CN105679168A - Teaching experimental platform simulating ramp vehicle dispatching - Google Patents
Teaching experimental platform simulating ramp vehicle dispatching Download PDFInfo
- Publication number
- CN105679168A CN105679168A CN201510895004.5A CN201510895004A CN105679168A CN 105679168 A CN105679168 A CN 105679168A CN 201510895004 A CN201510895004 A CN 201510895004A CN 105679168 A CN105679168 A CN 105679168A
- Authority
- CN
- China
- Prior art keywords
- level ground
- machine level
- upper computer
- car
- experiment platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to experimental teaching equipment, in particular to a teaching experimental platform simulating ramp vehicle dispatching. The teaching experimental platform is composed of three major parts: a plurality of dispatching vehicles, a ramp and an upper computer, wherein the upper computer receives feedback information of the dispatching vehicles and can send commands to the dispatching vehicles; the dispatching vehicles automatically judge how to drive on the ramp when the upper computer does not send out commands; the dispatching vehicles drive on the ramp according to the commands of the upper computer when the upper computer sends out the commands; each dispatching vehicle is composed of a control system, a motor, a sensor and a power supply system; the ramp is composed of a black rubber pad, white runways and white buildings; and the upper computer is composed of an Atmega88 main control chip, an NF24L01 wireless sensor, a Max232 level conversion chip and a computer. The implementation and simulation of a multiple vehicle dispatching algorithm can be achieved based on the teaching experimental platform, the teaching experimental platform provides guidance for verifying true effectiveness of the dispatching algorithm, helps students understand the algorithm in depth, and trains programming and logical thinking abilities of the students.
Description
Technical field
The present invention relates to a kind of experimental teaching equipment, in particular to the teaching experiment platform of a kind of analog machine level ground vehicle scheduling.
Background technology
In recent years, the fast development of China's economy and people are to the increase day by day of aviation demand, and the industry development of civil aviaton of China achieves remarkable achievement. But while externally opening constantly expansion, in airliner delay, also face stern challenge. According to statistics, the delay caused by the Ground Operation of machine level ground accounts for the 15.45% of all delays of large-scale hub, and airport ensures that the delay of service is one of reason causing airliner delay. Therefore, study under the prerequisite ensureing flight safety, how distributing rationally and reasonable scheduling by the resources of production, improve resource utilization and service level, to reduce the airliner delay caused because Airport Resources is misorient, it is to increase operation benefits, become problem in the urgent need to address.
At present, the management that flight ground service is served by civil aviaton of China, also mostly based on artificial experience or basic operational research theory. The research being directed to flight ground service service dispatch is very limited, and due to about the running scheduling method of airline and the research of software, generally underground delivers, it is possible to the achievement in research recognized is less. Present stage, domestic and international achievement in research generally concentrates on simulation analysis and the flow scheme improvements of ground service service, and ignores the Optimization Dispatching to Service Source.
Abroad, Germany Lufthansa develops planning and the Real-Time Scheduling that PERsEus system carries out passenger attendant; Neiman etc. develop the multi-Agent dispatching system Dis-Dss of flight ground service service, prop up the cooperation of holding equipment for simulating different companies aircraft floor, but it does not do deep research in scheduling algorithm optimization; Chien etc. dispatch for the aircraft maintenance of United States Air Force in the autonomous space science plan of Techsat-21 and develop Autonomous Agent system; TotalAirspace&AirportModeler (TAAM) system of Japan's Civil Aviation Bureau's exploitation has used the analytical procedure of " what-if ", and moving model and spatial domain configuration to airport carry out the Realization of Simulation. But, there is purchase cost height and buy the problems such as difficult, system maintenance specialty difficult, required starting point requirement is high in these above-mentioned professional software platforms, is not suitable for common demonstration lesson use.
Summary of the invention
For above present Research, need in conjunction with undergraduate course teaching, consider illustrative directly perceived, invent the teaching experiment platform of a kind of analog machine level ground vehicle scheduling, student by this platform programming realization scheduling algorithm, or can be used for simple and easy checking and the actual robustness inspection of algorithm of airport scheduling algorithm.
The present invention is achieved by the following technical solutions: platform is made up of many car haulers, machine level ground, upper computer three part, the feedback information of upper computer receiving scheduling car, and car hauler can be sent instruction, when upper computer does not send instruction, car hauler judges how to travel on machine level ground voluntarily; When upper computer sends instruction, car hauler will transfer PC control mode to, thus travel on machine level ground according to the instruction of upper computer.
The Lu Kou airport to simplify is designed as model in described machine level ground, chooses the bigger black rubber pad of frictional coefficient as machine terrace material; Wide white adhesive tape is as running orbit medullary ray of dispatching buses; Using white plastic model as hardstand for operation point.
Described car hauler is 4 drive, and is made up of Controlling System, motor, sensor, power-supply system, adopts direct current. Wherein, Controlling System, chip adopts Atmega168 treater. Described car hauler motor adopts brushless motor. Sensor comprises all around totally 8 infrared sensors, each 7 gray-scale sensors in front and back, NF24L01 is wireless sending module, code-disc and tests the speed module. The high lower level signal intensity that Controlling System is fed back according to motor code-disc, drives 2 timers in master routine and gathers calculating limit, left and right motor rotating speed in real time, thus realize car hauler left and right wheels velocity close-loop control; Adopt difference pid control algorithm on this basis, 7 gray-scale sensors are respectively installed in car hauler front and back, judge the car hauler white position of center line of deviation by the feedback signal of white adhesive tape on cognitron level ground, design 3 kinds of controling parameters according to deviation distance and realize car hauler and pull back to medullary ray gently; In addition, whether car hauler respectively installs 2 infrared sensors all around, whether arrive operation point to differentiate and have other car haulers to dodge. Drive 2 external interrupt timers in a program, have other car haulers around when front and back sensor has obstacle just to differentiate, parking wait need to be taked to dodge or continue to move ahead and wait that another car hauler is dodged. When sensor detection in left and right has obstacle, just differentiate whether arrived operation point, and carry out operation point and wait operational procedure; In addition, program also has 1 timer internal, real-time radio sends car hauler status information, and differentiate and whether have PC control instruction to get involved, if there being PC control instruction, then switching current operation program is PC control mode, to prevent algorithm is made mistakes, the problem such as the vehicle collision that causes produces. Power-supply system, by 4 joint dry cell power supplies, is powered to car hauler motor and related sensor, treater by motor drive module.
The design of described upper computer end adopts Atmega88 as master control chip, and in conjunction with the feedback information of NF24L01 as wireless senser receiving scheduling car, is frequently led by Max232 electricity simultaneously and changes chip and computer carries out serial communication. Upper computer also controls to car hauler in real time by computer instruction, avoids scheduling algorithm to make mistakes and produces the situation such as vehicle collision and produce.
Accompanying drawing explanation
Fig. 1 is the machine level ground schematic diagram of the teaching experiment platform of a kind of analog machine level ground vehicle scheduling of the present invention;
Fig. 2 is the vehicle frame schematic diagram of the car hauler of the teaching experiment platform of a kind of analog machine level ground vehicle scheduling of the present invention;
Fig. 3 is the top schematic diagram of the car hauler of the teaching experiment platform of a kind of analog machine level ground vehicle scheduling of the present invention;
Fig. 4 is the bottom schematic view of the car hauler of the teaching experiment platform of a kind of analog machine level ground vehicle scheduling of the present invention;
Fig. 5 is the enlarged view at I position in this Fig. 4;
Fig. 6 is the upper computer schematic diagram of the teaching experiment platform of a kind of analog machine level ground vehicle scheduling of the present invention;
Fig. 7 is the enlarged view at II position in this Fig. 6;
11 black rubber pad in figure, 12 wide white adhesive tapes, 13 white plastic buildingss, 211 wheels, 212 vehicle frames, 221 motors, 222 code-discs test the speed module, 231 cell panels, 232 driving modules, 241 switchboards, 251 gray-scale sensors, 252 infrared sensors, 253 radio receiving transmitting modules, 254 can revolve resistance, 311 radio receiving transmitting modules, 312 control chips, 313 power supplys are led and are changed chip
Embodiment
Below by embodiment by reference to the accompanying drawings, a kind of embodiment of the present invention is done concrete introduction:
A teaching experiment platform for analog machine level ground vehicle scheduling, is formed primarily of many car haulers, machine level ground, upper computer three part, and concrete use procedure comprises the installation of machine level ground, car hauler assembling and upper computer software and hardware and installs three steps.
1, machine level ground is installed
The 1.1 black rubber pads 11 tiling suitable size according to place demand, also need to increase site area according to car hauler reasonable quantity.
1.2 paste 3cm wide white adhesive tape 12 according to actual airport model travels medullary ray as car hauler. Noting especially to turning corner, white adhesive tape 12 need to be pasted smooth, prevent due to leakage paste, the factor such as uneven cause the situations such as car hauler collision to produce.
1.3 stickup white plastic buildingss 13 are as treating operation point. Need difference more than 10cm distance between white plastic buildings 13, prevent because distance too closely causes car hauler cannot differentiate the situation of the point that stops. White plastic buildings 13 and the white medullary ray being made up of white adhesive tape 12 need to keep suitable distance, prevent from closely hindering car hauler to move ahead, and cross car hauler far away and parking point cannot be detected.
2, car hauler assembling
2.1 car hauler structure installment, comprise the mechanical structured member such as wheel 211, vehicle frame 212.
2.2 motors 221 and the code-disc module 222 that tests the speed is installed. Note the close-coupled of motor 221 with wheel 11, prevent the too tight too pine of gears meshing and cause car hauler to travel extremely.
2.3 cell panels 231 are installed and are driven module 232 to install. It should be convenient to battery altering position that cell panel 231 installs position.
2.4 switchboards 241 are installed. Avoid metal object around switchboard 241, prevented because metal object touching causes switchboard 241 short circuit to cause wafer damage.
2.5 various kinds of sensors are installed. Before and after car hauler, each installation 7 gray-scale sensors 251, respectively install No. 2 infrared sensors 252 all around, and NF24L01 radio receiving transmitting module 253 is installed in top. Except radio receiving transmitting module 253 is corrected without the need to initialize, all the other sensors all need to carry out sensitivity rectification by revolving resistance 254. Gray-scale sensor 251 should be calibrated to and can identify white medullary ray 12 position, and front and back infrared sensor 252 is calibrated to correct position according to demand to differentiate fore-aft vehicle, and left and right infrared sensor 252 should be calibrated to and can identify white construction object location.
3, upper computer software and hardware is installed
3.1 radio receiving transmitting modules 311 are connected with control chip 312. And power to radio receiving transmitting module 311 by power conversion chip 313.
3.2 control chips 312 are led by power supply and are changed chip 313 with baud rate 9600, carry out serial communication without check code mode and computer 32. Control chip power supply provides voltage by the usb serial ports of computer 32.
3.3 computer software are developed based on serial ports debugging assistant, it may be achieved reception data are shown, manages, hold function, it is possible to realize transmission data and controlled by corresponding car hauler.
As from the foregoing, present invention achieves the airport vehicle scheduling experiment porch used towards teaching. The teaching experiment platform of a kind of analog machine level ground vehicle scheduling comprises machine level ground, many dispatch buses software and hardware and upper computer three major part compositions, the feedback information of upper computer receiving scheduling car, and car hauler can be sent instruction, when upper computer does not send instruction, car hauler judges how to travel on machine level ground voluntarily; When upper computer sends instruction, car hauler will transfer PC control mode to, thus travel on machine level ground according to the instruction of upper computer. Many vehicle scheduling algorithms can be realized in conjunction with this platform to realize and emulation, for checking scheduling algorithm real effectiveness provides hardware auxiliary direction; In conjunction with undergraduate course teaching demand, hardware directly perceived represents and can help student that algorithm is carried out deep understanding, can exercise student ' programming and logical thinking ability; The present invention also can be used for exhibition, industry personnel probes into the occasions such as discussion.
The foregoing is only the preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. done within the spirit and principles in the present invention, all should be included within protection scope of the present invention.
Claims (12)
1. the teaching experiment platform of an analog machine level ground vehicle scheduling, it is characterized in that described platform is made up of many car haulers, machine level ground, upper computer three part, the feedback information of upper computer receiving scheduling car, and car hauler can be sent instruction, when upper computer does not send instruction, car hauler judges how to travel on machine level ground voluntarily; When upper computer sends instruction, car hauler will transfer PC control mode to, thus travel on machine level ground according to the instruction of upper computer.
2. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 1; it is characterized in that; described machine level ground is made up of black rubber pad, wide white adhesive tape and white plastic model three part; the design on machine level ground is taking the Lu Kou airport that simplifies as model; choose the bigger black rubber pad of frictional coefficient as machine terrace material; wide white adhesive tape as running orbit medullary ray of dispatching buses, using white plastic model as hardstand for operation point.
3. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 1, it is characterised in that, described car hauler is 4 drive, and adopts direct current, is made up of Controlling System, motor, sensor, power-supply system.
4. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 3, it is characterized in that, described Controlling System chip adopts Atmega168 treater, the high lower level signal intensity that treater feeds back according to motor code-disc, master routine is opened 2 timers and gathers calculating limit, left and right motor rotating speed in real time, thus realize car hauler left and right wheels velocity close-loop control, adopt difference pid control algorithm on this basis.
5. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 3, it is characterized in that, described sensor comprises: each 7 gray-scale sensors in front and back, all around totally 8 infrared sensors, NF24L01 is wireless sending module, code-disc test the speed module.
6. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 5, it is characterized in that, described gray-scale sensor, judge the car hauler white position of center line of deviation by the feedback signal of white adhesive tape on cognitron level ground, design 3 kinds of controling parameters according to deviation distance and realize car hauler and pull back to medullary ray gently.
7. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 5, it is characterised in that, whether whether described 2 infrared sensors, arrive operation point in order to differentiate and have other car haulers to dodge.
8. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 3, it is characterised in that, described Controlling System comprises sequence of control, sequence of control has 2 external timers and 1 timer internal.
9. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 8, it is characterized in that, whether before and after described 2 external timers judge respectively and left and right has obstacle, when front and back, sensor has obstacle, just differentiate there are other car haulers around, parking wait need to be taked to dodge or continue to move ahead and wait that another car hauler is dodged; When sensor detection in left and right has obstacle, just differentiate whether arrived operation point, and carry out operation point and wait operational procedure.
10. the teaching experiment platform of a kind of analog machine level ground vehicle scheduling as claimed in claim 8, it is characterized in that, described timer internal real-time radio sends car hauler status information, and differentiate and whether have PC control instruction to get involved, if there being PC control instruction, then switching current operation program is PC control mode, to prevent algorithm is made mistakes, the problem such as the vehicle collision that causes produces.
The teaching experiment platform of 11. a kind of analog machine level ground vehicle schedulings as claimed in claim 3, it is characterised in that, described power-supply system, by 4 joint dry cell power supplies, is powered to car hauler motor and related sensor, treater by motor drive module.
The teaching experiment platform of 12. a kind of analog machine level ground vehicle schedulings as claimed in claim 1, it is characterized in that, the design of described upper computer end adopts Atmega88 as master control chip, and in conjunction with the feedback information of NF24L01 as wireless senser receiving scheduling car, frequently led by Max232 electricity simultaneously and change chip and computer carries out serial communication; Upper computer also controls to car hauler in real time by computer instruction, avoids scheduling algorithm to make mistakes and produces the situation such as vehicle collision and produce.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510895004.5A CN105679168A (en) | 2015-12-04 | 2015-12-04 | Teaching experimental platform simulating ramp vehicle dispatching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510895004.5A CN105679168A (en) | 2015-12-04 | 2015-12-04 | Teaching experimental platform simulating ramp vehicle dispatching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105679168A true CN105679168A (en) | 2016-06-15 |
Family
ID=56297553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510895004.5A Pending CN105679168A (en) | 2015-12-04 | 2015-12-04 | Teaching experimental platform simulating ramp vehicle dispatching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105679168A (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006107121A (en) * | 2004-10-05 | 2006-04-20 | Nippon Steel Corp | Vehicle dispatching plan preparation device, vehicle dispatching plan preparation method, computer program and computer readable recording medium |
| CN201021981Y (en) * | 2007-02-13 | 2008-02-13 | 上海富洋科技发展有限公司 | Magnetic navigation differential carrying robot |
| CN101183265A (en) * | 2007-11-15 | 2008-05-21 | 浙江大学 | Automatic guidance system based on radio frequency identification tag and vision and method thereof |
| JP2009187266A (en) * | 2008-02-06 | 2009-08-20 | Olympus Corp | Control system of automated guided vehicle and its control program |
| JP2010092321A (en) * | 2008-10-09 | 2010-04-22 | Nippon Steel Corp | Carrier system control device, method of controlling carrier system, and program |
| KR20100103948A (en) * | 2009-03-16 | 2010-09-29 | 고려대학교 산학협력단 | Automated guided vehicle system and simulation method of the same |
| CN102103379A (en) * | 2009-12-17 | 2011-06-22 | 广州风神汽车有限公司 | Dispatching system of automated guided vehicle (AGV) |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN102495612A (en) * | 2011-12-24 | 2012-06-13 | 长春艾希技术有限公司 | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology |
| CN102608998A (en) * | 2011-12-23 | 2012-07-25 | 南京航空航天大学 | Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system |
| CN202615238U (en) * | 2012-06-01 | 2012-12-19 | 长安大学 | Upright type intelligent vehicle upright walking controller |
| CN103487812A (en) * | 2013-08-30 | 2014-01-01 | 江苏大学 | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method |
| CN104122895A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | AGV navigation method based on self-adaptive PID |
| CN104555222A (en) * | 2014-12-25 | 2015-04-29 | 北京物资学院 | Storage and distribution integration system and method based on insert-type AGV |
| CN104914869A (en) * | 2015-03-24 | 2015-09-16 | 南京航空航天大学 | UWB-based discrete manufacturing plant material delivery cart control system |
| CN105005206A (en) * | 2014-04-16 | 2015-10-28 | 上海交通大学 | AGV motion control semi-physical simulation system |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
-
2015
- 2015-12-04 CN CN201510895004.5A patent/CN105679168A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006107121A (en) * | 2004-10-05 | 2006-04-20 | Nippon Steel Corp | Vehicle dispatching plan preparation device, vehicle dispatching plan preparation method, computer program and computer readable recording medium |
| CN201021981Y (en) * | 2007-02-13 | 2008-02-13 | 上海富洋科技发展有限公司 | Magnetic navigation differential carrying robot |
| CN101183265A (en) * | 2007-11-15 | 2008-05-21 | 浙江大学 | Automatic guidance system based on radio frequency identification tag and vision and method thereof |
| JP2009187266A (en) * | 2008-02-06 | 2009-08-20 | Olympus Corp | Control system of automated guided vehicle and its control program |
| JP2010092321A (en) * | 2008-10-09 | 2010-04-22 | Nippon Steel Corp | Carrier system control device, method of controlling carrier system, and program |
| KR20100103948A (en) * | 2009-03-16 | 2010-09-29 | 고려대학교 산학협력단 | Automated guided vehicle system and simulation method of the same |
| CN102103379A (en) * | 2009-12-17 | 2011-06-22 | 广州风神汽车有限公司 | Dispatching system of automated guided vehicle (AGV) |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN102608998A (en) * | 2011-12-23 | 2012-07-25 | 南京航空航天大学 | Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system |
| CN102495612A (en) * | 2011-12-24 | 2012-06-13 | 长春艾希技术有限公司 | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology |
| CN202615238U (en) * | 2012-06-01 | 2012-12-19 | 长安大学 | Upright type intelligent vehicle upright walking controller |
| CN103487812A (en) * | 2013-08-30 | 2014-01-01 | 江苏大学 | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method |
| CN105005206A (en) * | 2014-04-16 | 2015-10-28 | 上海交通大学 | AGV motion control semi-physical simulation system |
| CN104122895A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | AGV navigation method based on self-adaptive PID |
| CN104555222A (en) * | 2014-12-25 | 2015-04-29 | 北京物资学院 | Storage and distribution integration system and method based on insert-type AGV |
| CN104914869A (en) * | 2015-03-24 | 2015-09-16 | 南京航空航天大学 | UWB-based discrete manufacturing plant material delivery cart control system |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
Non-Patent Citations (2)
| Title |
|---|
| 杨文东等: "机坪摆渡车实时调度系统仿真", 《南京航空航天大学学报》 * |
| 林剑冰等: "机器视觉导引的室内自动运输车定位系统", 《机械科学与技术》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103838152B (en) | A kind of ground test device for flight control system and control method | |
| CN102866201B (en) | Aircraft skin health monitoring robot and control system for same | |
| CN103226903B (en) | Dynamic simulation model of electrified high speed railway and simulation method thereof | |
| CN106476003A (en) | Modularization robot assembling external member, modularization robot cluster and the method that task is completed by modularization robot cluster | |
| CN102033546B (en) | Low-altitude airship flight control system and flight control method thereof | |
| CN112061412A (en) | Unmanned aerial vehicle intelligence hangar suitable for multiple installation demand | |
| CN107618675A (en) | A kind of test system and control method for tiltrotor total state blowing experiment | |
| CN205028572U (en) | Intelligent vehicle based on bluetooth orientation module and WIFI communication module | |
| CN205469865U (en) | Unmanned aerial vehicle that takes automatic charging device's unmanned on duty take off and land platform and system | |
| CN204398901U (en) | A kind of packaged type charging robot | |
| CN106652631A (en) | Airport operation control simulation training device | |
| CN103021221A (en) | Simulation system and simulation method for virtual driving behavior of drivers of subway trains | |
| CN112987702B (en) | In-loop simulation test system and method for unmanned single-marshalling transportation hardware of strip mine | |
| CN104375504A (en) | Running accompanying robot and tracking control strategy and movement control method for running accompanying robot | |
| CN206719516U (en) | System based near space stratospheric airship electromagnetic launch unmanned plane | |
| CN102945048A (en) | Multi-propeller spacecraft control device | |
| CN110827600A (en) | Mini automatic wharf experiment platform | |
| CN205206579U (en) | Emulation shield door aggregate unit | |
| CN105679168A (en) | Teaching experimental platform simulating ramp vehicle dispatching | |
| CN202183181U (en) | Comprehensive monitoring dynamic demonstration model system of subway station | |
| CN107171254B (en) | A kind of automatic laying tunnel cable robot and its application method | |
| CN101567134A (en) | Mobile plane cabin door butt joint training check simulator | |
| CN105667631A (en) | Self-bouncing obstacle-crossing remote control vehicle | |
| CN112947242A (en) | Embedded engineering dolly for education | |
| CN204398907U (en) | A kind of packaged type charging robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160615 |