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发明专利:一种车辆障碍物检测系统及方法,ZL201811613047.X
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发明专利:一种矿井下机车无人驾驶系统及控制方法,ZL202010928668.8
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发明专利:一种基于信息共识的分布式机车定位方法及装置,ZL202010060084.3