CN107942818A - A kind of SCM Based step motor position control circuit and its control method - Google Patents
A kind of SCM Based step motor position control circuit and its control method Download PDFInfo
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- CN107942818A CN107942818A CN201711368772.0A CN201711368772A CN107942818A CN 107942818 A CN107942818 A CN 107942818A CN 201711368772 A CN201711368772 A CN 201711368772A CN 107942818 A CN107942818 A CN 107942818A
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- stepper motor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of SCM Based step motor position control circuit and its control method, including microcontroller, the I/O interface input terminal of microcontroller connects signal deteching circuit and optical coupling isolation circuit in place；The I/O interface output terminal of microcontroller connects motor drive signal circuit, numeral method and drive circuit and LED display circuit；The I/O interface of microcontroller is bi-directionally connected keyboard control circuit, eeprom circuit and communicating circuit；Wherein microcontroller is also connected with power circuit, and power circuit provides 5V power supplys.By designing hardware control circuit and control method so that position control reliability of the stepper motor under complex working condition is high, and repeatable accuracy is high, and can real-time display, it is versatile.
Description
Technical field
The invention belongs to step motor control technical field；More particularly to a kind of SCM Based step motor position control
Circuit processed and its control method.
Background technology
Existing step motor position control circuit generally adds simple software threshold process using limit switch, at some
Simply may relatively it be applicable in the case of station less, but in some complexity, multistation, multi-shaft interlocked position control situation
Lower reliability, fault-tolerance are poor, and the repeatable accuracy of position control generally cannot intuitively be shown, otherwise the product developed
Installation dimension requirement that can be to actual limit switch is higher, otherwise need to need relevant engineering technology people after installing
Member carries out on-line debugging program, time-consuming and laborious.
The content of the invention
The present invention provides a kind of SCM Based step motor position control circuit and its control method, pass through design
Hardware control circuit and control method so that position control reliability of the stepper motor under complex working condition is high, and repeatable accuracy is high,
And can real-time display, it is versatile.
The technical scheme is that：A kind of SCM Based step motor position control circuit, including microcontroller, it is single
The I/O interface input terminal of piece machine connects signal deteching circuit and optical coupling isolation circuit in place；The I/O interface output terminal connection of microcontroller
Motor drive signal circuit, numeral method and drive circuit and LED display circuit；The I/O interface of microcontroller is bi-directionally connected keyboard
Control circuit, eeprom circuit and communicating circuit；Wherein microcontroller is also connected with power circuit, and power circuit provides 5V power supplys；Institute
State signal deteching circuit in place and send signal in place to microcontroller；Optical coupling isolation circuit sends control signal to microcontroller；Monolithic
Machine sends driver pulse, direction drive signal and stepper motor to motor drive signal circuit and moves signal in place；Microcontroller
LED drivings, which are sent, to LED display circuit shows signal；Eeprom circuit is used for the stepper motor motion bit for preserving microcontroller transmission
Confidence ceases, and microcontroller reads the information that eeprom circuit preserves；Keyboard control circuit is selected for control model.
Further, the features of the present invention also resides in：
The pattern of wherein keyboard control circuit control includes debugging mode and normal mode, and debugging mode includes automated location
Pattern and manual position pattern.
Wherein numeral method and drive circuit and keyboard control circuit uses CH451 chips, and by 4 line serial ports with
Microcontroller connects.
Wherein eeprom circuit uses 24C02 chips, and is connected by iic bus interface with microcontroller.
Wherein communicating circuit is using usb bus switching chip CH341/CH340 or the MAX232 using RS*232 communications
Chip.
The present invention another technical solution be：A kind of control method of above-mentioned step motor position control circuit, including with
Lower step：
Step S1, initializes control circuit；It is specific to include reading the information of eeprom circuit, configure charactron
Display and the display parameters of drive circuit, configure optical coupling isolation circuit；
Step S2, control circuit reset stepper motor；
Step S3, control circuit carry out keys interrupt judgement；If without keys interrupt, step S4 is carried out, is carried out if having
Motor interruptions process, then carries out step S5；
Step S4, control circuit receive control process into line command；In the case of non-debugging mode, microcontroller receives
Then station sets stepper motor speed parameter according to umber of pulse, it is then determined that stepper motor reaches the station, walks to order of the bit
After stepper motor completes the process of the station, stepper motor resets, and what then microcontroller continued to other stations arrives order of the bit；
Step S3 is jumped under debugging mode；
Step S5, control circuit match keystroke pattern and are acted accordingly, complete dynamic in the case of keys interrupt
Return to step S3 after work.
Further, the features of the present invention also resides in：
The detailed process of stepper motor reset is in wherein step S2：Stepper motor is inverted, is detected simultaneously by multiple
Position signal, closes stepper motor and enables, and improves motor pulses, then is rotated forward stepper motor, is detected simultaneously by reset letter
Number, close stepper motor and enable, while motor pulses are reset, complete stepper motor and reset.
The detailed process of wherein step S3 is：Motor arteries and veins is adjusted by the enabled state and rotation direction of stepper motor first
Punching, is then at the uniform velocity, to complete the interruption of stepper motor according to the acceleration figure of stepper motor and deceleration value adjustment stepper motor.
In wherein step S4, stepper motor receives push button signalling when carrying out process on station, then stepper motor resets,
Enter motor interruptions process at the same time, and carry out step S5.
Keystroke pattern includes automatic debugging mode, rotates forward debugging mode, manually reversion debugging mould manually in wherein step S5
Formula, cancel keystroke pattern and confirm keystroke pattern.
Compared with prior art, the beneficial effects of the invention are as follows：By designing its software and hardware combining, microcontroller is mainly complete
The paired initialization of circuit system, the processing of signal and the realization of motion control arithmetic, key circuit are used for selecting residing for system
Pattern, wherein pattern is divided into：Debugging mode and normal mode of operation, debugging mode are divided into automated location pattern, manual position again
Put pattern.Pulse and direction signal, numeral method and drive needed for motor drive signal circuit output stepper motor driver
The number of pulses of dynamic circuit drives charactron real-time display stepper motor system of distance origin, LED display circuit driving LED light are shown
Show the limit-switch positions residing for current stepper motor.Eeprom circuit preserves the positional information of stepper motor movement, system
Position control is inputted the control signal of other control system by optical coupling isolation circuit.It can also be realized by communicating circuit.This hair
It is bright so that position control reliability of the stepper motor under complex working condition be high, repeatable accuracy can with real-time display and versatile,
Common laborer can carry out on-line debugging, convenient and simple.
Brief description of the drawings
Fig. 1 is the hardware circuit figure of the present invention；
Fig. 2 is reseting procedure and station schematic diagram in the present invention；
Fig. 3 is the flow diagram of control method of the present invention；
Fig. 4 is the flow diagram of reseting procedure in the present invention；
Fig. 5 is the flow diagram of motor interruptions process in the present invention；
Fig. 6 is the flow diagram that order receives control process in the present invention；
Fig. 7 is the flow diagram of button debugging process in the present invention.
In figure：1 is LED display circuit；2 be eeprom circuit；3 be communicating circuit；4 be motor drive signal circuit；5 are
Microcontroller；6 be optical coupling isolation circuit；7 be signal deteching circuit in place；8 be keyboard control circuit；9 be numeral method and drive
Dynamic circuit；10 be power circuit.
Embodiment
Technical scheme is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
The present invention provides a kind of SCM Based step motor position control circuit, as shown in Figure 1, including microcontroller
5th, the I/O interface input terminal of microcontroller 5 connects signal deteching circuit 7 and optical coupling isolation circuit 6 in place；The I/O interface of microcontroller 5 is defeated
Outlet connection motor drive signal circuit 4, numeral method and drive circuit 9 and LED display circuit 1；The I/O interface of microcontroller 5
It is bi-directionally connected keyboard control circuit 8, eeprom circuit 2 and communicating circuit 3.
Preferably, power circuit 10 and motor drive signal circuit 4 are powered using exterior 12V DC power supply, 12V DC electricity
Source is by output 5V power supplys after voltage stabilizing, filtering, signal deteching circuit in place 7, the light being connected for microcontroller 5 and with microcontroller
Coupling isolation circuit 6, motor drive signal circuit 4, LED display circuit 1, numeral method and drive circuit 9, keyboard control circuit
8th, eeprom circuit 2 and communicating circuit 3 take electricity.
Preferably, microcontroller 5 is mainly completed initialization to control circuit and the processing of various signals and is realized to step
The control of stepper motor.The input terminal of microcontroller 5IO interfaces receives the signal in place of signal deteching circuit 7 in place and light-coupled isolation electricity
The control signal on road 6；The output terminal of microcontroller 5IO interfaces is to the 4 output driving pulse of motor drive signal circuit and the drive in direction
Dynamic signal and stepper motor move signal in place, and LED drive signal is exported to LED display circuit 1.
Preferable numeral method and drive circuit 9 and keyboard control circuit 8 use CH451 chips, it is serial by 4 lines
The I/O interface of interface and microcontroller 5 is bi-directionally connected；Eeprom circuit 2 uses 24C02 chips, it passes through iic bus interface and list
The I/O interface of piece machine 5 is bi-directionally connected.
Wherein numeral method and drive circuit 9 make the umber of pulse of charactron real-time display stepper motor system of distance origin
Amount, key circuit are used for selecting the pattern residing for system, its pattern includes：Debugging mode and normal mode of operation, debug mould
Formula includes automated location pattern and manual position pattern.LED light shows the limit-switch positions residing for current stepper motor.
Eeprom circuit 2 preserves the positional information of stepper motor movement, and the position control of system can be inputted by optical coupling isolation circuit 6
The control signal of other control system, or realized by communicating circuit 3.
Preferably, communicating circuit 3 is using usb bus switching chip CH341, CH340 or using RS-232 communications
MAX232 chips.
Present invention also offers the method that above-mentioned control circuit is controlled stepper motor, as shown in Fig. 2, in some work
To make in scene, system origin is O on the line slideway where stepper motor, and O ' is the deceleration displacement that stepper motor returns to origin,
Station 1 is P1 points, and station 2 is that the corresponding station N of P2 points ... is PN points；Its control method is as follows：
As shown in figure 3, including being initialized first to control circuit, then stepper motor is resetted, control electricity
After the initialization of step S1 and the reset of step S2 are completed in road, microcontroller 5 is determined whether by key pressing, is had by key pressing then
Key code is read, key flag bit puts 1；Debugging mode flag is not judged then by key pressing whether to be 1, is 1 then always
Push button signalling inquiry is carried out, do not enter step S4 for 1 receives control process into line command；Then judge by key flag as whether
It is then key flag bit clear 0, and match button and acted accordingly for 1, carries out step S5；Then before jumping to again
Determine whether keys interrupt described in face, circulate always.
After so programming is advantageous in that microcontroller 5 powers on, always into line command control model if without button；
Button is matched if having first time button and enters debugging mode, carries out relevant action.Button inquiry is carried out in debugging mode always.
Until related key is pressed and carries out relevant action.Do not enter back into order control model.Such program structure can make to set
It can be debugged at any time during received shipment row, more convenient, SCM program response speed faster, improves the effect of program in addition
Rate.
Step S1：After microcontroller 5 powers on, control circuit is initialized, specifically configures interrupt register, configuration
The display parameters of numeral method and drive circuit；Judge assignment is whether there is in EEPROM, if without if clear 0, if there is microcontroller 5
Obtain its all byte.
Step S2：Control circuit resets stepper motor, its detailed process is as shown in figure 4, stepper motor first
Reversion, and rotating speed is improved, first timer is concurrently set, first timer provides pulse and enables, stepper motor band dynamic load
Quickly moved to origin O, after microcontroller has detected reset signal, be delayed 1-10ms, there is provided after 5-30 pulse signal,
Stepper motor weathering zone dynamic load, which continues to run with a distance and runs to O ' points, the segment distance, is no more than the 2/3 of spacing leaf length；
Then stepper motor rotates forward, and the pulse provided by first timer enables, and band dynamic load low speed is moved to origin, in microcontroller
5 when not detecting reset signal, and second of banking stop moves to O points, closes stepper motor and enables, while the arteries and veins of stepper motor
Number clear 0 is rushed, and by numeral method, completes stepper motor and resets.
Step S3, motor interruptions process be, its detailed process as shown in figure 5, to first determine whether stepper motor has enabled,
If then judging that motor drive direction is rotating forward or reversion, in the case that motor rotates forward：First determine whether motor pulses exceed
The maximum number of pulses of setting, the umber of pulse+1 if being not above, impulse level reversion；In the case of motor reversal：First determine whether
Whether motor pulses are 0, if not 0 umber of pulse -1, impulse level equally reversion is just switching to same mode with motor；Pulse electricity
Redress after turning, judge whether number of pulses is equal to the number of pulses that station N is preserved, if it is, motor is set to bit flag
1, then first timer is to stepper motor progress acceleration and deceleration process.
Wherein when motor rotates forward, if motor pulses are 0 liang when motor pulses exceed maximum number of pulses and motor reversal
During kind situation, it is directly entered first timer and acceleration and deceleration process is carried out to stepper motor.
First timer to stepper motor carry out acceleration and deceleration process detailed process be：Acceleration figure is not 0 situation first
Under, first timer dress value, wherein TL1=(velocity amplitude-acceleration figure) ＆0xff, TH1=((velocity amplitude-acceleration figure)>>8)&
0xff, then accelerates to -1；Secondly in the case where being at the uniform velocity worth not for 0, to first timer dress value, wherein TL1=velocity amplitudes ＆
0xff, TH1=(velocity amplitude>>8) ＆0xff, is then at the uniform velocity worth -1；It is fixed to first finally in the case where deceleration value is not 255
When device in dress value, wherein TL1=(velocity amplitude-deceleration value) ＆0xff, TH1=((velocity amplitude-deceleration value)>>8) ＆0xff, afterwards
Deceleration value -1.If acceleration figure is 0, at the uniform velocity value is 0 or in the case that deceleration value is 255, first timer dress value, TL1=
Su Duzhi ＆0xff, TH1=(velocity amplitude>>8)&0xff.Motor interruptions process is completed at this time.
Step S4, order receives control process, as shown in fig. 6, it is first determined whether having station signal in place, wherein monolithic
Machine can receive 1 or multiple station signal in place at the same time；Microcontroller receives station signal in place, then judges that real electrical machinery is run
Whether the umber of pulse of the station of the umber of pulse with being preserved in EEPROM is equal, then judges whether actual pulse number is big if unequal
In the umber of pulse of the station of preservation, wherein more than then motor reversal, rotated forward less than then motor.Then setting speed parameter and electricity
Machine enables, and opens first timer, and then in place whether, and whether signal deteching circuit 7 is issued to real-time judge motor in place
Position signal, microcontroller 5 receive signal in place and then close first timer, and motor enables clear 0, and shows current PRF number simultaneously
Microcontroller is sent, microcontroller preserves the umber of pulse of the station again in EEPROM；For other stations, its method is identical.When
All stations are completed in place after signal, which is resetted.
Step S5, button debugging process is as shown in fig. 7, its detailed process is：Button control model includes automatic debugging mould
Formula, rotate forward debugging module, invert debugging module manually, cancel button and confirm button manually.Automatically debugging mode is：Button one
Secondary, at automatic running to next station, when operation is to last station, stepper motor returns to origin；Debugging is rotated forward manually
Pattern is：After button, stepper motor is acted, and key mode is divided into crawl button and grows dynamic button, in the case of crawl, presses
Once, stepper motor carries out the stepping-in amount of 1 pulse to key, and in the case that length is dynamic, first timer, motor are opened while pressing
It is enabled, acted, when button discharges, close first timer, eliminated motor and enable；The principle of reversion debugging mode manually
Identical with rotating forward debugging mode manually, its direction of motor rotation is opposite；It is clear 0 to cancel button, that is, removes current station and exist
The pulse byte preserved in EEPROM；Determine that button works as station pulse byte to preserve, and be stored in EEPROM, long-press determines
Button, then debugging mode flag clear 0 return to.
Claims (10)
1. a kind of SCM Based step motor position control circuit, it is characterised in that including microcontroller (5), microcontroller (5)
The connection of I/O interface input terminal signal deteching circuit (7) and optical coupling isolation circuit (6) in place；The I/O interface output of microcontroller (5)
End connection motor drive signal circuit (4), numeral method and drive circuit (9) and LED display circuit (1)；Microcontroller (5)
I/O interface is bi-directionally connected keyboard control circuit (8), eeprom circuit (2) and communicating circuit (3)；
The microcontroller (5) is also connected with power circuit (10), and power circuit (10) provides 5V power supplys；The electricity of signal detection in place
Road (7) sends signal in place to microcontroller (5)；Optical coupling isolation circuit (6) sends control signal to microcontroller (5)；Microcontroller (5)
Driver pulse, direction drive signal and stepper motor, which are sent, to motor drive signal circuit (4) moves signal in place；Microcontroller
(5) LED drivings are sent to LED display circuit (1) and shows signal；Eeprom circuit (2) is used for the step for preserving microcontroller (5) transmission
Stepper motor movement position information, and microcontroller (5) reads the information that eeprom circuit (2) preserves；Keyboard control circuit (8) is used
Selected in control model.
2. SCM Based step motor position control circuit according to claim 1, it is characterised in that the keyboard
The pattern of control circuit (8) control includes debugging mode and normal mode, and debugging mode includes automated location pattern and manual position
Put pattern.
3. SCM Based step motor position control circuit according to claim 1, it is characterised in that the number
Pipe is shown and drive circuit (9) and keyboard control circuit (8) use CH451 chips, and passes through 4 line serial ports and microcontroller (5)
Connection.
4. SCM Based step motor position control circuit according to claim 1, it is characterised in that described
Eeprom circuit (2) uses 24C02 chips, and is connected by iic bus interface with microcontroller (5).
5. SCM Based step motor position control circuit according to claim 1, it is characterised in that the communication
Circuit (3) is using usb bus switching chip CH341/CH340 or the MAX232 chips using RS*232 communications.
6. a kind of control method of step motor position control circuit as claimed in claim 1, it is characterised in that including following
Step：
Step S1, initializes control circuit；It is specific to include reading the information of eeprom circuit, configure numeral method
And the display parameters of drive circuit, configure optical coupling isolation circuit；
Step S2, control circuit reset stepper motor；
Step S3, control circuit carry out keys interrupt judgement；If without keys interrupt, step S4 is carried out, motor is carried out if having
Interruption process, then carries out step S5；
Step S4, control circuit receive control process into line command；In the case of non-debugging mode, microcontroller receives station
To order of the bit, stepper motor speed parameter is then set according to umber of pulse, it is then determined that stepper motor reaches the station, stepping electricity
After machine completes the process of the station, stepper motor resets, and what then microcontroller continued to other stations arrives order of the bit；Debugging
Step S3 is jumped under pattern；
Step S5, control circuit in the case of keys interrupt, matching keystroke pattern simultaneously acted accordingly, execution it
Return to step S3 afterwards.
7. the control method of step motor position control circuit according to claim 6, it is characterised in that the step S2
The detailed process that middle stepper motor resets is：Stepper motor is inverted, is detected simultaneously by reset signal, closes stepper motor
It is enabled, and motor pulses are improved, then stepper motor is rotated forward, reset signal is detected simultaneously by, stepper motor is closed and enables,
Motor pulses are reset at the same time, stepper motor is completed and resets.
8. the control method of step motor position control circuit according to claim 6, it is characterised in that the step S3
Detailed process be：Motor pulses are adjusted by the enabled state and rotation direction of stepper motor first, then according to stepping electricity
Acceleration figure and deceleration value the adjustment stepper motor of machine are at the uniform velocity, to complete the interruption of stepper motor.
9. the control method of step motor position control circuit according to claim 6, it is characterised in that the step S4
In, stepper motor receives push button signalling when carrying out process on station, then stepper motor resets, while enters motor interruptions mistake
Journey, and carry out step S5.
10. the control method of step motor position control circuit according to claim 6, it is characterised in that the step
In S5 keystroke pattern include automatic debugging mode, manually rotate forward debugging mode, manually invert debugging mode, cancel keystroke pattern and
Confirm keystroke pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711368772.0A CN107942818B (en) | 2017-12-18 | 2017-12-18 | Control method of stepping motor position control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711368772.0A CN107942818B (en) | 2017-12-18 | 2017-12-18 | Control method of stepping motor position control circuit |
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| Publication Number | Publication Date |
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| CN107942818A true CN107942818A (en) | 2018-04-20 |
| CN107942818B CN107942818B (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711368772.0A Active CN107942818B (en) | 2017-12-18 | 2017-12-18 | Control method of stepping motor position control circuit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631253A (en) * | 2020-12-18 | 2021-04-09 | 广东嘉腾机器人自动化有限公司 | Method for rapidly checking abnormal condition of AGV driving mechanism |
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| CN102490110A (en) * | 2011-12-02 | 2012-06-13 | 浙江理工大学 | Control device for crystal grinding machine |
| JP2014196986A (en) * | 2013-03-29 | 2014-10-16 | セイコーインスツル株式会社 | Stepping motor control circuit, movement and analog electronic timepiece |
| CN104589395A (en) * | 2013-10-21 | 2015-05-06 | 浙江飞力科技股份有限公司 | Plastic strip cutting machine with control circuit |
| CN204423013U (en) * | 2014-12-30 | 2015-06-24 | 浙江西盈科技有限公司 | A kind of Intellectual Valve Controller with multilingual words selection function |
| CN206673862U (en) * | 2017-04-07 | 2017-11-24 | 浙江邮电职业技术学院 | A kind of SCM Based step motor control system |
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|---|---|---|---|---|
| GB1440646A (en) * | 1972-10-11 | 1976-06-23 | Ibm | Stepping motor control arrangements |
| CN101694412A (en) * | 2009-10-19 | 2010-04-14 | 南京航空航天大学 | Air inlet passage dynamic pressure acquisition and tail cone control device |
| CN201536338U (en) * | 2009-11-19 | 2010-07-28 | 太原超禹科贸有限公司 | Microstepping motor closed-loop controller |
| CN102490110A (en) * | 2011-12-02 | 2012-06-13 | 浙江理工大学 | Control device for crystal grinding machine |
| JP2014196986A (en) * | 2013-03-29 | 2014-10-16 | セイコーインスツル株式会社 | Stepping motor control circuit, movement and analog electronic timepiece |
| CN104589395A (en) * | 2013-10-21 | 2015-05-06 | 浙江飞力科技股份有限公司 | Plastic strip cutting machine with control circuit |
| CN204423013U (en) * | 2014-12-30 | 2015-06-24 | 浙江西盈科技有限公司 | A kind of Intellectual Valve Controller with multilingual words selection function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631253A (en) * | 2020-12-18 | 2021-04-09 | 广东嘉腾机器人自动化有限公司 | Method for rapidly checking abnormal condition of AGV driving mechanism |
| CN112631253B (en) * | 2020-12-18 | 2022-05-10 | 广东嘉腾机器人自动化有限公司 | Method for rapidly checking abnormal condition of AGV driving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107942818B (en) | 2020-10-30 |
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