CN106904047A - The many landform cylinder amplitude modulation vehicle wheels of self adaptation - Google Patents
The many landform cylinder amplitude modulation vehicle wheels of self adaptation Download PDFInfo
- Publication number
- CN106904047A CN106904047A CN201710248763.1A CN201710248763A CN106904047A CN 106904047 A CN106904047 A CN 106904047A CN 201710248763 A CN201710248763 A CN 201710248763A CN 106904047 A CN106904047 A CN 106904047A
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- China
- Prior art keywords
- wheel
- cylinder
- ring
- multigroup
- face block
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/18—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using fluid
- B60B9/24—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces using fluid with pistons and cylinders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/26—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
- B60B9/28—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes with telescopic action
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of vehicle wheels.The wheel includes：Wheel rim 1 constitutes flexible, hinged chain ring for multigroup rubber wheel face block assembly tandem array combination freely rotated around pin joint, and every two groups of rubber wheel face block assembly is hingeably secured to piston rod outer end and can freely rotate；Spoke is uniformly distributed along the circumference by the telescopic cylinder 2 of multigroup built-in tension spring and constituted；Wheel hub 3 includes power source and support interface, compressed air connecting port and there is provided motor-driven, the neutral switching device composition of plugging into.Telescopic-cylinder thrust is controlled according to road conditions, flexible rim is changed foreign steamer loop-shaped at stress in amplitude modulation mode and adapt to such as continuous step, the raised volt in hole, wet and slippery various landform road surfaces automatically, ground frictional force is grabbed in generation enough, the handling capacity of lifting obstacle detouring and multiple road, the vibrations of jolting that road surface is buffered and absorbed by telescopic cylinder ensure that wheel hub operates steadily comfortably.
Description
Technical field
It is a kind of various landform gas of self adaptation the present invention relates to the vehicle wheels in mechanical device and technical field of transportation
Cylinder amplitude modulation vehicle wheels.
Background technology
The wheel for using at present is generally combined the wheel outer layer rim part for constituting by aerated rubber tyre and outer layer metal circle
Point；The wheel spoke part that inwardly connection spoke or compacting, the metal spokes circle of casting are constituted；Last inwardly connection connects with pivot
The hub portion refuted these three major parts composition, driving force drives spoke and outer layer wheel rim to make rolling movement by wheel hub.Advantage
It is simple for structure, force of rolling friction is small, it is convex uneven to absorb the less hole in buffering ground and the vibrations of jolting of initiation.Because outer layer
Wheel rim is circular fixed dimension, and aerated rubber tyre can only occur limited compression when being contacted with road surface, is belonged to ground
The contact of single fulcrum small area, contact friction force is limited to cause wheel earth-grasping force limited, run into the larger obstacle of protrusion easily block it is not dead
Then slipping cannot move on, and lead to the disadvantage that as the successive steps first class face that can not ascend, run into compared with the convex injustice of hollow place
Vibrations of being jolted during road surface it is big or can not by, run into upper and lower heavy grade and wet and slippery muddy ground when original place rotate skidding and can not lead to
Cross.When this wheel is arranged side by side such as wheelchair, vehicle using motor application form in two-wheeled or so, it is necessary to propped up by auxiliary wheel
Support, increased extra frictional resistance during operation, consume partial power, because auxiliary wheel diameter triggers compared with little Yi and transmits additional
Vibrations of jolting, and influence the obstacle detouring and handling capacity of vehicle.Some applications are enhancing obstacle climbing ability, are added between two-wheeled and matched somebody with somebody
Single crawler type is put to ascend device, by original wheel jacking and crawler belt need to be switched to has ascended pattern in application, because being in the middle of two-wheeled
Lay, the device narrower width is limited and because jacking increased height by space, it is dangerous to there is rollover risk, and because it is singly
Crawler belt certainly will cause cornering difficulties, and device is laid and operates complicated, and actual application value is limited.Patent disclosed in December, 1988
Number it is the Wheels used for combined motor vehicle of CN88212089, is that a kind of coaxially abreast be increased beside common inflation wheel
One or more plum blossom-shaped tooth valve wheel spokes.Tooth valve wheel spoke is situated between by tooth valve, wheel body, non-movable piston, back-moving spring, high pressure
Matter input pipe etc. is constituted.Tooth valve is scalable by the effect of high-pressure medium and back-moving spring, so can reach assembled vehicle wheel
Worked by inflation wheel in common road traveling, tooth valve wheel spin is worked by tooth valve wheel in off-highway downward driving and inflated
Wheel spin.Because the original inflation wheel space for being limited to side takes, cause that device extendable room is limited to cause obstacle detouring energy
Power is limited, and because being to rotate to make the interrupted support works of plum blossom-shaped fulcrum by wheel, the violent comfortableness that causes to jolt is poor, also not
Climbing and the rotation skidding on wet and slippery muddy ground can be overcome, therefore above-mentioned many ascending for landform road surface can not be applicable and passed through,
And device adds, switches numerous and diverse, the scope of application improves little, and actual application value is limited.
The content of the invention
The technical problem to be solved in the invention is to overcome the shortcomings of background technology.According to different terrain road surface, there is provided one
Simple structure safe and reasonable is planted, the design that foreign steamer loop-shaped can be changed by changing radial dimension amplitude modulation at stress point is fitted automatically
With various landform road surfaces, the contact form of outer rim and road surface is changed according to the control of different terrain road surface, produce and different grab ground
Frictional force, adapts to different terrain road surface power demand, if two-wheeled is arranged side by side when applying, two-wheeled is distinguished forward and backward and is capable of achieving
The steering of 360 degree of original place, is not required to by other servicing units, itself can crossing over blockage and ensure various landform road surfaces by energy
Power, lifts power source utilization rate, and the vibrations of jolting that road surface is significantly buffered and absorbed by the design that spoke is made up of cylinder are protected
Card wheel hub operation is smooth, steadily ensure comfortableness, and operation, maintenance are simple in actual applications, safety, rationally reliability.
The present invention can be divided into the work of three kinds of motions operating mode：The first operating mode is with positive constant speed on smooth road surface with hard subgrade
Degree motion, at this moment wheel is contacted with single strong point face with road surface, be now filled with telescopic cylinder enough pressure compressed air and
Pretension spring produces maximum to stretch out thrust together, makes flexible, hinged rubber rim full mellow and full, with ground for single-point face contacts,
Rolling friction is mainly shown as in motion, the consumption of the frictional force that need to be overcome small resistance of motion low-power is minimum, this and prior art
Situation is close；Second operating mode for the convex uneven nature road surface in hole, upper and lower great slope and wet and slippery muddy road surface when with microinching,
See Fig. 1, appropriate compressed air is now filled with telescopic cylinder and is produced together with pretension spring and necessarily stretch out thrust, wheel is with more
The face that strong point face forms adaptation landform is contacted with road surface, and larger contact friction force can be produced to overcome skidding to ensure to pass through
Ability；The third operating mode with low-speed motion, is shown in Fig. 2 when crossing the larger physical relief of the artificial landform of step, convex-concave to creep, this
When telescopic cylinder in only deposit a small amount of compressed air, thrust is mainly produced by pretension spring, wheel can carry out larger radial direction amplitude modulation,
So that wheel flexible, hinged rubber rim self adaptation shape of mountain at each stress point is continuously connect with many strong point faces with road surface
Touch, in the case where the output of big torsion is promoted, produce Multi-contact frictional force to overcome stuck, skidding so as to ensure handling capacity.
Wheel technical scheme of the present invention is to see Fig. 1, Fig. 2：Wheel is main by outer rim part, middle spoke part, inner wheel hub
Partly these three parts are constituted.Described wheel rim part technical scheme is：It is multigroup to be articulated and connected around pin sleeve 1-4 and be around being hinged
The rubber wheel face block assembly tandem array combination that point is freely rotated constitutes flexible, hinged chain ring, every two groups of rubber wheel faces block combination
Body is articulated and connected in the retractable air cylinder piston bar 2-2 outer ends of spoke part, and can be around pin joint along axially free turn of piston rod
It is dynamic, and motion with retractable air cylinder piston bar 2-2 changes chain ring radial dimension and shape at this；Described spoke part technical side
Case is：The combination that is uniformly distributed along the circumference of the telescopic cylinder 2 of multigroup built-in pretension spring constitutes spoke part, will according to different operating modes
Ask, pour compressed air pressure size in control cylinder and whether there is, so as to control Telescopic-cylinder thrust, reach change flexible, hinged
Chain ring produces the purpose of different contact friction forces in the size and shape of radial direction amplitude modulation to adapt to Different Ground；Described wheel hub
Portion of techniques scheme is：The interface of configuration outside plug into power source and the strong point, connection transmission drives torsion, drives spoke, takes turns
Circle motion, sets compressed air connecting port connection external gas source, sets motor-driven, neutral switching device, the convenient extension scope of application.
After the technical scheme is set forth below carrying out kinematics analysis with mechanical virtual model machine software ADAMS
Effect:
ADAMS, i.e. machinery system dynamics automatically analyze (Automatic Dynamic Analysis of Mechanical
Systems), the software is that machine power company of the U.S. (Mechanical Dynamics Inc.) (has been incorporated to U.S. MSC
Company) exploitation virtual prototype analysis software.ADAMS is used by hundreds of principal manufacturer of whole world all trades and professions.
Fig. 3, Fig. 4 virtual background parameter：The whole audience applies 9.8N/M acceleration of gravity, and global coordinate system X, Y, Z are respectively
Level, vertical, the direction of screen three, unit：Length is millimeter；Quality for kilogram；Power is newton；Time is the second；Angle is degree；Frequently
Rate is hertz.Hub axis apply 600N loads vertically downward, and calculating has contemplated that deadweight.Fig. 3 virtual states are level land from static
Original state starting accelerates to the technical characteristics of 5 seconds, as can be seen from Figure：During static starting in 0-1.6 seconds, cylinder is without compression
Air only has the thrust of pretension spring, and flexible rim is with ground for multiple spot face contacts, and frictional resistance is big, and wheel hub drives demand to turn round
Square is big；Poured with cylinder compressed air within 1.6-4 seconds, wheel rim is gradually full mellow and full, frictional resistance reduces, and required moment of torsion is rapidly
Reduce；Convergence normally travel state after 4 seconds, wheel rim is contacted with single-point face, and driving torque is small and steady, is at this moment imitated with prior art
Fruit is substantially close, therefrom also reflects the slow lifting of hub centre and horizontal displacement course motion is smoothed and do not produce vibration harmonics.
Fig. 4 virtual states are only a small amount of compressed air in cylinder, continuous upper and lower under producing main thrust state by pretension spring
The technical characteristics of Fig. 2 are seen during step state of ascending, self adaptation ground shape carries out amplitude modulation and changes at flexible rim stress point
Become size and shape, be presented as that flexible rim is contacted in multiple spot face form with ground, generate big frictional force and ensure that earth-grasping force,
Smoothed out movement tendency, can reliable delivery moment of torsion ensure current, though driving torque is reflected from figure rise and fall making momentary fluctuation,
But the vertical of hub centre, the drift displacement curve are very smooth, steadily do not produce vibration harmonics, possesses good comfortableness and should
Use prospect.
Brief description of the drawings
Fig. 1：Wheel of the present invention carries out the simplified model axonometric drawing when smooth-riding surface is simulated in kinematics analysis.
Fig. 2：Wheel of the present invention carries out the simplified model axle in continuous step test pavement simulating in kinematics analysis
Mapping.
Fig. 3, Fig. 4：The technical parameter that kinematics analysis is produced is carried out with mechanical virtual model machine software ADAMS
Chart.
Fig. 5：The positive facade installation diagram in outside during wheel specific embodiment of the present invention.
Fig. 6：During wheel specific embodiment of the present invention the members of wheel rim part be show assembly relation assembling it is quick-fried
Fried figure.
Fig. 7：Single set positive facade installation diagram of pretension telescopic cylinder of spoke part during wheel specific embodiment of the present invention.
Fig. 8：Single set pretension telescopic cylinder A-A complete sections face assembling of spoke part during wheel specific embodiment of the present invention
Figure.
Fig. 9：The positive facade installation diagram of hub portion during wheel specific embodiment of the present invention.
Figure 10：The B-B rotation section installation diagrams of hub portion during wheel specific embodiment of the present invention.
Specific embodiment
Wheel rim part specific implementation technical scheme described in wheel of the present invention is to see Fig. 3, Fig. 4：Outside rubber wheel face block 1-1
The fluted anti-skidding tread of surface rolling, its two connection end is respectively set to male and female threading shape interface, under rubber wheel face block 1-1
Portion two ends set swallow-tail form protuberance and connect and fix on the fixed metal foundation piece 1-2 in two panels with belt transect dovetail draw-in groove, then by
Both sides position composition rubber wheel face is packaged with assembly inside and outside the spacing spacing fixations of sheet metal 1-3 of two panels, and this assembly is easy to day
Often safeguard and change, the mutually hinged connections of pin sleeve 1-4, rivet are passed through with assembly by the rubber wheel face of multigroup tandem array is packaged
The spacing rivetings of 1-5 are fixed to form flexible chain ring, and the mounting assembly snap-in mouthful linking of composition is continuous, chain ring entirety outer contour is put down
Sliding, every group of rubber wheel face be packaged to be done positive and negative 60 degree and freely rotates dry without colliding with assembly around pin sleeve 1-4
Relate to, every two groups of rubber wheel faces are packaged to be hingedly connected to connector 1-6 with assembly by the middle pin sleeve 1-4 that can freely rotate
On, connector 1-6 is screwed on the outer end of the piston rod 2-2 of telescopic cylinder, and locking is positioned and fixed by locking nut 2-5,
And every group can axially do along piston rod 2-2 and positive and negative freely rotate.
The spoke part specific implementation technical scheme is to see Fig. 3, Fig. 5, Fig. 6：Spoke part by multigroup telescopic cylinder 2,
Retractable dustproof set 2-7, bracing ring 5 and locking nut 5-1 are constituted.Every group by cylinder block 2-1 in two ends sealing ring with screw thread
It is fixedly connected the upper cylinder lid 2-3 with steam vent 2-3-1 and spacing O-shaped dust-proof seal ring 2-9, band compressed air in groove
The lower cylinder lid 2-4 of interface holes 2-4-1 constitutes block assembly；Piston rod 2-2 and the work being fixed thereon by nut spring packing ring
Cock body 2-8, spacing wear-resistant guiding set 2-11, O-shaped wear-resistant seal circle 2-10 in piston body groove, gap cooperation is socketed in work
Anticollision cushion pad 2-12, wear-resistant guiding set 2-13 on stopper rod constitutes piston body component；Independent built-in pretension spring 2-6 and lock
Tight nut 2-5 assembling combinations are constituted.Adjusted by piston rod 2-2 outer ends locking nuts 2-5, fixed connector 1-6, bracing ring 5
Outer end with upper cylinder lid 2-3 is fixed by locking nut 5-1, lower cylinder lid 2-4 screw threads are fixed in wheel hub clamping ring 3-1 along circle
In the control location hole 3-1-2 of Zhou Junbu, the sealed circles of compressed air interface hole 2-4-1 of lower cylinder lid 2-4 are threadedly connected to
On the hole of distribution pipe ring 4.
Described hub portion specific implementation technical scheme is to see Fig. 3, Fig. 7, Fig. 8：Wheel hub assembly is main by following structure
Part is assemblied：It is uniformly distributed along the circumference many and supports spoke 3-1-1 and the number that is uniformly distributed along the circumference solid for air cylinder group number identical position
Determine the wheel hub clamping ring 3-1 of hole 3-1-2, the disk of plugging into of the strong point of outwards plugging into is fixed on inward through mating connection bearing 3-2
On 3-3, and position to be fixed on by least three alignment pin 3-1-6 and 3-3-2 of circumference uniform distribution and plug on disk 3-3, according to knot
Close drive plate 3-4 and be selected at motor-driven or neutral diverse location, the rotation that is synchronized with the disk 3-3 that plugs into is operated in respectively and is transmitted
Power or the both of which of lost motion is done around bearing 3-2, the threaded upper ends connection air cavity lid 3-6 of wheel hub clamping ring 3-1 matches somebody with somebody
Close seal O-ring 3-6-1,3-6-2 and sealing ring 3-6-3 forms compressed air distribution air cavity 3-1-4, by what is be uniformly distributed along the circumference
Multiple passage 3-6-2 UNICOMs compressed air hose 3-9, and be threadedly connected to by the way that the hole 3-1-3 of circumference uniform distribution thereon is sealed
On the branch pipe 4-1 of distribution pipe ring 4；It is outer that the disk 3-3 that plugs into externally reliably locks connection by multiple screwed hole 3-3-1 of circumference uniform distribution
Support is connect to transmit support force；It is connected in wheel hub clamping ring 3-1 by the cylindrical spline 3-4-2 in upper end with reference to drive plate 3-4
Splined hole 3-1-5 in can axially move for select lower end be fitted spline tooth 3-4-1 whether be fitted connection power input source
Spline tooth, do the motor-driven switching with neutral；The sealed circles of compressed air distribution air cavity lid 3-6 are threadedly secured in wheel hub clamping ring 3-
On 1；Motor-driven, neutral selection knob 3-8 is threadedly attached on air cavity lid 3-6, and can make lower loop by its left and right rotation
Shape groove 3-8-1 is moved up and down vertically, drives interlocking connector 3-7 therein to move up and down vertically, is driven by connector 3-7
It is axially moveable with reference to drive plate 3-4；Connector 3-7 is by least three connecting rods and upper end clamping rings part that are uniformly distributed along the circumference
Constitute, connecting rod lower end is threadedly secured in reference on drive plate 3-4, and annulus part is rabbeted in the annular groove 3-8-1 with air cavity lid 3-6
And can only be radially from by rotating；Compressed air hose 3-9 lower ends are connected with external air source, and upper end coordinates through bearing 3-5 to be fixed on
Can freely be rotated in wheel hub clamping ring 3-1, so as to not follow hub rotation to make itself to maintain static, upper end inner hole is in gas
Chamber lid 3-6 lower ends cylindrical upper and with two pass seal with O ring compressed air.
Claims (7)
1. the outer rim part that a kind of various landform cylinder amplitude modulation vehicle wheels of self adaptation, including flexible chain ring are constituted（1）、
The spoke part that multigroup telescopic cylinder is constituted（2）And hub portion（3）, it is characterised in that described outer rim part by it is multigroup around
The rubber wheel face block assembly tandem array assembling combination that pin joint is connected and can freely rotated constitutes flexible, hinged chain ring, every two
Group rubber wheel face block assembly is articulated and connected in the retractable air cylinder piston bar of spoke part（2-2）Outer end, and can be along piston rod
Axially free rotation, and with retractable air cylinder piston bar（2-2）Motion amplitude modulation change chain ring radial dimension and shape, spoke at this
Part is it is characterized in that by multigroup telescopic cylinder（2）The combination that is uniformly distributed along the circumference is constituted, and lower cylinder cap is provided with connection compressed air interface
Hole（2-4-1）, pretension spring is configured with cylinder block（2-6）, hub portion is it is characterized in that be configured with connecing for external support
Refute disk（3-3）, external connection power fitting disk（3-4）, it is configured with the compressed air hose of external gas source（3-9）.
2. according to the wheel rim part of the wheel described in claim 1 characterized in that, rubber wheel face block（1-1）Outer surface is suppressed with
Antiskid groove tread, two connection end is respectively set to male and female threading shape interface, and bottom two ends set the clamping of swallow-tail form protuberance simultaneously
It is fixed on fixed metal foundation piece of the two panels with belt transect dovetail draw-in groove（1-2）On, then by the spacing sheet metal of two panels（1-3）It is spacing solid
Fixed inside and outside both sides position constitutes rubber wheel face block assembly, and pin sleeve is passed through by the rubber wheel face block assembly of multigroup tandem array
（1-4）Mutually hinged connection, rivet（1-5）The spacing flexible chain ring of fixed formation.
3. according to the spoke part of the wheel described in claim 1 characterized in that, being provided with positioning and locking nut（2-5）And connection
Head（1-6）Be articulated and connected pin sleeve（1-4）, outwardly directed piston rod（2-2）It is configured with the dust-proof soft set that stretches（2-7）, upper cylinder half
Lid is configured with steam vent（2-3-1）, lower cylinder cap interface holes（2-4-1）Sealed circle is threaded io distribution pipe ring（4）On.
4. according to the spoke part of the wheel described in claim 1 characterized in that, its upper cylinder cover is provided with O-shaped dust-proof seal ring
（2-9）, piston body（2-8）It is upper to be furnished with wear-resistant guiding circle（2-11）, O-shaped wear-resistant seal sealing ring（2-10）, bumper（2-12）,
Piston rod（2-2）On be configured with wear-resistant guiding set（2-13）.
5. according to the hub portion of the wheel described in claim 1 characterized in that, wheel hub clamping ring（3-1）, inward through matching somebody with somebody
Close connection bearing（3-2）It is fixed on disk of plugging into（3-3）On, according to combining drive plate（3-4）Position, be operated in be synchronized with respectively
Plug into disk（3-3）Rotation or around bearing（3-2）The both of which of lost motion is done, disk of plugging into（3-3）By circumference uniform distribution
Multiple screwed holes（3-3-1）The external strong point of external connection, with reference to drive plate（3-4）By the cylindrical spline in upper end（3-4-2）
It is connected in wheel hub clamping ring（3-1）Splined hole（3-1-5）In can axially move for select lower end be fitted spline tooth
（3-4-1）Whether fitting connect power input source spline tooth.
6. according to the hub portion of the wheel described in claim 1 characterized in that, being configured with knob（3-8）, connector（3-
7）, with reference to drive plate（3-4）Motor-driven, the neutral switching device for constituting.
7. according to the wheel described in claim 1 hub portion one of which distribution form, it is characterised in that by wheel hub connect
Adapter ring（3-1）, air cavity lid（3-6）And compressed air hose（3-9）O-ring seal (3-6-1) and (3-6-2) is coordinated to form compression empty
Qi leel air distribution cavity（3-1-4）, and by the hole of circumference uniform distribution thereon（3-1-3）Sealed circle is threaded io distribution pipe ring（4）
Branch pipe (4-1) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710248763.1A CN106904047A (en) | 2017-04-17 | 2017-04-17 | The many landform cylinder amplitude modulation vehicle wheels of self adaptation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710248763.1A CN106904047A (en) | 2017-04-17 | 2017-04-17 | The many landform cylinder amplitude modulation vehicle wheels of self adaptation |
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| Publication Number | Publication Date |
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| CN106904047A true CN106904047A (en) | 2017-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710248763.1A Pending CN106904047A (en) | 2017-04-17 | 2017-04-17 | The many landform cylinder amplitude modulation vehicle wheels of self adaptation |
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| CN110303818B (en) * | 2019-07-26 | 2024-06-04 | 安徽沪宁智能科技有限公司 | All-terrain wheel of fire-fighting robot |
| CN112461748A (en) * | 2020-11-25 | 2021-03-09 | 西南科技大学 | Ultra-low friction wheel-fuu structure friction pair |
| CN113805589A (en) * | 2021-08-31 | 2021-12-17 | 中煤科工集团重庆研究院有限公司 | Mobile platform control system and method based on multi-source sensor data |
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Application publication date: 20170630 |