CN114952901A - Intelligent control system of vehicle cleaning robot - Google Patents
Intelligent control system of vehicle cleaning robot Download PDFInfo
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- CN114952901A CN114952901A CN202210779890.5A CN202210779890A CN114952901A CN 114952901 A CN114952901 A CN 114952901A CN 202210779890 A CN202210779890 A CN 202210779890A CN 114952901 A CN114952901 A CN 114952901A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an intelligent control system, in particular to an intelligent control system of a vehicle cleaning robot, which comprises a controller, a vehicle contour acquisition unit, a dirty area positioning unit and a driving control unit, wherein the vehicle contour acquisition unit, the dirty area positioning unit and the driving control unit are connected with the controller; the vehicle contour acquisition unit acquires the contour of the vehicle to be cleaned by acquiring the point cloud data of the target vehicle and performing data processing, splicing and filtering on the point cloud data of the target vehicle; the dirty area positioning unit is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned, comparing the characteristic value with a characteristic range of the soil image and positioning a dirty area of the vehicle to be cleaned; a drive control unit which drives the manipulator to clean the vehicle according to the cleaning track and controls the cleaning pressure at the position of the dirty area; the technical scheme provided by the invention can effectively overcome the defects of water resource waste and poor cleaning effect caused by the fact that a dirty area on the surface of the vehicle to be cleaned cannot be accurately identified and positioned.
Description
Technical Field
The invention relates to an intelligent control system, in particular to an intelligent control system of a vehicle cleaning robot.
Background
With the continuous development of domestic economy and automobile industry, vehicles of people are greatly changed, and automobiles (new energy automobiles) enter thousands of households as daily-used vehicles. After people purchase automobiles, people pay great attention to cleaning and maintenance of the automobiles, and particularly, car washing industry is developed due to the fact that some car owners love the automobiles.
At present, the conventional automatic vehicle cleaning device drives the vehicle to the transmission device to move slowly in the vehicle cleaning area, or the driver controls the vehicle to move slowly in the vehicle cleaning area, so as to complete the cleaning of the vehicle. However, the existing automatic vehicle cleaning devices cannot accurately identify and locate the dirty area on the surface of the vehicle to be cleaned, so that most automatic vehicle cleaning devices adopt an 'undifferentiated' cleaning mode, which not only wastes a large amount of water resources, but also cannot achieve a good cleaning effect.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides an intelligent control system for a vehicle cleaning robot, which can effectively overcome the defects in the prior art that the water resource waste is caused because the dirty area on the surface of a vehicle to be cleaned cannot be accurately identified and positioned, and the cleaning effect is poor.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
an intelligent control system of a vehicle cleaning robot comprises a controller, a vehicle contour acquisition unit, a dirty area positioning unit and a driving control unit, wherein the vehicle contour acquisition unit, the dirty area positioning unit and the driving control unit are connected with the controller;
the vehicle contour acquisition unit acquires the contour of the vehicle to be cleaned by acquiring the point cloud data of the target vehicle and performing data processing, splicing and filtering on the point cloud data of the target vehicle;
the dirty area positioning unit is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned, comparing the characteristic value with a characteristic range of the soil image and positioning a dirty area of the vehicle to be cleaned;
and a drive control unit which sets a cleaning trajectory based on the position of the dirty region, drives the robot according to the cleaning trajectory to perform vehicle cleaning, and controls a cleaning pressure at the position of the dirty region.
Preferably, the vehicle contour acquiring unit comprises a point cloud data acquisition module, a target parking position detection module, a point cloud data processing module, a point cloud data splicing module and a vehicle contour acquiring module;
the point cloud data acquisition module is used for acquiring point cloud data of the target vehicle;
the target parking position detection module is used for detecting the parking position of the target vehicle based on the acquired point cloud data of the target vehicle;
the point cloud data processing module is used for carrying out data processing on the collected point cloud data of the target vehicle;
the point cloud data splicing module is used for splicing the point cloud data of the target vehicle after data processing;
and the vehicle contour acquisition module is used for filtering the environmental influence of the spliced target vehicle point cloud data, separating vehicle point cloud data to be cleaned and acquiring the vehicle contour to be cleaned according to the vehicle point cloud data to be cleaned.
Preferably, the vehicle contour acquisition module performs environmental impact filtering on the spliced target vehicle point cloud data, separates vehicle point cloud data to be cleaned, and acquires a vehicle contour to be cleaned according to the vehicle point cloud data to be cleaned, including:
carrying out environmental influence filtration on the spliced target vehicle point cloud data based on the parking position of the target vehicle, and separating vehicle point cloud data to be cleaned;
and projecting the vehicle point cloud data to be cleaned to a two-dimensional plane, counting the number of the vehicle point cloud data to be cleaned in each preset step length along the coordinate axis direction, and determining the outline of the vehicle to be cleaned according to the number of the vehicle point cloud data to be cleaned.
Preferably, the target parking position detection module detects the target vehicle parking position based on the collected target vehicle point cloud data, and includes:
and receiving initial target vehicle point cloud data acquired by a plurality of preset laser radars, and determining the parking positions of the target vehicles according to the registration result between the initial target vehicle point cloud data.
Preferably, before the target parking position detection module detects the target vehicle parking position based on the collected target vehicle point cloud data, the method includes:
installing a plurality of laser radars and targets at different positions, scanning the targets by the laser radars, and acquiring target point cloud data in multiple directions corresponding to the same target;
and determining the pose data of each laser radar according to the target point cloud data of multiple directions corresponding to the same target.
Preferably, the determining the pose data of each lidar according to the target point cloud data of multiple directions corresponding to the same target includes:
and acquiring the center coordinates of the targets in the point cloud data of each target, and acquiring the pose data of each laser radar according to the target center coordinates determined by each laser radar.
Preferably, the dirty region locating unit comprises a dirty region detection module, a target image acquisition module and a dirty region locating module;
the dirty area detection module is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned and comparing the characteristic value with a characteristic range of a soil image to obtain a dirty area;
the target image acquisition module is used for acquiring an image of a vehicle to be cleaned;
and the dirty area positioning module is used for correlating the dirty area with the image of the vehicle to be cleaned to obtain the position coordinate of the dirty area.
Preferably, the dirty region detection module calculates a feature value of an image inside a contour of the vehicle to be cleaned, and compares the feature value with a feature range of the soil image to obtain a dirty region, including:
and obtaining a dirty area according to the HSV value and the RGB value of the image in the outline of the vehicle to be cleaned and the HSV value range and the RGB value range corresponding to the soil image.
Preferably, the driving control unit comprises a cleaning track planning module, a manipulator driving module, a cleaning pressure detection module and a cleaning pressure control module;
a cleaning track planning module for setting a cleaning track based on the position of the dirty area;
the manipulator driving module drives the manipulator to clean the vehicle according to the cleaning track;
the cleaning pressure detection module is used for detecting the cleaning pressure of the cleaning device arranged on the manipulator;
and the cleaning pressure control module is used for controlling the cleaning pressure of the cleaning device.
Preferably, the cleaning pressure control module controls a cleaning pressure of the cleaning device, and includes:
when the cleaning position of the cleaning device is moved to the interior of the dirty area, the cleaning pressure of the cleaning device is properly increased by combining the detection data fed back by the cleaning pressure detection module;
when the cleaning position of the cleaning device is moved to the outside of the dirty area, the cleaning pressure of the cleaning device is properly reduced by combining the detection data fed back by the cleaning pressure detection module.
(III) advantageous effects
Compared with the prior art, the intelligent control system for the vehicle cleaning robot provided by the invention has the following beneficial effects:
1) the vehicle contour acquisition unit can accurately acquire the contour of the vehicle to be cleaned and define an identification range for the positioning of a subsequent dirty area by acquiring target vehicle point cloud data and performing data processing, splicing and filtering on the target vehicle point cloud data;
2) the dirty area positioning unit calculates a characteristic value of an image in the outline of the vehicle to be cleaned, and compares the characteristic value with a characteristic range of a soil image to realize accurate positioning of the dirty area of the vehicle to be cleaned;
3) the drive control unit sets up the washing orbit based on dirty regional position, drives the manipulator according to washing orbit and carries out vehicle cleaning to control the cleaning pressure in dirty regional position department, thereby can treat according to dirty regional position realization and wash "differentiation" of wasing the vehicle, not only can effectively reduce the water waste, can also gain better cleaning performance simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a process for obtaining the profile of a vehicle to be cleaned according to the present invention;
fig. 3 is a schematic flow chart of the present invention for locating a soiled area of a vehicle to be cleaned and for intelligently controlling a vehicle cleaning robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An intelligent control system of a vehicle cleaning robot comprises a controller, and a vehicle contour acquisition unit, a dirty area positioning unit and a driving control unit which are connected with the controller.
The vehicle contour acquiring unit acquires the contour of the vehicle to be cleaned by acquiring the point cloud data of the target vehicle, and performing data processing, splicing and filtering on the point cloud data of the target vehicle. As shown in fig. 1 and 2, the vehicle contour acquiring unit includes a point cloud data collecting module, a target parking position detecting module, a point cloud data processing module, a point cloud data stitching module, and a vehicle contour acquiring module:
the point cloud data acquisition module is used for acquiring point cloud data of the target vehicle;
the target parking position detection module is used for detecting the parking position of the target vehicle based on the collected point cloud data of the target vehicle;
the point cloud data processing module is used for carrying out data processing on the collected point cloud data of the target vehicle;
the point cloud data splicing module is used for splicing the point cloud data of the target vehicle after data processing;
and the vehicle contour acquisition module is used for filtering the environmental influence of the spliced target vehicle point cloud data, separating vehicle point cloud data to be cleaned and acquiring the vehicle contour to be cleaned according to the vehicle point cloud data to be cleaned.
1) Before the target vehicle parking position detection module detects the target vehicle parking position based on the collected target vehicle point cloud data, the method comprises the following steps:
installing a plurality of laser radars and targets at different positions, scanning the targets by the laser radars, and acquiring target point cloud data in multiple directions corresponding to the same target;
and determining the pose data of each laser radar according to the target point cloud data of multiple directions corresponding to the same target.
Wherein, according to the target point cloud data of a plurality of directions that same target corresponds, confirm the position appearance data of each laser radar, include:
and acquiring the center coordinates of the targets in the point cloud data of each target, and acquiring the pose data of each laser radar according to the target center coordinates determined by each laser radar.
2) The target parking position detection module detects the target vehicle parking position based on the collected target vehicle point cloud data, and comprises the following steps:
and receiving initial target vehicle point cloud data acquired by a plurality of preset laser radars, and determining the parking positions of the target vehicles according to the registration result between the initial target vehicle point cloud data.
3) Vehicle profile acquisition module carries out environmental impact to the target vehicle point cloud data of concatenation and filters, separates and treats cleaning vehicle point cloud data to according to treating cleaning vehicle point cloud data acquisition treats cleaning vehicle profile, include:
carrying out environmental influence filtration on the spliced target vehicle point cloud data based on the parking position of the target vehicle, and separating vehicle point cloud data to be cleaned;
and projecting the vehicle point cloud data to be cleaned to a two-dimensional plane, counting the number of the vehicle point cloud data to be cleaned in each preset step length along the coordinate axis direction, and determining the outline of the vehicle to be cleaned according to the number of the vehicle point cloud data to be cleaned.
According to the technical scheme, the vehicle outline acquisition unit can accurately acquire the outline of the vehicle to be cleaned by acquiring the point cloud data of the target vehicle and carrying out data processing, splicing and filtering on the point cloud data of the target vehicle, and an identification range is defined for the positioning of a subsequent dirty area.
And the dirty area positioning unit is used for calculating the characteristic value of the image inside the outline of the vehicle to be cleaned, comparing the characteristic value with the characteristic range of the soil image and positioning the dirty area of the vehicle to be cleaned. As shown in fig. 1 and 3, the dirty region locating unit includes a dirty region detecting module, a target image capturing module, and a dirty region locating module:
the dirty area detection module is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned and comparing the characteristic value with a characteristic range of a soil image to obtain a dirty area;
the target image acquisition module is used for acquiring an image of a vehicle to be cleaned;
and the dirty area positioning module is used for correlating the dirty area with the image of the vehicle to be cleaned to obtain the position coordinate of the dirty area.
Wherein, dirty regional detection module calculates the eigenvalue of waiting to wash vehicle profile internal image to compare eigenvalue and earth image characteristic range, obtain dirty region, include:
and obtaining a dirty area according to the HSV value and the RGB value of the image in the outline of the vehicle to be cleaned and the HSV value range and the RGB value range corresponding to the soil image.
According to the technical scheme, the dirty area positioning unit calculates the characteristic value of the image inside the outline of the vehicle to be cleaned, and compares the characteristic value with the characteristic range of the soil image, so that the dirty area of the vehicle to be cleaned is accurately positioned.
And a drive control unit that sets a cleaning trajectory based on the position of the dirty region, drives the robot according to the cleaning trajectory to clean the vehicle, and controls a cleaning pressure at the position of the dirty region. As shown in fig. 1 and 3, the driving control unit includes a cleaning trajectory planning module, a robot driving module, a cleaning pressure detecting module, and a cleaning pressure controlling module:
a cleaning track planning module for setting a cleaning track based on the position of the dirty area;
the manipulator driving module drives the manipulator to clean the vehicle according to the cleaning track;
the cleaning pressure detection module is used for detecting the cleaning pressure of the cleaning device arranged on the manipulator;
and the cleaning pressure control module is used for controlling the cleaning pressure of the cleaning device.
Wherein, washing pressure control module controls belt cleaning device's washing pressure, includes:
when the cleaning position of the cleaning device moves to the interior of the dirty area, the cleaning pressure of the cleaning device is properly increased by combining the detection data fed back by the cleaning pressure detection module;
when the cleaning position of the cleaning device is moved to the outside of the dirty area, the cleaning pressure of the cleaning device is properly reduced by combining the detection data fed back by the cleaning pressure detection module.
Above-mentioned technical scheme, drive control unit sets for the washing orbit based on dirty regional position, carries out the vehicle washing according to washing orbit drive manipulator to control the cleaning pressure in dirty regional position department, thereby can treat according to dirty regional position and wash "differentiation" of wasing the vehicle, not only can effectively reduce the water waste, can also obtain better cleaning performance simultaneously.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a vehicle cleaning robot intelligence control system which characterized in that: the device comprises a controller, and a vehicle contour acquisition unit, a dirty area positioning unit and a driving control unit which are connected with the controller;
the vehicle contour acquisition unit acquires the contour of the vehicle to be cleaned by acquiring the point cloud data of the target vehicle and performing data processing, splicing and filtering on the point cloud data of the target vehicle;
the dirty area positioning unit is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned, comparing the characteristic value with a characteristic range of the soil image and positioning a dirty area of the vehicle to be cleaned;
and a drive control unit which sets a cleaning trajectory based on the position of the dirty region, drives the robot according to the cleaning trajectory to clean the vehicle, and controls the cleaning pressure at the position of the dirty region.
2. The intelligent control system of a vehicle washing robot of claim 1, wherein: the vehicle contour acquisition unit comprises a point cloud data acquisition module, a target parking position detection module, a point cloud data processing module, a point cloud data splicing module and a vehicle contour acquisition module;
the point cloud data acquisition module is used for acquiring point cloud data of a target vehicle;
the target parking position detection module is used for detecting the parking position of the target vehicle based on the collected point cloud data of the target vehicle;
the point cloud data processing module is used for carrying out data processing on the collected point cloud data of the target vehicle;
the point cloud data splicing module is used for splicing the point cloud data of the target vehicle after data processing;
and the vehicle contour acquisition module is used for filtering the environmental influence of the spliced target vehicle point cloud data, separating vehicle point cloud data to be cleaned and acquiring the vehicle contour to be cleaned according to the vehicle point cloud data to be cleaned.
3. The intelligent control system of a vehicle washing robot according to claim 2, characterized in that: the vehicle profile acquisition module carries out environmental impact to the target vehicle point cloud data of concatenation and filters, separates out and waits to wash vehicle point cloud data to according to waiting to wash vehicle point cloud data acquisition and wait to wash the vehicle profile, include:
carrying out environmental influence filtration on the spliced target vehicle point cloud data based on the parking position of the target vehicle, and separating vehicle point cloud data to be cleaned;
and projecting the vehicle point cloud data to be cleaned to a two-dimensional plane, counting the number of the vehicle point cloud data to be cleaned in each preset step length along the coordinate axis direction, and determining the outline of the vehicle to be cleaned according to the number of the vehicle point cloud data to be cleaned.
4. The intelligent control system of a vehicle washing robot of claim 3, wherein: the target parking position detection module detects a target vehicle parking position based on the collected target vehicle point cloud data, and comprises the following steps:
and receiving initial target vehicle point cloud data acquired by a plurality of preset laser radars, and determining the parking positions of the target vehicles according to the registration result between the initial target vehicle point cloud data.
5. The intelligent control system of a vehicle washing robot of claim 4, wherein: before the target parking position detection module detects the target vehicle parking position based on the collected target vehicle point cloud data, the method comprises the following steps:
installing a plurality of laser radars and targets at different positions, scanning the targets by the laser radars, and acquiring target point cloud data in multiple directions corresponding to the same target;
and determining the pose data of each laser radar according to the target point cloud data of multiple directions corresponding to the same target.
6. The intelligent control system of a vehicle washing robot of claim 5, wherein: the method for determining the pose data of each laser radar according to the target point cloud data of multiple directions corresponding to the same target comprises the following steps:
and acquiring the center coordinates of the targets in the point cloud data of each target, and acquiring the pose data of each laser radar according to the target center coordinates determined by each laser radar.
7. The intelligent control system of a vehicle washing robot of claim 1, wherein: the dirty area positioning unit comprises a dirty area detection module, a target image acquisition module and a dirty area positioning module;
the dirty area detection module is used for calculating a characteristic value of an image in the outline of the vehicle to be cleaned and comparing the characteristic value with a characteristic range of a soil image to obtain a dirty area;
the target image acquisition module is used for acquiring an image of a vehicle to be cleaned;
and the dirty area positioning module is used for correlating the dirty area with the image of the vehicle to be cleaned to obtain the position coordinate of the dirty area.
8. The intelligent control system of a vehicle washing robot of claim 7, wherein: dirty regional detection module calculates the eigenvalue of waiting to wash vehicle profile internal image to compare eigenvalue and earth image characteristic range, obtain dirty region, include:
and obtaining the dirty area according to the HSV value and the RGB value of the image in the outline of the vehicle to be cleaned and the HSV value range and the RGB value range corresponding to the soil image.
9. The intelligent control system of a vehicle washing robot of claim 1, wherein: the driving control unit comprises a cleaning track planning module, a manipulator driving module, a cleaning pressure detection module and a cleaning pressure control module;
a cleaning track planning module for setting a cleaning track based on the position of the dirty area;
the manipulator driving module drives the manipulator to clean the vehicle according to the cleaning track;
the cleaning pressure detection module is used for detecting the cleaning pressure of the cleaning device arranged on the manipulator;
and the cleaning pressure control module is used for controlling the cleaning pressure of the cleaning device.
10. The intelligent control system of a vehicle washing robot of claim 9, wherein: the cleaning pressure control module controls the cleaning pressure of the cleaning device, and comprises:
when the cleaning position of the cleaning device is moved to the interior of the dirty area, the cleaning pressure of the cleaning device is properly increased by combining the detection data fed back by the cleaning pressure detection module;
when the cleaning position of the cleaning device is moved to the outside of the dirty area, the cleaning pressure of the cleaning device is properly reduced by combining the detection data fed back by the cleaning pressure detection module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210779890.5A CN114952901A (en) | 2022-07-04 | 2022-07-04 | Intelligent control system of vehicle cleaning robot |
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| CN202210779890.5A CN114952901A (en) | 2022-07-04 | 2022-07-04 | Intelligent control system of vehicle cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
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2022
- 2022-07-04 CN CN202210779890.5A patent/CN114952901A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
| CN117901144B (en) * | 2024-03-19 | 2024-05-14 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
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