CN208717823U - Unmanned purging system - Google Patents
Unmanned purging system Download PDFInfo
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- CN208717823U CN208717823U CN201820628951.7U CN201820628951U CN208717823U CN 208717823 U CN208717823 U CN 208717823U CN 201820628951 U CN201820628951 U CN 201820628951U CN 208717823 U CN208717823 U CN 208717823U
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- 238000010926 purge Methods 0.000 title claims abstract description 19
- 238000004140 cleaning Methods 0.000 claims abstract description 198
- 239000000428 dust Substances 0.000 claims abstract description 5
- 230000004888 barrier function Effects 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 10
- 230000005611 electricity Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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- 239000012141 concentrate Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Abstract
The disclosure is directed to a kind of unmanned purging system, including multiple cleaning groups, each cleaning group includes: unmanned cleaning equipment, for cleaning to target area, wherein be provided with clearing apparatus, dust exhaust apparatus, garbage storage device on unmanned cleaning equipment；Nobody escorts equipment, for following the unmanned cleaning equipment, wherein the left side that nobody escorts equipment and/or right side is provided with isolating device, the isolating device is telescopic.In accordance with an embodiment of the present disclosure, unmanned cleaning equipment, which escorts equipment with nobody, can cooperate completion cleaning works, unmanned cleaning equipment can clean target area, and isolating device is set in the left side that nobody escorts equipment and/or right side, it can be during unmanned cleaning equipment be cleaned, it avoids the people at unmanned rear guard's carrier rear or carrier from surmounting nobody to escort equipment and impact cleaning process, to guarantee that the safety of cleaning process carries out.
Description
Technical field
This disclosure relates to automatic Pilot technical field more particularly to a kind of unmanned purging system.
Background technique
At present for the cleaning works in the regions such as highway, mainly by being accomplished manually, this cleaning method is due to needing to clean
Worker cleans on highway, and there is also the vehicles of high-speed motion simultaneously on highway, so risk is higher.
And the device that can be realized automatic cleaning proposed in the related technology, generally it is only applicable to the closed area of low speed
Region then and is not suitable for for there are the barrier scenes of high-speed motion, such as high speed/sky way.
Summary of the invention
The disclosure provides a kind of unmanned purging system, to solve deficiency in the related technology.
According to the first aspect of the embodiments of the present disclosure, a kind of unmanned purging system, including multiple cleaning groups, Mei Gesuo are provided
Stating cleaning group includes:
Unmanned cleaning equipment, for being cleaned to target area, wherein cleaning dress is provided on unmanned cleaning equipment
It sets, dust exhaust apparatus, garbage storage device；
Nobody escorts equipment, for following the unmanned cleaning equipment, wherein it is described nobody escort the left side of equipment
And/or right side is provided with isolating device.
Optionally, the isolating device is telescopic.
Optionally, the unmanned purging system further include:
Suggestion device, for conveying prompt information to the cleaning group local environment.
Optionally, the suggestion device includes:
Fluoresent coating and/or LED light, be arranged in the isolating device towards it is described nobody escort the side at equipment rear,
For showing picture cues information.
Optionally, the suggestion device includes:
First loudspeaker, setting it is described nobody escort in equipment, for it is described nobody escort the object at equipment rear
Convey the first auditory tone cues information.
Optionally, the suggestion device includes:
Second loudspeaker is arranged on the unmanned cleaning equipment, for the obstacle in front of the unmanned cleaning equipment
Object conveys second sound prompt information.
Optionally, the unmanned purging system further include:
Server determines in the predeterminable area for obtaining the cleaning information of predeterminable area according to the cleaning information
Target area to be cleaned, and one or more cleaning groups for cleaning the target area, to one or more of
Cleaning group sends instruction information, wherein the instruction information is used to indicate cleaning group and cleans to the target area.
Optionally, the cleaning information includes: Weather information；Wherein, it is described determined according to the cleaning information it is described pre-
If target area to be cleaned includes: in region
Determine that rainfall grade is greater than the first predetermined level in the predeterminable area or snow level is greater than the second predetermined level
Region be the target area.
Optionally, the cleaning information includes: the duration not cleaned；Wherein, described according to the cleaning information
Determine that target area to be cleaned in the predeterminable area includes:
The region for determining that the duration not cleaned in the predeterminable area is greater than preset duration is the target area.
Optionally, the cleaning information includes: cleaning type；Wherein, one or more of cleaning groups send instruction letter
Breath is that multiple cleaning groups are suitable for the cleaning group for cleaning type.
Optionally, the server is also used to send the cartographic information of the target area to the cleaning group.
Optionally, the server is also used to obtain the oil mass information and/or information about power of the cleaning group；
Wherein, described send to one or more of cleaning groups indicates that information includes:
It is determined to complete in multiple cleaning groups to the target according to the oil mass information and/or information about power
The cleaning group that region cleans；
The instruction letter is sent at least one of the cleaning group that can complete to clean target area cleaning group
Breath.
Optionally, if the target area corresponds to multiple cleaning groups, and the cleaning group corresponds to multiple target areas, according to
Algorithm globally optimal matches the cleaning group and the target area；
Wherein, the instruction information is used to indicate cleaning group and cleans to matched target area.
The technical scheme provided by this disclosed embodiment can include the following benefits:
As can be seen from the above embodiments, unmanned cleaning equipment, which escorts equipment with nobody, can cooperate completion cleaning works, nobody
Cleaning equipment can clean target area, and isolating device is arranged in the left side that nobody escorts equipment and/or right side, can
It is set with during unmanned cleaning equipment is cleaned, avoiding the people at unmanned rear guard's carrier rear or carrier from surmounting nobody and escort
It is standby and cleaning process is impacted, to guarantee that the safety of cleaning process carries out.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of schematic diagram of unmanned purging system shown in embodiment according to the present invention.
Fig. 2 is a kind of application scenarios schematic diagram of unmanned purging system shown in embodiment according to the present invention.
Fig. 3 is the schematic diagram of the unmanned purging system of another kind shown in embodiment according to the present invention.
Fig. 4 is that a kind of send to one or more of cleaning groups shown in embodiment according to the present invention indicates information
Schematic flow diagram.
Fig. 5 is that another send to one or more of cleaning groups shown in embodiment according to the present invention indicates information
Schematic flow diagram.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 is a kind of schematic diagram of unmanned purging system shown in embodiment according to the present invention.
(wherein merely illustrate a cleaning group) as shown in Figure 1, the unmanned purging system includes multiple cleaning groups, each
The cleaning group includes:
Unmanned cleaning equipment 1, for being cleaned to target area.
In one embodiment, target area can be highway, such as ordinary road and highway, be also possible to other
The region of type, such as square.
In one embodiment, clearing apparatus, dust exhaust apparatus, rubbish storage are also provided on unmanned cleaning equipment
Device etc..
Nobody escorts equipment 2, for following the unmanned cleaning equipment, wherein it is described nobody escort the left side of equipment
And/or right side is provided with isolating device 21.
In one embodiment, unmanned cleaning equipment, which escorts equipment with nobody, can be automatic driving vehicle, unmanned
Ship, unmanned vehicle etc. mainly escort the feelings that equipment is automatic driving vehicle with nobody in unmanned cleaning equipment below
Under condition, embodiment of the disclosure is illustrated.
In one embodiment, unmanned cleaning equipment can first generate initial data, wherein can on unmanned cleaning equipment
To be provided with sensor device, such as laser radar, millimetre-wave radar and industrial camera, wherein can be given birth to by laser radar
At point cloud data, image data can be generated by industrial camera.Initial data data are in addition to including the point cloud data and figure
As data, can also include unmanned cleaning equipment position data (such as GPS can be passed through and determined) and dynamic data (such as
It can be determined by Inertial Measurement Unit IMU).
Further, it is possible to handle obtained initial data, the three-dimensional of unmanned cleaning equipment local environment is constructed
Environmental model can identify barrier, and the motion state of prediction barrier in three dimensional environmental model, and then according to nothing
The map of the position of barrier and motion state and target area in the real-time position data of people's cleaning equipment, environment, can be with
Unmanned cleaning equipment is cooked up in the motion profile of target area, then can be generated control instruction control unmanned cleaning equipment by
It is moved according to the motion profile, to realize unmanned.
Wherein, nobody escorts equipment and realizes that unpiloted mode is similar with unmanned cleaning equipment, and realizes unmanned
Mode be not the disclosure primary object, details are not described herein.
In addition, it is necessary to explanation, each cleaning group may include one or more unmanned cleaning equipments and one or
Multiple nobody escorts equipment, and particular number, which can according to need, to be configured.
Fig. 2 is a kind of application scenarios schematic diagram of unmanned purging system shown in embodiment according to the present invention.
As shown in Fig. 2, when unmanned purging system Ying Dui highway is cleaned, such as unmanned cleaning equipment 1 is located at three vehicles
Road middle lane traveling, by escorting the isolating device 21 that 2 two sides of equipment are provided at nobody, (isolating device can be such as Fig. 2 institute
Show that nobody, which is arranged in, escorts the two sides of equipment, also can according to need and be provided only on nobody and escort the left or right side of equipment), make
Can not overtake other vehicles positioned at the vehicle of left-hand lane and right-hand lane, such as making nobody escort the vehicle 3 of 2 right back of equipment will not
It overtakes other vehicles, so that the cleaning process to unmanned cleaning equipment 1 be avoided to impact.
It should be noted that nobody, which escorts equipment, can according to need the isolating device for stretching out side, such as when nobody is clear
Equipment is swept to be located at left-hand lane in three lanes shown in Fig. 2 when driving, nobody, which escorts equipment, can follow unmanned cleaning equipment on a left side
Side lanes, in such a case, it is possible to only project right side isolating device.
In accordance with an embodiment of the present disclosure, unmanned cleaning equipment, which escorts equipment with nobody, can cooperate completion cleaning works, nothing
People's cleaning equipment can clean target area, and isolating device is arranged in the left side that nobody escorts equipment and/or right side,
Can be during unmanned cleaning equipment be cleaned, the people or carrier for avoiding nobody from escorting equipment rear surmount nobody and escort
Equipment and cleaning process is impacted, thus guarantee cleaning process safety carry out.
Optionally, the isolating device is telescopic.
In one embodiment, it by setting telescopic for isolating device, is not cleaned in unmanned cleaning equipment
During, isolating device can be shunk, the normally travel carrier for avoiding isolating device from escorting equipment rear to nobody causes to hinder
It blocks, and escorts equipment convenient for nobody and carry out the movement such as turning to.
Wherein, isolating device can be guardrail shape after deployment, be also possible to wall shape.
Optionally, the unmanned purging system further include:
Suggestion device, for conveying prompt information to the cleaning group local environment.
When in one embodiment, due to being cleaned in night or the lower environment of visibility, nobody, which escorts, is set
The people at standby rear or carrier possibly can not see isolating device in larger distance, and when seeing isolating device, may be due to
Speed is higher, and escorts equipment with nobody and be closer, and collision isolating device is caused to be caused danger.
By the way that suggestion device is arranged, then the people or carrier in cleaning group local environment can be effectively prompted.Such as it prompts
Device can be the loudspeaker being arranged on unmanned cleaning equipment, then can be prompted in larger distance by loudspeaker
People or carrier in front of unmanned cleaning equipment avoid；Such as suggestion device can be protected in isolating device towards unmanned for setting
The LED light at equipment rear is defended, then can be by the display remindings information such as LED, to prompt nobody to escort in larger distance
The vehicle at equipment rear not overtake other vehicles.
Optionally, the suggestion device includes:
Fluoresent coating and/or LED light, be arranged in the isolating device towards it is described nobody escort the side at equipment rear,
For showing picture cues information.
Optionally, the suggestion device includes:
First loudspeaker, setting it is described nobody escort in equipment, for it is described nobody escort the object at equipment rear
Convey the first auditory tone cues information.
In one embodiment, although escorting the isolating device in equipment by nobody can overtake other vehicles to avoid front vehicle,
But rear driver attention may not enough concentrate in some cases, and fail to observe isolating device in time, at this
Kind in the case of, the first loudspeaker in equipment is escorted by nobody, can in time by auditory tone cues nobody escort equipment after
The vehicle of side, overtakes other vehicles to avoid it or knocks isolating device.
Optionally, the suggestion device includes:
Second loudspeaker is arranged on the unmanned cleaning equipment, for the obstacle in front of the unmanned cleaning equipment
Object conveys second sound prompt information.
In one embodiment, since unmanned cleaning equipment is in cleaning process, general travel speed will not be too fast, namely
The barrier in front will not generally be surmounted, and the barrier for surmounting front needs unmanned cleaning equipment to change the direction of motion, it can
It can influence to clean effect.But in some cases, still there may be cause unmanned cleaning equipment to clean because of front obstacle
The case where process is obstructed, such as someone is ridden a bicycle in front of unmanned cleaning equipment with slower speed, or with slower speed
Degree is driven, then also can according to need the unmanned cleaning equipment of setting in order to complete to clean in time and surmount front obstacle.
Therefore the motion state that unmanned cleaning equipment monitoring objects in front can be set, if objects in front is in movement, compared with
It is located in front of unmanned cleaning equipment (such as the time in front of unmanned cleaning equipment is greater than pre-set duration) for a long time,
It so just controls the second loudspeaker and conveys the second prompt information, to prompt front obstacle to avoid or notice that rear is overtaken other vehicles, and
In other cases, then the second loudspeaker can be closed, noise pollution is reduced and saves electricity.
Fig. 3 is the schematic diagram of the unmanned purging system of another kind shown in embodiment according to the present invention.As shown in figure 3, institute
State unmanned purging system further include:
Server 4 determines in the predeterminable area for obtaining the cleaning information of predeterminable area according to the cleaning information
Target area to be cleaned, and one or more cleaning groups for cleaning the target area, to one or more of
Cleaning group sends instruction information, wherein the instruction information is used to indicate cleaning group and cleans to the target area.
In one embodiment, the server can be cloud server, be also possible to local server.Such as Fig. 4 institute
Show, each dotted line frame indicates a cleaning group, with each cleaning group include a unmanned cleaning equipment 1 and one nobody escort and set
Standby 2 are illustrated.
Server can periodically obtain the cleaning information in predeterminable area, wherein predeterminable area refers in advance for clothes
The highway being engaged in certain block region, such as some area in some city of device setting.Cleaning information can be in predeterminable area each
The duration that some region is not cleaned in the duration not cleaned or Weather information, such as predeterminable area in region compared with
Greatly, then illustrating that the region long period is not cleaned, it can determine that the region is target area.
Server can be communicated with one or more cleaning groups, after determining target area, can indicate one or
Multiple cleaning groups clean target area.
Optionally, the cleaning information includes: Weather information；Wherein, it is described determined according to the cleaning information it is described pre-
If target area to be cleaned includes: in region
Determine that rainfall grade is greater than the first predetermined level in the predeterminable area or snow level is greater than the second predetermined level
Region be the target area.
In one embodiment, it may cause target area due to weather to need to be cleaned, such as in target area
It there are in the case where a large amount of snowfalls, needs to clean snow, such as is needed in target area there are in the case where a large amount of rainfalls
Rain is cleaned.
Wherein it is possible to obtain Weather information by the weather forecast of network, and it is greater than first for rainfall grade and presets
Grade (such as moderate snow) or snow level are greater than the region of the second predetermined level (such as heavy rain), are determined as target area progress
It cleans, to be cleaned in time to the region cleaned.
Optionally, the cleaning information includes: the duration not cleaned；Wherein, described according to the cleaning information
Determine that target area to be cleaned in the predeterminable area includes:
The region for determining that the duration not cleaned in the predeterminable area is greater than preset duration is the target area.
In one embodiment, it is greater than preset duration for the duration not cleaned (namely the long period is not clear
Sweep) region, target area can be determined as and cleaned, it is excessive to avoid accumulation such as target area rubbish, dusts, to the area
The people in domain or carrier cause adverse effect.
Fig. 4 is that a kind of send to one or more of cleaning groups shown in embodiment according to the present invention indicates information
Schematic flow diagram.As shown in figure 4, the cleaning information includes: cleaning type；Wherein, one or more of cleaning groups are sent
Indicate that information is that multiple cleaning groups are suitable for the cleaning group for cleaning type.
In one embodiment, the type cleaned due to different zones is different, for example, target area exist compared with
Big snowfall, then cleaning type is to clear the snow, such as the target area long period is not cleaned, then cleaning type is to remove contamination.
And the cleaning ability for being suitable for the different unmanned cleaning equipments for cleaning type is also different, such as suitable for clearing the snow
Unmanned cleaning equipment front end perching knife can be set, for pushing accumulated snow, such as the unmanned cleaning equipment bottom suitable for removing contamination open
Brush has can be set in portion, for cleaning dust, rubbish.
Therefore, for different cleaning types, it can be determined in multiple cleaning groups and be suitable for the clear of corresponding cleaning type
Group is swept, to guarantee that the cleaning works for target area smoothly completes.
It should be noted that in addition to cleaning information in addition to may include Weather information in above-described embodiment, not cleaned
Duration, clean type, can also include other content, such as the predeterminable area in each target area position.
Server can be determined according to above-mentioned cleaning information by global optimum's matching algorithm one for cleaning target area or
Multiple cleaning groups.Matched foundation for example can correspond to every kind of cleaning for cleaning information (such as cleaning type) in advance for cleaning group
Cleaning group can be corresponded to a variety of cleaning information for including a variety of target areas for cleaning information by capabilities setting weight
Cleaning ability weight adduction.Optionally, the server is also used to send the ground of the target area to the cleaning group
Figure information.
In one embodiment, server can be updated periodically the map of target area, and map is sent to clearly
Sweep unmanned cleaning equipment in group and nobody escort equipment, so as to unmanned cleaning equipment and nobody escort equipment can be according to reception
To map determine driving path.
Fig. 5 is that another send to one or more of cleaning groups shown in embodiment according to the present invention indicates information
Schematic flow diagram.As shown in figure 5, the server is also used to obtain the oil mass information and/or information about power of the cleaning group；
Wherein, described send to one or more of cleaning groups indicates that information includes:
Step S51 is determined to completion pair according to the oil mass information and/or information about power in multiple cleaning groups
The cleaning group that the target area cleans；
Step S52 sends institute at least one of the cleaning group that can complete to clean target area cleaning group
State instruction information.
In one embodiment, since the unmanned cleaning equipment in cleaning group escorts equipment with nobody, sweeper is being carried out
As when need oil consumption and/or power consumption, if caused due to oil mass or not enough power supply unmanned cleaning equipment or nobody escort equipment throwing
Anchor can also impact the traffic condition of target area then being not only unable to complete cleaning works.
Therefore it can be determined in multiple cleaning groups first according to the oil mass information and/or information about power of cleaning group
The cleaning group that pairs of target area cleans, such as can determine that cleaning group drives to target area, and complete to target area
Cleaning needed for fuel consumption and/or power consumption, and determine unmanned cleaning equipment in cleaning group and nobody to escort equipment current
Whether oil mass is greater than the fuel consumption and/or whether electricity is greater than the power consumption, is greater than the fuel consumption in oil mass, and/or
In the case that electricity is greater than the power consumption, instruction cleaning group cleans target area, to guarantee to smoothly complete to mesh
Mark the cleaning in region.
Optionally, if the target area corresponds to multiple cleaning groups, and the cleaning group corresponds to multiple target areas, according to
Algorithm globally optimal matches the cleaning group and the target area；
Wherein, the instruction information is used to indicate cleaning group and cleans to matched target area.
In one embodiment, it is understood that there may be matched to multiple cleaning groups for a target area, while determination one clear
Sweeping group can be used for the case where cleaning multiple target areas, clean in such a case, it is possible to be matched according to algorithm globally optimal
Group and target area.Such as every kind of cleaning capabilities setting for cleaning information (such as cleaning type) can be corresponded to for cleaning group in advance
Then weight establishes the corresponding relationship of each target area and each cleaning group, can for the cleaning information of each target area
To calculate separately the weight adduction that each cleaning group corresponds to the cleaning ability of the cleaning information, so it is suitable for whole addition and values
With algorithm globally optimal, it is suitable for the most suitable cleaning group in each target area to determine.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (6)
1. a kind of unmanned purging system, which is characterized in that including multiple cleaning groups, each cleaning group includes:
Unmanned cleaning equipment, for being cleaned to target area, wherein it is provided with clearing apparatus on unmanned cleaning equipment,
Dust exhaust apparatus, garbage storage device；
Nobody escorts equipment, for following the unmanned cleaning equipment, wherein it is described nobody escort equipment left side and/or
Right side is provided with isolating device.
2. system according to claim 1, which is characterized in that the isolating device is telescopic.
3. system according to claim 1, which is characterized in that further include:
Suggestion device, for conveying prompt information to the cleaning group local environment.
4. system according to claim 3, which is characterized in that the suggestion device includes:
Fluoresent coating and/or LED light, be arranged in the isolating device towards it is described nobody escort the side at equipment rear, be used for
Show picture cues information.
5. system according to claim 3, which is characterized in that the suggestion device includes:
First loudspeaker, setting it is described nobody escort in equipment, for it is described nobody escort equipment rear object convey
First auditory tone cues information.
6. system according to claim 3, which is characterized in that the suggestion device includes:
Second loudspeaker is arranged on the unmanned cleaning equipment, for passing to the barrier in front of the unmanned cleaning equipment
Up to second sound prompt information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820628951.7U CN208717823U (en) | 2018-04-28 | 2018-04-28 | Unmanned purging system |
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| CN201820628951.7U CN208717823U (en) | 2018-04-28 | 2018-04-28 | Unmanned purging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091983A (en) * | 2019-05-31 | 2019-08-06 | 青岛黄海学院 | A kind of garbage collection Intelligent flight device |
| CN111395245A (en) * | 2020-03-28 | 2020-07-10 | 新石器慧通（北京）科技有限公司 | Automatic snow shoveling vehicle and snow shoveling method thereof |
| CN115236997A (en) * | 2021-05-27 | 2022-10-25 | 上海仙途智能科技有限公司 | Prediction control method, device, equipment and computer readable storage medium |
-
2018
- 2018-04-28 CN CN201820628951.7U patent/CN208717823U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091983A (en) * | 2019-05-31 | 2019-08-06 | 青岛黄海学院 | A kind of garbage collection Intelligent flight device |
| CN111395245A (en) * | 2020-03-28 | 2020-07-10 | 新石器慧通（北京）科技有限公司 | Automatic snow shoveling vehicle and snow shoveling method thereof |
| CN115236997A (en) * | 2021-05-27 | 2022-10-25 | 上海仙途智能科技有限公司 | Prediction control method, device, equipment and computer readable storage medium |
| CN115236997B (en) * | 2021-05-27 | 2023-08-25 | 上海仙途智能科技有限公司 | Predictive control method, apparatus, device, and computer-readable storage medium |
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