CN101100058A - Intelligent grass-removing robot - Google Patents
Intelligent grass-removing robot Download PDFInfo
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- CN101100058A CN101100058A CNA2006100882799A CN200610088279A CN101100058A CN 101100058 A CN101100058 A CN 101100058A CN A2006100882799 A CNA2006100882799 A CN A2006100882799A CN 200610088279 A CN200610088279 A CN 200610088279A CN 101100058 A CN101100058 A CN 101100058A
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- 230000010365 information processing Effects 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 4
- 238000005520 cutting process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008676 import Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 231100001261 hazardous Toxicity 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001755 vocal effect Effects 0.000 description 2
- 241001494479 Pecora Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention discloses one kind of intelligent mowing robot, which includes one machine body, traveling wheels, one mowing motor, mowing blades, two speed reducers connected to the rotation shafts of wheels, one traveling motor, one integrated navigation system set on the output shaft between two speed reducers, one control system set on the machine body including one host control module, one drive controlling module and one sensor information processing module, one coder, one ultrasonic sensor on the machine body, one gimbal, and one accumulator. The intelligent mowing robot can complete autonomous lawn cutting in high efficiency, no pollution, low noise and high safety.
Description
One technical field
The present invention relates to a kind of grass-removing robot, particularly a kind of have independently a mow intelligent grass-removing robot of function of region-wide covering.
Two background technologies
Traditional hay mower needs manually-operated, and labour intensity is big.Occurred automatic mower and grass-removing robot in recent years, the basic realization mowed automatically, but the intelligent degree of this grass-removing robot is very low, need bury cable underground on the border, is used for the Boundary Recognition that grass-removing robot is advanced, and this brings very big inconvenience to the user.Because it at first must bury cable underground, secondly also to go up power supply for cable is logical, both made troubles to the user, there is unsafe factor again.This class grass-removing robot does not have the precision navigation function, is difficult to realize not have omit cover mow, but with the mode of " sheep pastures ", constantly mows back and forth, realize region-wide mowing, so the efficient of mowing is low.
In order to realize region-wide covering mowing, prior art adopts cable laying usually, sets up marker, or adopts the artificial band earlier of the method grass-removing robot of teaching to cut one time, and all tracks under the robot records repeat the precedence record path then and move by track.This method data acquisition amount is big, and Project Realization cost height if do not adopt airmanship, still can produce error, is difficult to repetition and works originally.Therefore, the said method autonomous region-wide covering that will realize not having beacon is mowed and is still had any problem.
Three summary of the invention
The object of the present invention is to provide and a kind ofly can realize that region-wide covering independently mows, need not cable laying and increase marker, can independently finish the intelligent grass-removing robot of whole turf-mown.
Realize the technical solution of the object of the invention: a kind of intelligent grass-removing robot, it comprises car body, road wheel, the car body below is provided with the mowing motor, the mowing blade, it is characterized in that: difference connection reducer in the rotating shaft of road wheel, the travel driving motor output shaft is connected with decelerator by encoder, on the output shaft integrated navigation system is set between two decelerators, control system is set on the car body, comprise main control module, drive control module, the sensor information processing module, main control module is connected with drive control module, drive control module [8] drives input with travel driving motor and is connected, the code device signal output links to each other with drive control module, the car body front edge is provided with ultrasonic sensor, and the car body front end is provided with universal wheel, and battery also is set on the car body.
The integrated navigation system of intelligent grass-removing robot of the present invention comprises left angular wheel and right bevel gear, be connected with the axle of road wheel respectively, left angular wheel and right bevel gear are meshed with perpendicular last bevel gear and following bevel gear respectively, the axis of rotation of last bevel gear and following bevel gear is arranged on the cross axle bed, two differential speed sensors are set on the cross axle bed, be provided with pointer between this two differential speed sensor, pointer links to each other with the axle of road wheel.
The present invention compared with prior art, its remarkable advantage is: the present invention need not to be provided with cable and increases marker and just can realize that nobody correlates autonomous turf-mown, adopt integrated navigation system and Single-chip Controlling, realized that well-regulated region-wide covering independently mows, mowing efficient height, has avoidant disorder, the function of Boundary Recognition; The present invention is pollution-free, and noise is low, change traditional hay mover use gasoline engine as power to the surrounding enviroment adverse effect.And be provided with safety device, and guarantor robot when the hazardous area is in the dormancy holding state, and its security is high.It is suitable for the pruning on old man and weak people family lawn, and is busy with one's work and the personage that has no time to attend to turf-mown uses.
Four description of drawings
Fig. 1 is a kind of structural representation of intelligent grass-removing robot of the present invention.
Fig. 2 is the integrated navigation system structural representation of intelligent grass-removing robot of the present invention.
Fig. 3 is the region-wide overlay path planning operation schematic diagram of intelligent grass-removing robot of the present invention.
Fig. 4 is the human body detection caution system schematic diagram of intelligent grass-removing robot of the present invention.
Fig. 5 is that the control system of intelligent grass-removing robot of the present invention connects schematic diagram.
Five specific embodiment
In conjunction with Fig. 1, intelligent grass-removing robot of the present invention comprises: two road wheels 1, two encoders 2, two travel driving motor 3, two decelerators 4, integrated navigation system 5, batteries 6, main control module 7, drive control module 8, pyroelectric sensor 9, mowing motor 10, mowing blade 11, ultrasonic sensor 12, universal wheel 13, sensor information processing module 14, car body 15.
In conjunction with Fig. 2, integrated navigation system 5 comprises a bevel gear left side 16, goes up bevel gear 17, following bevel gear 18, right bevel gear 19,20, two sensors 21 of cross axle bed, pointer 22.The human body detection caution system comprises pyroelectric sensor 9 as shown in Figure 4, sensor information processing module 14, main control module 7, attention device 23.Connection of the present invention and embodiment are: when starting power switch, battery (or batteries) 6 provides the energy, two travel driving motor 3 begin rotation, drive two decelerators 4, decelerator 4 output shafts drive two road wheels 1 and advance and since in advance with the path planning program Solidification in main control module 7, send instruction by main control module, give drive control module 8, press the path walking of Fig. 3 planning again by drive control module 8 control travel driving motor 3.
Because two travel driving motor 3 other ends connect 2 pairs of distance information of two encoders again and gather, send into main control module 7 computings and obtain the range ability data, when the actual motion distance is identical with one's own profession planning distance, then send the 180 ° of control signals that turn around, realize the identification on border and the operation of implementation next line.The repetitive operation that goes round and begins again is like this finished region-wide covering and is mowed.If there is obstacle in the lawn, ultrasonic sensor 12 acquired informations in the running then, pass to sensor information processing module 14, send into main control module 7 after treatment again, making avoidant disorder instructs to travel driving motor 3, order about two road wheels 1 with the different rotating speeds cut-through, main control module 7 sends and gets back to former running route walking instruction then, and car body 15 enters normal cutting operation.The present invention uses integrated navigation system 5 and Single-chip Controlling, the intelligent grass-removing robot actual motion is on the path of planning, realize that exhaustively region-wide covering is mowed between the every trade, embodiment is: in the integrated navigation system 5 rotating shaft of left angular wheel 16 and right bevel gear 19 respectively with two road wheels 1 the axle link, be meshed with last bevel gear 17 and following bevel gear 18 again simultaneously, 18 axis of rotation 24 are supported on the cross axle bed 20 with road wheel 1 coaxial line under last bevel gear 17 and the bevel gear, also affixed two differential speed sensors 21 on the cross axle bed 20, pointer 22 indicating positions are between two differential speed sensors 21, pointer 22 is installed in 1 of road wheel and upward or on decelerator 4 output shafts rotates together, when two road wheel 1 rotating speeds are identical, pointer 22 is in the centre position of two sensors 21, when two road wheel rotating speeds not simultaneously, pointer 22 inclined to one side overbalance lines trigger a sensor 21, import an information into sensor information processing module 14, import main control module 7 again, send the rotating speed that instruction changes two travel driving motor 3, revise the track route deviation, grass-removing robot is got back on the programme path.In case the people is arranged near intelligent grass-removing robot, enter the hazardous area, sense human body information by Fig. 4 pyroelectric sensor 9, import sensor information processing module 14 into, treated one tunnel signal triggering attention device 23 gives the alarm or verbal cue, warns the people to leave, and another road signal imports main control module 7 into, control travel driving motor 3 and 10 brake hards of mowing motor are to guarantee human body safety.
In conjunction with Fig. 5, the connected mode of control system of the present invention is ultrasonic sensor 12, pyroelectric sensor 9, sensor 21 signal output parts all are connected with sensor information processing module 14, and sensor information processing module 14 inputs to main control module 7 after again 3 kinds of sensor informations being handled.Main control module 7 is connected with drive control module 8 again, drive control module 8 connects travel driving motor 3 again and drives input, connect encoder 2 again on 3 of the travel driving motor, encoder 2 signal output parts link with drive control module 8 again, constitute a complete robot control system.
Region-wide covering mowing implementation procedure is: before the robot application, according to user lawn map feature, by path planning its grass-removing robot track route is planned to working procedure, solidifies in single-chip microcomputer, robot just will finish region-wide covering by default program and mow.Intelligent grass-removing robot is placed the base station, and the calibration original position.Start power supply, robot starts working, drive two travel driving motor, drive two road wheels through the decelerator deceleration and press the programme path operation, because two driving wheels have speed discrepancy during actual motion, intelligent grass-removing robot car body actual motion track and programme path have deviation, are difficult to move by path planning.Owing on the output shaft of two decelerators, connect integrated navigation system, gather the run trace deviation information in real time by integrated navigation system, handle in real time by main control module, feedback information is to travel driving motor, control left and right sides drive motors rotating speed keeps two wheel speed unanimities, make it get back to correct running route, by continuous collection deviation information and the continuous run trace of revising, guarantee that robot operates on the path of being planned, turn around until do 180 ° to the border, carry out another row lawn and mow.And the identification on border mainly realizes collection to distance information by two encoders that link with motor shaft, obtain the range ability data by the single-chip microcomputer computing again, when data are identical with the planning distance, then send the border control signal that turns around, realize the operation of next line, go round and begin again like this delegation of repetition delegation action is finished region-wide covering and is mowed.
Car body of the present invention is provided with pyroelectric sensor, as children or other people during near car body, pyroelectric sensor is collected human body information and is sent into the sensor information processing module, amplify and processing through signal, trigger buzzer or verbal cue, the caution people leave, meanwhile one road signal is sent into main control module, control travel driving motor and the brake hard of mowing motor, to prevent child's curiosity, it is accidents caused that hand stretches into the mowing blade.In case the people leaves the hazardous area, pyroelectric sensor loses information, and main control module sends restart indication, and car body still continues operation along original path.
Claims (6)
1, a kind of intelligent grass-removing robot, it comprises car body [15], road wheel [1], the car body below is provided with mowing motor [10], mowing blade [11], it is characterized in that: difference connection reducer [4] in the rotating shaft of road wheel, travel driving motor [3] output shaft is connected with decelerator by encoder [2], integrated navigation system [5] is set on the output shaft between two decelerators, control system is set on the car body, comprise main control module [7], drive control module [8], sensor information processing module [14], main control module [7] is connected with drive control module [8], drive control module [8] drives input with travel driving motor [3] and is connected, encoder [2] signal output part links to each other with drive control module [8], the car body front edge is provided with ultrasonic sensor [12], and the car body front end is provided with universal wheel [13], and battery [6] also is set on the car body.
2, intelligent grass-removing robot according to claim 1, it is characterized in that: integrated navigation system [5] comprises left angular wheel [16] and right bevel gear [19], be connected with the axle of road wheel respectively, left angular wheel and right bevel gear are meshed with perpendicular last bevel gear [17] and following bevel gear [18] respectively, the axis of rotation setting [24] of last bevel gear [17] and following bevel gear [18] is on cross axle bed [20], two differential speed sensors [21] are set on the cross axle bed [20], be provided with pointer [22] between this two differential speed sensor, pointer [22] links to each other with the axle of road wheel [1].
3, intelligent grass-removing robot according to claim 1 and 2 is characterized in that: the car body front edge is provided with 4--6 ultrasonic sensor [12].
4, intelligent grass-removing robot according to claim 1 and 2, it is characterized in that: the car body periphery is provided with pyroelectric sensor [9], be distributed in all around, its signal output part is connected with sensor information processing module [14], and the sensor information processing module inputs to main control module [7] after sensor information is handled.
5, intelligent grass-removing robot according to claim 1 and 2 is characterized in that: the differential speed sensor signal output part is connected with sensor information processing module [14], and the sensor information processing module inputs to main control module [7] after sensor information is handled.
6, intelligent grass-removing robot according to claim 4 is characterized in that pyroelectric sensor [9] links to each other with sensor information processing module [14], and sensor information processing module [14] links to each other with main control module [7] with attention device [23] respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100882799A CN100515695C (en) | 2006-07-07 | 2006-07-07 | Intelligent grass-removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100882799A CN100515695C (en) | 2006-07-07 | 2006-07-07 | Intelligent grass-removing robot |
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| Publication Number | Publication Date |
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| CN101100058A true CN101100058A (en) | 2008-01-09 |
| CN100515695C CN100515695C (en) | 2009-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100882799A Expired - Fee Related CN100515695C (en) | 2006-07-07 | 2006-07-07 | Intelligent grass-removing robot |
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| CN (1) | CN100515695C (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217493A (en) * | 2011-04-25 | 2011-10-19 | 华南农业大学 | Ultrasonic targeted electric flower and fruit thinning machine |
| WO2011143877A1 (en) * | 2010-05-20 | 2011-11-24 | 嘉兴亚特园林机械研究所 | Intelligent robot mower of parallel motion type and method for controlling parallel motion thereof |
| CN102388725A (en) * | 2011-05-27 | 2012-03-28 | 浙江欧耀机械有限公司 | Lawn machine protection system |
| CN102591342A (en) * | 2012-02-06 | 2012-07-18 | 浙江大学 | Electronic-compass-based local path planning method for mowing robot |
| CN103246286A (en) * | 2012-02-10 | 2013-08-14 | 本田技研工业株式会社 | Arrangement of area wire for unmanned autonomous operating vehicle and control apparatus of the same |
| CN103729953A (en) * | 2012-10-10 | 2014-04-16 | 苏州宝时得电动工具有限公司 | Automatic-walking device remote monitoring system, remote monitoring method, alarming system and alarming method |
| CN103891464A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| WO2016078517A1 (en) * | 2014-11-19 | 2016-05-26 | 苏州宝时得电动工具有限公司 | Self-moving robot |
| CN106444736A (en) * | 2015-08-11 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| CN106625632A (en) * | 2017-02-15 | 2017-05-10 | 合肥市融宇电子有限公司 | Modularized robot system |
| CN106907374A (en) * | 2017-03-29 | 2017-06-30 | 德迈智能装备有限公司 | The control method of intelligent electrical device, intelligent grass-removing and hay mover |
| US9820433B2 (en) | 2012-12-28 | 2017-11-21 | Positec Power Tools (Suzhou Co., Ltd.) | Auto mowing system |
| CN109258061A (en) * | 2018-09-10 | 2019-01-25 | 安徽灵翔智能机器人技术有限公司 | A kind of intelligent grass-removing with autonomous function |
| CN109258077A (en) * | 2018-07-25 | 2019-01-25 | 苏州速菲特农林工具有限公司 | A kind of unmanned lawn mower of automatic control |
| CN109426265A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN109478064A (en) * | 2016-06-30 | 2019-03-15 | 创科（澳门离岸商业服务）有限公司 | Autonomous mower and navigation system thereof |
| CN109526404A (en) * | 2018-11-13 | 2019-03-29 | 苏州索亚机器人技术有限公司 | A kind of intelligent grass-removing robot |
| CN109845475A (en) * | 2019-03-01 | 2019-06-07 | 重庆润通智能装备有限公司 | The u-turn control method and system of intelligent grass-removing robot |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| CN110960322A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Cross shaft for endoscope conveying robot |
| CN112435477A (en) * | 2020-10-10 | 2021-03-02 | 北京无线电计量测试研究所 | Roadside intelligent parking identification inspection device and inspection method |
| WO2021068370A1 (en) * | 2019-10-09 | 2021-04-15 | 苏州宝时得电动工具有限公司 | Automatic traveling apparatus control method and self-moving apparatus |
| CN112703881A (en) * | 2020-12-30 | 2021-04-27 | 格力博(江苏)股份有限公司 | Intelligent mower, control method and system thereof and storage medium |
| US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN114545938A (en) * | 2022-02-17 | 2022-05-27 | 上海擎朗智能科技有限公司 | Path planning method and device, robot and storage medium |
-
2006
- 2006-07-07 CN CNB2006100882799A patent/CN100515695C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011143877A1 (en) * | 2010-05-20 | 2011-11-24 | 嘉兴亚特园林机械研究所 | Intelligent robot mower of parallel motion type and method for controlling parallel motion thereof |
| CN102217493B (en) * | 2011-04-25 | 2012-08-22 | 华南农业大学 | Ultrasonic targeted electric flower and fruit thinning machine |
| CN102217493A (en) * | 2011-04-25 | 2011-10-19 | 华南农业大学 | Ultrasonic targeted electric flower and fruit thinning machine |
| CN102388725A (en) * | 2011-05-27 | 2012-03-28 | 浙江欧耀机械有限公司 | Lawn machine protection system |
| CN102591342B (en) * | 2012-02-06 | 2013-10-30 | 浙江大学 | Electronic-compass-based local path planning method for mowing robot |
| CN102591342A (en) * | 2012-02-06 | 2012-07-18 | 浙江大学 | Electronic-compass-based local path planning method for mowing robot |
| CN103246286A (en) * | 2012-02-10 | 2013-08-14 | 本田技研工业株式会社 | Arrangement of area wire for unmanned autonomous operating vehicle and control apparatus of the same |
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| CN103891464B (en) * | 2012-12-28 | 2016-08-17 | 苏州宝时得电动工具有限公司 | Automatically mow system |
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| WO2016078517A1 (en) * | 2014-11-19 | 2016-05-26 | 苏州宝时得电动工具有限公司 | Self-moving robot |
| US11161235B2 (en) | 2014-11-19 | 2021-11-02 | Positec Technology (China) Co., Ltd. | Self-moving robot |
| US10377035B2 (en) | 2014-11-19 | 2019-08-13 | Positec Technology (China) Co., Ltd | Self-moving robot |
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| CN106444736A (en) * | 2015-08-11 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| CN106444736B (en) * | 2015-08-11 | 2020-07-14 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN109478064A (en) * | 2016-06-30 | 2019-03-15 | 创科（澳门离岸商业服务）有限公司 | Autonomous mower and navigation system thereof |
| US11832552B2 (en) | 2016-06-30 | 2023-12-05 | Techtronic Outdoor Products Technology Limited | Autonomous lawn mower and a system for navigating thereof |
| US11172605B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN106625632A (en) * | 2017-02-15 | 2017-05-10 | 合肥市融宇电子有限公司 | Modularized robot system |
| CN106907374B (en) * | 2017-03-29 | 2018-06-19 | 德迈智能装备有限公司 | The control method of intelligent electrical device, intelligent grass-removing and grass trimmer |
| CN106907374A (en) * | 2017-03-29 | 2017-06-30 | 德迈智能装备有限公司 | The control method of intelligent electrical device, intelligent grass-removing and hay mover |
| CN109426265A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN109258077A (en) * | 2018-07-25 | 2019-01-25 | 苏州速菲特农林工具有限公司 | A kind of unmanned lawn mower of automatic control |
| CN109258061A (en) * | 2018-09-10 | 2019-01-25 | 安徽灵翔智能机器人技术有限公司 | A kind of intelligent grass-removing with autonomous function |
| CN109526404A (en) * | 2018-11-13 | 2019-03-29 | 苏州索亚机器人技术有限公司 | A kind of intelligent grass-removing robot |
| CN109845475B (en) * | 2019-03-01 | 2021-07-06 | 重庆火虫创新科技有限公司 | Turning control method and system of intelligent mowing robot |
| CN109845475A (en) * | 2019-03-01 | 2019-06-07 | 重庆润通智能装备有限公司 | The u-turn control method and system of intelligent grass-removing robot |
| WO2021068370A1 (en) * | 2019-10-09 | 2021-04-15 | 苏州宝时得电动工具有限公司 | Automatic traveling apparatus control method and self-moving apparatus |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| CN110960322A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Cross shaft for endoscope conveying robot |
| CN112435477A (en) * | 2020-10-10 | 2021-03-02 | 北京无线电计量测试研究所 | Roadside intelligent parking identification inspection device and inspection method |
| CN112435477B (en) * | 2020-10-10 | 2022-05-27 | 北京无线电计量测试研究所 | Roadside intelligent parking identification inspection device and inspection method |
| CN112703881A (en) * | 2020-12-30 | 2021-04-27 | 格力博(江苏)股份有限公司 | Intelligent mower, control method and system thereof and storage medium |
| CN112703881B (en) * | 2020-12-30 | 2022-06-17 | 格力博(江苏)股份有限公司 | Intelligent mower, control method and system thereof and storage medium |
| CN114545938A (en) * | 2022-02-17 | 2022-05-27 | 上海擎朗智能科技有限公司 | Path planning method and device, robot and storage medium |
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