kind of to integrate rubbish storage all-in-one that is mobile, positioning, clean |
| CN206844005U (en) * | 2017-06-29 | 2018-01-05 | 安徽南博机器人有限公司 | A kind of road sweeper cleans the anti-screwing-out device of rubbish |
-
2018
- 2018-01-26 CN CN201810079515.3A patent/CN108086214B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108086214A (en) | 2018-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108086214B (en) | Outdoor cleaning robot | |
| US10625934B2 (en) | Container transporter and methods | |
| US11803807B2 (en) | Fleet for delivering packages | |
| US11377104B2 (en) | Autonomous waste collection truck | |
| US8229618B2 (en) | Leader-follower fully autonomous vehicle with operator on side | |
| US8989972B2 (en) | Leader-follower fully-autonomous vehicle with operator on side | |
| US8392065B2 (en) | Leader-follower semi-autonomous vehicle with operator on side | |
| CN212830720U (en) | Intelligent garbage classification garbage truck | |
| CN214139924U (en) | Intelligent garbage moving system | |
| WO2020114019A1 (en) | Sanitation intelligent cleaning and sweeping operation robot control system and cleaning machinery | |
| JP7145112B2 (en) | VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM | |
| US12007793B2 (en) | Denial of service systems and methods | |
| CN111608124A (en) | Autonomous navigation method for cleaning robot in high-speed service area | |
| US11899460B2 (en) | Automated alignment and dumping of refuse cans | |
| US20240116542A1 (en) | Drive device for a system for changing means of transportation, use and system for changing means of transportation | |
| CN113353499A (en) | Automatic cleaning system and method for vehicle-mounted dustbin of unmanned sweeper | |
| CN115003564B (en) | System for automatically closing a trunk lid of a vehicle | |
| US20240116702A1 (en) | Autonomous refuse container | |
| CN111962442B (en) | Multifunctional self-following sanitation robot and self-following method thereof | |
| CN207862832U (en) | A kind of outdoor sweeping robot | |
| CN112684784A (en) | Low-speed unmanned driving system | |
| CN110789888A (en) | Operation system and method of unmanned feeding garbage truck and garbage truck | |
| CN217534039U (en) | Unmanned garbage clearing robot | |
| CN112550999A (en) | Automatic garbage collection device who fills electric pile and applied electric pile docks | |
| CN107186737B (en) | It is a kind of for clear up send back to vehicle pendant object intelligent robot and its working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |