CN103019263B - Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation - Google Patents
Pan-tilt control system and pan-tilt control method for inspection robot of transformer substation Download PDFInfo
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Abstract
The invention discloses a pan-tilt control system for an inspection robot of a transformer substation. The pan-tilt control system runs on a pan-tilt controller, the pan-tilt controller is connected with a motor driving module and an angle detection module which are further connected with a pan-tilt body, and the pan-tilt controller is connected with a robot controller. The pan-tilt control system comprises a system initialization module, the system initialization module is connected with a task scheduling module, the task scheduling module is directly connected with a system idle module, an asynchronous task management module and a system monitoring module, and the asynchronous task management module is respectively connected with a data receiving and transmitting module, a system configuration module and a presetting position control module. The pan-tilt control system effectively overcomes shortcomings of an existing pan-tilt technical scheme, has the advantages of flexibility in configuration, convenience in extension, fault detection and recovery capacities and capability of being conveniently integrated with the inspection robot, and is quite suitable for inspection application to transformer substations in powerful electromagnetic environments.
Description
Technical field
The present invention relates to a kind of cloud platform control system and control method, relate in particular to a kind of Intelligent Mobile Robot cloud platform control system and control method.
Background technology
Along with scientific and technical progress and the needs of power grid construction, the unattended intelligent substation future development of traditional Attended mode transformer station's forward.In intelligent substation, although station equipment running status can be obtained by long-haul telemetry means, but in the especially outdoor substation of transformer station, due to restriction and nobody tour in time at the scene of intelligent substation level, some uncontrollable factors will bring series of problems even to leave hidden danger to substation safety operation.
In patent 200410024231.1, announce a kind of robot that power station equipment is is independently patrolled and examined that can be applicable to, for the problems referred to above provide a kind of effective solution, become possibility thereby make transformer station realize real unmanned.Status of electric power information can also can automatically be collected by full autonomous operation in transformer station by this robot, patrol and examine in operation process whole, Robot setting path moves to assigned address in station, The Cloud Terrace system drives device detection system to aim at power equipment to be checked afterwards, and the status of electric power data that finally collect are stored and analyzed to monitoring backstage by wireless network transmissions.In whole robot system, The Cloud Terrace system be install, the fastening of fixed equipment detection system, its performance directly has influence on crusing robot and completes the quality of patrol task.
The Cloud Terrace is the equipment that traditional safety monitoring industry is commonly used the most, The Cloud Terrace system is mainly made up of The Cloud Terrace body, angle detection device, cradle head control plate three parts, and the overall performance of The Cloud Terrace depends on the cloud platform control system performance that cradle head control plate carries to a great extent.Due to the singularity of Intelligent Mobile Robot running environment and patrol task demand, existing cloud platform control system generally can not be applicable to substation inspection operation completely, is mainly manifested in:
(1) at present the product of The Cloud Terrace manufacturer mostly all only such as the presetting bit of the limited quantities such as 64,128, but because environment in each transformer station is different, and power equipment One's name is legion to be checked, therefore the presetting bit number of required The Cloud Terrace probably exceeds the maximum presetting bit number that current traditional cloud platform control system is supported.
(2) crusing robot conventionally need to be according to each substation field patrol task demand, flexible configuration or expand corresponding systemic-function.Specific to robot cloud platform control system, because existing control system is all for general protection and monitor field exploitation, generally do not configure and extended capability, therefore in most cases cannot carry out integrated with crusing robot system.
For the problems referred to above, existing relevant technical scheme is disclosed at present, but specific to all there being weak point in the enforcement of control system, as follows:
For above-mentioned listed (1), patent 200910016095.5 discloses a kind of control system and control method of cradle head preset positions of robot, efficiently solve the problem that existing cradle head preset positions quantity cannot meet substation inspection mission requirements, but this patent has only been described the method for cradle head preset positions control, it is transferred to the presetting bit storage area in general holder product in control terminal database, on this basis only to presetting bit setting, the control flow that calls and delete these three kinds of basic operations is illustrated, do not provide composition structure and the full implementation details of other functional module that cloud platform control system develops for crusing robot mission requirements.
For above-mentioned listed (2), in document " design of robot used for intelligent substation patrol cloud platform control system ", provide the comparatively detailed implementation detail of a The Cloud Terrace system, the document emphatically the hardware of The Cloud Terrace system is realized and hardware controls flow process describes, and verify that by experiment under this control program, cradle head control precision meets patrol task requirement, but on cradle head controllor, how the structure composed of cloud platform control system adapts to the aspect such as different patrol task demands in transformer station, and it is not described further.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, and a kind of Intelligent Mobile Robot cloud platform control system and control method are provided, and it has advantages of simple and reliable, flexible configuration, favorable expandability.
To achieve these goals, the present invention adopts following technical scheme:
A kind of Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor, cradle head controllor is connected with robot controller, cradle head controllor is also connected with motor drive module and angle detection module, motor drive module is all connected with The Cloud Terrace body with angle detection module, cradle head controllor carries out asynchronous control and controls in real time The Cloud Terrace body, and described cradle head controllor comprises:
Initialization module: for the running environment of initialization cloud platform control system;
Task scheduling modules: before being responsible for calling of asynchronous task to call with each asynchronous task, resetting system monitoring module normally moves to show system;
The idle module of system: in the time not having trigger event to produce, system will enter the idle module of system from task scheduling modules, to reduce the power consumption of whole system, carry out the scheduling of asynchronous task once trigger event produces system by returning task scheduling modules;
Data reception module: main being responsible for receives the data that robot controller sends, and data are delivered to task scheduling modules, produces trigger event simultaneously and makes system return to task scheduling modules by the idle module of system, so that response external control command;
System monitoring module: be mainly responsible for the monitoring of the unusual condition of system operation;
Data memory module: responsible storage system is moved required configuration data, offers initialization module and asynchronous task administration module and uses;
Asynchronous task administration module: be in charge of the needed module of all operation asynchronous task in system;
Data exchange module: main scratch system data are for each module;
Real-time task administration module: be in charge of the needed module of all operation real-time tasks in system;
Clock module: move with driving real-time task administration module for whole system provides periodically event clock, under the control of periodic triggers event simultaneously producing at clock module in the time of system normal operation, task scheduling modules will be within setting-up time resetting system monitoring module to show system normal operation.
The system of storing in described initialization module one side reading out data memory module is moved required system configuration data, also starts on the other hand clock module.
Described task scheduling modules is according to the asynchronous task comprising in the data call asynchronous task administration module of data reception block transfer, related data is sent into data exchange module simultaneously and is used in order to other module, in addition this module also before each asynchronous task is called resetting system monitoring module normally move to show system.
Described asynchronous task administration module is in charge of data transmission blocks and cloud platform control system internal information is sent to the configuration information of preserving in the configuration information Update Table memory module that robot controller, management system configuration module issue according to robot controller, during for next system initialization, use and manage presetting bit control module according to external command complete presetting bit setting, call and deletion action.
Described real-time task administration module is in charge of motor control module and is completed the angle in the each degree of freedom of The Cloud Terrace body is sampled and for the operation of motor control module provides necessary feedback information and management real-time monitoring module, the status information in real-time task operational process monitored for each module and robot controller and used according to the operation of information control horizontal stage electric machine, the management feedback sampling module that transmit through asynchronous task administration module.
Described system monitoring module is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module in setting-up time of task scheduling modules because of system operation exception, system monitoring module makes generation trigger event whole system reenter initialization module and completes initialization operation, thereby makes system recover normal operation.
Based on a control method for Intelligent Mobile Robot cloud platform control system, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in initialization module reading out data memory module; Carry out system initialization operation, start clock module to process real-time task simultaneously;
Step 2: whether task scheduling modules monitoring trigger event produces, and enters event clock determining program simultaneously, if trigger event does not produce, system monitoring module judges overtime whether generation, if overtime, returns to step 1, if do not have overtimely, enters the system free time; If trigger event produces, enter step 3;
Step 3: the system monitoring in control system monitoring module resets;
Step 4: whether task scheduling modules inputs instruction triggers by outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task that asynchronous task administration module comprises, then the idle module of the system that enters is to reduce system power dissipation, if not the idle module of the system that directly enters, execution step five;
Step 5: task scheduling modules judges whether power-off of system, as system cut-off, exits, if do not have power-off to return to step 2.
The real-time task treatment step starting in described step 1 after clock module is:
(2-1) real-time task administration module judges whether to occur event clock, enters step (2-3) if there is not event clock, enters step (2-2) if there is event clock;
(2-2) real-time task administration module is carried out real-time task;
(2-3) judge whether power-off of system, as system cut-off, clock module stops, if do not have power-off to return to step (2-1).
The concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in asynchronous task administration module reading out data Switching Module;
(4-2) asynchronous task administration module judges task type, utilizes data transmission blocks to carry out data transmission, utilizes system configuration module to carry out system configuration data writing memory module, utilizes presetting bit control module that presetting bit is arranged, called or deletion action by amended presetting bit information data writing Switching Module according to task type;
(4-3) asynchronous task is complete.
The concrete steps of described step (2-2) are:
(2-31) real-time task is carried out and is started, the data in real-time task administration module reading out data Switching Module;
(2-32) first feedback sample module is carried out, to gather the angle feedback data in the each degree of freedom of The Cloud Terrace body;
(2-33) data run that motor control module comprises according to the data exchange module reading according to the angle feedback data control The Cloud Terrace body collecting;
(2-34) the above each task module running state data of real-time monitoring module collection by its data writing Switching Module;
(2-35) real-time task is complete.
Beneficial effect of the present invention: the present invention is directed to the problem that general holder control system faces in substation inspection application, for Intelligent Mobile Robot provides a kind of cloud platform control system, provided complete system composition structure and implementation.This system has effectively overcome the deficiency of existing The Cloud Terrace technical scheme, whole system has flexible configuration, expands conveniently, has fault detect and recovery capability and feature convenient and that crusing robot is integrated, is highly suitable for the substation inspection application under transformer station's strong electromagnetic environment.Be mainly manifested in following some:
(1) because cradle head control required function is nothing more than asynchronous process and the real-time two large classes of processing, the main response external input of asynchronous process, and processing in real time mainly completes the control to The Cloud Terrace body.Asynchronous task administration module and real-time task administration module in cloud platform control system of the present invention, are comprised, thereby can manage concentratedly the corresponding function module, and under the cooperation of data memory module and data exchange module, no matter how substation inspection task changes the demand of cloud platform control system, in system, add new function or system is configured, all can complete not changing under existing control system structure, thereby make system there is flexible configuration, expand feature easily.
(2) transformer station is an environment with strong electromagnetic existence, in order to ensure crusing robot reliability service, the each parts of composition robot should have the ability of strong electromagnetic in opposing station, and specific to cloud platform control system, it should have certain fault detect and recovery capability.Cloud platform control system of the present invention is completed by system monitoring module the monitoring of whole system, the execution of asynchronous in control system and Real time capable module has been coordinated in the interpolation of the idle module of simultaneity factor, and the operation that makes Real time capable module is equally under the monitoring in system monitoring module, thereby ensure the reliability of whole system, also can reduce in addition the power consumption of system.
(3) in order to facilitate robot controller to understand the cloud platform control system state in when operation, facilitate cloud platform control system and crusing robot to carry out integrated, real-time monitoring module and data transmission blocks are added into cloud platform control system, under the assistance of data exchange module, can complete the collection to each functional module status data in system and report with upper module, thereby make robot controller reasonably control the operation of The Cloud Terrace system according to The Cloud Terrace running state data, ensure quality and efficiency that patrol task completes.
Brief description of the drawings
Fig. 1 is cloud platform control system of the present invention and peripheral hardware connection diagram;
Fig. 2 is the each module composition of cloud platform control system of the present invention structural representation;
Fig. 3 is a kind of system flowchart of the present invention;
Fig. 4 is that a kind of asynchronous task of the present invention is carried out sub-process figure;
Fig. 5 is that a kind of real-time task of the present invention is carried out sub-process figure.
Wherein, 1. initialization module, 2. task scheduling modules, 3. the idle module of system, 4. data reception module, 5. system monitoring module, 6. data memory module, 7. asynchronous task administration module, 8. data exchange module, 9. real-time task administration module, 10. clock module, 11. data transmission blocks, 12. system configuration modules, 13. presetting bit control modules, 14. motor control modules, 15. feedback sample modules, 16. real-time monitoring module, 20. cradle head controllors, 21. robot controllers, 22. motor drive modules, 23. angle detection modules, 24. The Cloud Terrace bodies.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As Fig. 1, a kind of Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor 20, cradle head controllor 20 is connected with robot controller 21, cradle head controllor 20 is also by being connected with motor drive module 22 and angle detection module 23, motor drive module 22 is all connected with The Cloud Terrace body 24 with angle detection module 23, and cradle head controllor 20 carries out asynchronous control and controls in real time The Cloud Terrace body 24, and described cloud platform control system comprises:
Initialization module 1: for the running environment of initialization cloud platform control system;
Task scheduling modules 2: before being responsible for calling of asynchronous task to call with each asynchronous task, resetting system monitoring module 5 normally moves to show system;
The idle module 3 of system: in the time not having trigger event to produce, system will enter the idle module 3 of system from task scheduling modules 2, to reduce the power consumption of whole system, carry out the scheduling of asynchronous task once trigger event produces system by returning task scheduling modules 2;
Data reception module 4: main being responsible for receives the data that robot controller 21 sends, and data are delivered to task scheduling modules 2, produces trigger event simultaneously and makes system return to task scheduling modules 2 by the idle module 3 of system, so that response external control command;
System monitoring module 5: be mainly responsible for the monitoring of the unusual condition of system operation;
Data memory module 6: responsible storage system is moved required configuration data, offers initialization module 1 and asynchronous task administration module 7 uses;
Asynchronous task administration module 7: be in charge of the needed module of all operation asynchronous task in system;
Data exchange module 8: main scratch system data are for each module;
Real-time task administration module 9: be in charge of the needed module of all operation real-time tasks in system;
Clock module 10: move with driving real-time task administration module 9 for whole system provides periodically event clock, under the control of the periodic triggers event simultaneously producing at clock module 10 in the time of system normal operation, task scheduling modules 2 will be within setting-up time resetting system monitoring module 5 to show system normal operation.
In described initialization module 1 one side reading out data memory module 6, the system of storage is moved required system configuration data, also starts on the other hand clock module 10.
The asynchronous task comprising in the data call asynchronous task administration module 7 that described task scheduling modules 2 transmits according to data reception module 4, related data is sent into data exchange module 8 simultaneously and is used in order to other module, in addition this module also before each asynchronous task is called resetting system monitoring module 5 normally move to show system.
Described asynchronous task administration module 7 is in charge of data transmission blocks 11 cloud platform control system internal information is sent to the configuration information of the configuration information Update Table memory module 6 interior preservations that robot controller 21, management system configuration module 12 issue according to robot controller 21, during for next system initialization, use and manage presetting bit control module 13 according to external command complete presetting bit setting, call and deletion action.
Described real-time task administration module 9 is in charge of motor control module 14 and is completed the angle in the each degree of freedom of The Cloud Terrace body 24 is sampled and for the operation of motor control module 14 provides necessary feedback information and management real-time monitoring module 16, the status information in real-time task operational process monitored for each module and robot controller 21 and used according to the operation of information control horizontal stage electric machine, the management feedback sampling module 15 that transmit through asynchronous task administration module 7.
Described system monitoring module 5 is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module 5 in setting-up time of task scheduling modules 2 because of system operation exception, this module makes whole system reenter initialization module 1 and complete initialization operation generation trigger event, thereby makes system recover normal operation.
As shown in Figure 3, a kind of control method based on Intelligent Mobile Robot cloud platform control system, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in initialization module 1 reading out data memory module 6; Carry out system initialization operation, start clock module 10 to process real-time task simultaneously;
Step 2: whether task scheduling modules 2 is monitored trigger event and produced enters event clock determining program simultaneously, if trigger event does not produce, system monitoring module 5 judges overtime whether generation, if overtime, returns to step 1, if do not have overtimely, enter the system free time; If trigger event produces, enter step 3;
Step 3: the system monitoring in control system monitoring module 5 resets;
Step 4: whether task scheduling modules 2 inputs instruction triggers by outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task comprising in asynchronous task administration module 7, then the idle module 3 of the system that enters is to reduce system power dissipation, if not the idle module 3 of the system that directly enters, execution step five;
Step 5: task scheduling modules 2 judges whether power-off of system, as system cut-off, exits, if do not have power-off to return to step 2.
The real-time task treatment step starting in described step 1 after clock module 10 is:
(2-1) real-time task administration module 9 judges whether to occur event clock, enters step (2-3) if there is not event clock, enters step (2-2) if there is event clock;
(2-2) real-time task administration module 9 is carried out real-time task;
(2-3) judge whether power-off of system, as system cut-off, clock module 10 stops, if do not have power-off to return to step (2-1).
As shown in Figure 4, the concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in asynchronous task administration module 7 reading out data Switching Modules 8;
(4-2) asynchronous task administration module 7 judges task type, utilizes data transmission blocks 11 to carry out data transmission, utilizes system configuration module 12 to carry out system configuration data writing memory module 6, utilizes presetting bit control module 13 that presetting bit is arranged, called or deletion action by amended presetting bit information data writing Switching Module 8 according to task type;
(4-3) asynchronous task is complete.
As shown in Figure 5, the concrete steps of described step (2-2) are:
(2-31) real-time task is carried out and is started, the data in real-time task administration module 9 reading out data Switching Modules 8;
(2-32) first feedback sample module 15 is carried out, to gather the angle feedback data in the each degree of freedom of The Cloud Terrace body 24;
(2-33) data run that motor control module 14 comprises according to the data exchange module 8 reading according to the angle feedback data control The Cloud Terrace body 24 collecting;
(2-34) real-time monitoring module 16 gathers above each task module running state data and by its data writing Switching Module 8;
(2-35) real-time task is complete.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (8)
1. an Intelligent Mobile Robot cloud platform control system, it comprises cradle head controllor, cradle head controllor is connected with robot controller, cradle head controllor is also connected with motor drive module and angle detection module, motor drive module is all connected with The Cloud Terrace body with angle detection module, cradle head controllor carries out asynchronous control and controls in real time The Cloud Terrace body, it is characterized in that, described cradle head controllor comprises:
Initialization module: for the running environment of initialization cloud platform control system;
Task scheduling modules: before being responsible for calling of asynchronous task to call with each asynchronous task, resetting system monitoring module normally moves to show system;
The idle module of system: in the time not having trigger event to produce, system will enter the idle module of system from task scheduling modules, to reduce the power consumption of whole system, carry out the scheduling of asynchronous task once trigger event produces system by returning task scheduling modules;
Data reception module: main being responsible for receives the data that robot controller sends, and data are delivered to task scheduling modules, produces trigger event simultaneously and makes system return to task scheduling modules by the idle module of system, so that response external control command;
System monitoring module: be mainly responsible for the monitoring of the unusual condition of system operation;
Data memory module: responsible storage system is moved required configuration data, offers initialization module and asynchronous task administration module and uses;
Asynchronous task administration module: be in charge of data transmission blocks and cloud platform control system internal information be sent to the configuration information of preserving in the configuration information Update Table memory module that robot controller, management system configuration module issue according to robot controller, during for next system initialization, use and manage presetting bit control module according to external command complete presetting bit setting, call and deletion action;
Data exchange module: main scratch system data are for each module;
Real-time task administration module: be in charge of motor control module and complete the angle in the each degree of freedom of The Cloud Terrace body is sampled and for the operation of motor control module provides necessary feedback information and management real-time monitoring module, the status information in real-time task operational process monitored for each module and robot controller and used according to the operation of information control horizontal stage electric machine, the management feedback sampling module that transmit through asynchronous task administration module;
Clock module: move with driving real-time task administration module for whole system provides periodically event clock, under the control of periodic triggers event simultaneously producing at clock module in the time of system normal operation, task scheduling modules will be within setting-up time resetting system monitoring module to show system normal operation.
2. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, is characterized in that, the system that described initialization module is stored in reading out data memory module is on the one hand moved required system configuration data, also starts on the other hand clock module.
3. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, described task scheduling modules is according to the asynchronous task comprising in the data call asynchronous task administration module of data reception block transfer, related data is sent into data exchange module simultaneously and is used in order to other module, in addition this module also before each asynchronous task is called resetting system monitoring module normally move to show system.
4. Intelligent Mobile Robot cloud platform control system as claimed in claim 1, it is characterized in that, described system monitoring module is responsible for the unusual condition of supervisory control system running, when make not resetting system monitoring module in setting-up time of task scheduling modules because of system operation exception, system monitoring module makes generation trigger event whole system reenter initialization module and completes initialization operation, thereby makes system recover normal operation.
5. a control method for the Intelligent Mobile Robot cloud platform control system based on as described in any one in claim 1-4, is characterized in that, concrete steps are:
Step 1: cloud platform control system powers on, the system configuration data of preserving in initialization module reading out data memory module; Carry out system initialization operation, start clock module to process real-time task simultaneously;
Step 2: whether task scheduling modules monitoring trigger event produces, and enters event clock determining program simultaneously, if trigger event does not produce, system monitoring module judges overtime whether generation, if overtime, returns to step 1, if do not have overtimely, enters the system free time; If trigger event produces, enter step 3;
Step 3: the system monitoring in control system monitoring module resets;
Step 4: whether task scheduling modules inputs instruction triggers by outside according to this event of type identification that receives trigger event, if it is carry out the asynchronous task that asynchronous task administration module comprises, then the idle module of the system that enters is to reduce system power dissipation, if not the idle module of the system that directly enters, execution step five;
Step 5: task scheduling modules judges whether power-off of system, as system cut-off, exits, if do not have power-off to return to step 2.
6. the control method of Intelligent Mobile Robot cloud platform control system as claimed in claim 5, is characterized in that, the real-time task treatment step starting in described step 1 after clock module is:
(2-1) real-time task administration module judges whether to occur event clock, enters step (2-3) if there is not event clock, enters step (2-2) if there is event clock;
(2-2) real-time task administration module is carried out real-time task;
(2-3) judge whether power-off of system, as system cut-off, clock module stops, if do not have power-off to return to step (2-1).
7. the control method of Intelligent Mobile Robot cloud platform control system as claimed in claim 5, is characterized in that, the concrete steps of described step 4 are:
(4-1) asynchronous task is carried out, the director data in asynchronous task administration module reading out data Switching Module;
(4-2) asynchronous task administration module judges task type, utilizes data transmission blocks to carry out data transmission, utilizes system configuration module to carry out system configuration data writing memory module, utilizes presetting bit control module that presetting bit is arranged, called or deletion action by amended presetting bit data writing Switching Module according to task type;
(4-3) asynchronous task is complete.
8. the control method of Intelligent Mobile Robot cloud platform control system as claimed in claim 6, is characterized in that, the concrete steps of described step (2-2) are:
(2-31) real-time task is carried out and is started, the data in real-time task administration module reading out data Switching Module;
(2-32) first feedback sample module is carried out, to gather the angle feedback data in the each degree of freedom of The Cloud Terrace body;
(2-33) data run that motor control module comprises according to the data exchange module reading according to the angle feedback data control The Cloud Terrace body collecting;
(2-34) the above each task module running state data of real-time monitoring module collection by its data writing Switching Module;
(2-35) real-time task is complete.
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| CN103699075B (en) * | 2013-12-11 | 2016-09-07 | 国家电网公司 | Substation inspection intelligent scheduling based on video monitoring and control system |
| CN106406249B (en) * | 2015-10-14 | 2019-01-22 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot control system and method based on Android platform |
| CN106327056B (en) * | 2016-08-08 | 2019-11-26 | 成都四威高科技产业园有限公司 | A kind of AGV task management system and method based on real-time clock |
| CN113905075B (en) * | 2021-09-13 | 2023-11-10 | 中国船舶集团有限公司第七一六研究所 | Control system and method for cloud robot in 5G environment |
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| CN102085664A (en) * | 2011-01-04 | 2011-06-08 | 北京林业大学 | Autonomous operation forestry robot intelligent control system |
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| CN101356877A (en) * | 2008-09-19 | 2009-02-04 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN102085664A (en) * | 2011-01-04 | 2011-06-08 | 北京林业大学 | Autonomous operation forestry robot intelligent control system |
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