CN108406736A - Suspension type robot system and sorting system and its discriminating direction method - Google Patents
Suspension type robot system and sorting system and its discriminating direction method Download PDFInfo
- Publication number
- CN108406736A CN108406736A CN201810417520.0A CN201810417520A CN108406736A CN 108406736 A CN108406736 A CN 108406736A CN 201810417520 A CN201810417520 A CN 201810417520A CN 108406736 A CN108406736 A CN 108406736A
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- hanger rail
- suspension type
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- dynamical system
- type robot
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- 239000000725 suspension Substances 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000005183 dynamical system Methods 0.000 claims abstract description 41
- 239000000203 mixture Substances 0.000 claims 6
- 238000005452 bending Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of suspension type robot system and sorting system and its discriminating direction method, suspension type robot system is made of hanger rail, mobile dynamical system and robot body, and hanger rail, among it setting has the gap；Mobile dynamical system, front wheel and rear roller can travel on hanger rail, and mobile dynamical system passes through gap；Robot body is suspended on the lower section of mobile dynamical system；Orientation sensor, is fixed in mobile dynamical system and is electrically connected the controller of robot body, and orientation sensor can acquire hanger rail gap position as directional information；Position sensor is fixed in mobile dynamical system and is electrically connected the controller of robot body, position label information of the position sensor energy capture setting on hanger rail；Robot body can control mobile dynamical system and drive to designated position.Robot of the present invention fast, accurate advantageous effect of direction controlling with travel speed.
Description
Technical field
The present invention relates to a kind of suspension type robot system, the sides of suspension type robot sorting system and suspension type robot
To method of discrimination.
Background technology
China Patent No. 201720671822.1 discloses suspension type guide rails of robots, suspension type robot and its operation system
System, the patent is using the structure of Two-wheeled asymmetry suspension robot, and structure is although fairly simple but travel speed and machine
Device people load-carrying can be restricted, in addition, when two hanging guide rails intersect, the gap of infall influences whether robot
Travel speed etc., meanwhile, when robot cross-turn how across gap be also problem needed to be considered.
Invention content
The present invention is according to the above deficiency, provide a kind of suspension type robot system.
The technical scheme is that：
A kind of suspension type robot system is made of hanger rail, mobile dynamical system and robot body, it is characterized in that：
Hanger rail, among it setting have the gap；
Mobile dynamical system, front wheel and rear roller can travel on hanger rail, and mobile dynamical system passes through gap；
Robot body is suspended on the lower section of mobile dynamical system；
Orientation sensor is fixed in mobile dynamical system and is electrically connected the controller of robot body, orientation sensor energy
Hanger rail gap position is acquired as directional information；
Position sensor is fixed in mobile dynamical system and is electrically connected the controller of robot body, position sensor energy
Position label information of the capture setting on hanger rail；
Robot body can control mobile dynamical system and drive to designated position.
It should be noted that when robot body is by intersecting hanger rail and bending hanger rail, it usually needs orientation sensor comes
The angle that determines or turn right, it is ensured that mobile dynamical system can travel at hanger rail center, on the track of bending when driving,
The bending change of track can be tracked constantly.
As needed, the controller of robot body can be placed on mobile dynamical system or robot body.
The specific stop place of robot body is determined by position sensor.
The power supply of mobile dynamical system is provided by robot body, and rechargeable battery is provided in robot body；In general, preceding
The width of idler wheel and rear roller is more than the width in gap.
Further, the mobile dynamical system includes：
The front wheel and rear roller respectively has two, and at least one of front wheel and rear roller are driven by power drive unit
It is dynamic；
Preceding sunpender, top couple with the shell of power drive unit or front wheel, and preceding sunpender passes through the gap in hanger rail；
Rear suspension bar, top couple with the shell of power drive unit or rear roller, and rear suspension bar passes through the gap in hanger rail；
Holder；
Preceding power steering gear, shell is fixed with holder, its shaft and the bottom of preceding sunpender are fixed；
Power steering gear afterwards, shell fixes with holder, the bottom of its shaft and rear suspension bar is fixed；
The orientation sensor is made of orientation sensor after two preceding orientation sensors and two, wherein：
Two preceding orientation sensors are fixed on the shell, preceding sunpender or holder of power drive unit and are located at preceding rolling
The front and rear of wheel；
Orientation sensor after two is fixed on the shell, rear suspension bar or holder of power drive unit and is rolled after being located at
The front and rear of wheel.
It should also be noted that, for the direction that robot travels, there is no front and back points, but in order to express conveniently,
Before and after defining.
The setting of preceding power steering gear and rear power steering gear can ensure that front wheel and rear roller without departing from track, when
When front wheel and rear roller offset track, preceding sunpender and rear suspension bar will send out noise simultaneously with the slot edge friction of hanger rail
Generate mechanical wear.
Preferably, the front wheel is driven by preceding power drive unit, preceding power drive unit by preceding driving motor and
Front drive gear retarder forms, and the preceding sunpender described in the shell connection of front drive gear retarder, preceding driving motor is through forerunner
Moving teeth wheel decelerator couples front wheel, and preceding driving motor is electrically connected the controller of the robot body；
The rear roller is driven by rear power drive unit, and rear power drive unit is slowed down by rear driving motor and rear drive gear
Device forms, and the rear suspension bar described in the shell connection of rear drive gear retarder, rear driving motor joins through rear drive gear retarder
Rear roller is connect, rear driving motor is electrically connected the controller of the robot body.
In order to accurately control, the preceding driving motor and rear driving motor are servo motor.
The preceding power steering gear is made of front steering servo motor and front steering gear reduction unit, front steering servo electricity
Sunpender before the premenstrual tooth sector retarder shaft connection of machine, the rear power steering gear is by rear steering servo motor and rear steering
Gear reduction unit forms, and rear steering servo motor couples rear suspension bar through rear steering gear reduction unit.
Preferably, the position sensor, preceding orientation sensor and rear orientation sensor are camera, the hanger rail
On be pasted with the bar code acquired by position sensor, Quick Response Code, color block label, feature size label, graphic color label,
RFID or pattern number label.
The hanger rail includes intersecting hanger rail, and the section of the hanger rail is in hollow shape, and the gap is opened in hanger rail
Bottom surface, the front wheel and rear roller can travel on bottom surface, and hanger rail is fixed by the bracket on building.
For convenience of fixing while providing intensity, intensity hanger rail can select aluminium section bar.
A kind of suspension type robot sorting system, including suspension type robot system as mentioned, the robot body
For sorting machine people, multiple package collection devices are provided with below hanger rail, further include：
Cargo identification sensor is fixed at the cargo access of the hanger rail, on mobile dynamical system or sorting machine people；
Server, with multiple sorting machine people wireless communications, server can control sorting machine people and advance, retreats, turn, point
Designated position can be discharged in by cargo by picking robot.
Sorting machine people can refer to Chinese Patent Application No. 201620006569.3, entitled sorting machine people, can also join
Chinese patent CN201510433995.5 is examined, go-no-go system and method is wrapped up.
A kind of discriminating direction method of suspension type robot, including the suspension type robot system also include described
A kind of suspension type robot sorting system, include the following steps：
When suspension type robot walks forward on the non-crossing hanger rail of the hanger rail, the preceding orientation sensor, which can acquire, to be hung
Wherein one of gap or two sides are leading when the hanger rail of intersection is driven into walking forward as direction reference signal in rail
To sensor using in hanger rail gap continuously a line as direction reference signal；
When suspension type robot is walked backward on the non-crossing hanger rail of the hanger rail, the rear orientation sensor, which can acquire, to be hung
Wherein one of gap or two sides are as direction reference signal in rail, when the hanger rail of cross rail is driven into walking backward, after
Orientation sensor using in hanger rail gap continuously a line as direction reference signal.
When the mobile dynamical system advance bends to right, the front wheel is turned right, the rear roller turns left, when described
When mobile dynamical system advance is turned to the left, the front wheel turns left, the rear roller is turned right.
Robot of the present invention fast, accurate advantageous effect of direction controlling with travel speed.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the collected hanger rail schematic diagram of orientation sensor of the present invention.
Specific implementation mode
In conjunction with attached drawing, the present invention is further illustrated：
As shown, a kind of suspension type robot system, is made of hanger rail 1, mobile dynamical system 2 and robot body 3,
It is characterized in：
Hanger rail 1, among it setting have the gap 11；
Mobile dynamical system 2, front wheel 21 and rear roller 22 can travel on hanger rail 1, and mobile dynamical system 2 passes through gap
11；In the present embodiment, the idler wheel on the left side is conveniently defined as front wheel in order to express, the idler wheel on the right is right idler wheel, is sailed towards left lateral
It is considered that forward, towards right travel it is considered that backward；
Robot body 3 is suspended on the lower section of mobile dynamical system 2；
Orientation sensor 51 is fixed in mobile dynamical system 2 and is electrically connected the controller of robot body 3, is oriented to sensing
Device 51 can acquire 1 gap of hanger rail, 11 position as directional information；
Position sensor 53 is fixed in mobile dynamical system 2 and is electrically connected the controller of robot body, position sensor
53 can position label information of the capture setting on hanger rail 1；
Robot body 3 can control mobile dynamical system 2 and drive to designated position.
Moving dynamical system 2 includes：
Front wheel 21 and rear roller 22 respectively have two, and at least one of front wheel 21 and rear roller 22 are driven by power drive unit
It is dynamic；
Preceding sunpender 23, top couple with the shell of power drive unit or front wheel, and preceding sunpender 23 passes through the gap in hanger rail 1
11；
Rear suspension bar 24, top couple with the shell of power drive unit or rear roller, and rear suspension bar 24 passes through the gap in hanger rail 1
11；
Holder 4；
Preceding power steering gear, shell is fixed with holder 4, its shaft and the bottom of preceding sunpender 23 are fixed；
Power steering gear afterwards, shell is fixed with holder 4, its shaft and the bottom of rear suspension bar 24 are fixed；
Orientation sensor is made of orientation sensor 52 after two preceding orientation sensors 51 and two, wherein：
Two preceding orientation sensors 51 are fixed on the shell, preceding sunpender 23 or holder 4 of power drive unit and are located at
The front and rear of front wheel 21；
Orientation sensor 52 after two is fixed on the shell, rear suspension bar 24 or holder 4 of power drive unit and is located at
The front and rear of rear roller 22.
It should be noted that in order to obtain the position of curved in tracks variation in advance, when advance（To upper left in Fig. 1
It is mobile）, the preceding orientation sensor 51 for being mounted on 21 front of front wheel determines the steering of front wheel 21, mounted on 22 front of rear roller
Rear orientation sensor 52 determine rear roller 22 steering；When retrogressing（It moves right in Fig. 1）, it is mounted on 22 rear of rear roller
Orientation sensor afterwards（The rear orientation sensor 52 on 22 the right of rear roller in Fig. 1）It determines the steering of rear roller 22, is mounted on preceding rolling
Take turns the preceding orientation sensor 51 at 21 rears（The preceding orientation sensor 51 on 21 the right of front wheel in Fig. 1）Determine the steering of front wheel.
In the present embodiment, mounted on the top of hanger rail, acquisition downwards is hung for preceding orientation sensor 51 and rear orientation sensor 52
The signal of rail 1；It can prevent dust from falling on a sensor in this way.
If preceding orientation sensor 51 and rear orientation sensor 52 are mounted on the lower section of hanger rail, information is acquired upwards, then position
Setting sensor 53 can merge with one of orientation sensor, while acquire targeting signal and position signal.
Front wheel 21 is driven by preceding power drive unit, and preceding power drive unit is by preceding driving motor 251 and preceding sliding tooth
Wheel decelerator 252 forms, sunpender 23 before the shell connection of front drive gear retarder 252,251 premenstrual sliding tooth of preceding driving motor
Wheel decelerator 252 couples front wheel 21, and preceding driving motor 251 is electrically connected the controller of robot body 3；
Rear roller 22 is driven by rear power drive unit, and rear power drive unit is subtracted by rear driving motor 262 and rear drive gear
Fast device 261 forms, and the shell of rear drive gear retarder 261 couples rear suspension bar 24, and rear driving motor 262 subtracts through rear drive gear
Fast device 261 couples rear roller 22, and rear driving motor 262 is electrically connected the controller of robot body 3.
Preceding driving motor 251 and rear driving motor 262 are servo motor.
Preceding power steering gear is made of front steering servo motor 272 and front steering gear reduction unit 271, front steering servo
Sunpender 23 before the connection of 272 premenstrual 271 shaft of tooth sector retarder of motor, rear power steering gear is by rear steering servo motor
282 and rear steering gear reduction unit 281 form, rear steering servo motor 282 through rear steering gear reduction unit 281 couple rear suspension bar
24。
Position sensor 53, preceding orientation sensor 51 and rear orientation sensor 52 are camera, be pasted on hanger rail 1 by
Bar code, Quick Response Code, color block label, feature size label, graphic color label, RFID or the figure that position sensor 53 acquires
Numeral mark.
In order to coordinate camera to acquire information, LED can be installed on holder 4, be irradiated towards camera, light passes through gap
11 shine camera, and camera can collect the light belt of the formation of gap 11, and shown in Fig. 3, in circle is camera acquisition
The light belt that the gap 11 arrived is formed.
Hanger rail 1 includes intersecting hanger rail, and the section of hanger rail 1 is in hollow shape, and gap 11 is opened in the bottom surface of hanger rail 1, preceding
Idler wheel 21 and rear roller 22 can travel on bottom surface, and hanger rail 1 is fixed by the bracket on building.
A kind of suspension type robot sorting system, including such as suspension type robot system, robot body 3 are sorting machine
The lower section of people, hanger rail 1 are provided with multiple package collection devices, further include：
Cargo identification sensor is fixed at the cargo access of hanger rail 1, on mobile dynamical system 2 or sorting machine people；
Server, with multiple sorting machine people wireless communications, server can control sorting machine people and advance, retreats, turn, point
Designated position can be discharged in by cargo by picking robot.
A kind of discriminating direction method of suspension type robot, including suspension type robot system also include a kind of suspension type
The sorting system of robot, includes the following steps：
When suspension type robot walks forward on the non-crossing hanger rail of hanger rail 1, preceding orientation sensor 51 can acquire in hanger rail 1
Wherein one of gap 11 or two sides are as direction reference signal, when the hanger rail 1 of intersection is driven into walking forward, it is leading to
Sensor 51 using gap 11 in hanger rail 1 continuously a line as direction reference signal；As can be seen from Figure 3, if being connected to clothes
The instruction suspension type robot preparation of business device turns to the right, and the left hanger rail 112 in gap 11 is discontinuous when by intersecting hanger rail,
There is broken string 1120（Dotted line in Fig. 3）, and the right hanger rail 111 in gap 11 is continuous, at this point, right hanger rail 111 should be made
For object of reference, the rotational angle of driving motor 251, is allowed to adapt to the variation of bending track before adjusting, and waits the hanger rail intersected, then stitches
The left hanger rail and right hanger rail of gap 11 can be used as object of reference.Obviously, when the hanger rail 1 of intersection is driven into walking forward, if
The hanger rail for driving to the left side, to the preceding orientation sensor 51 on the left side using gap 11 in hanger rail 1 continuously a line as side
To reference signal；
When suspension type robot is walked backward on the non-crossing hanger rail 1 of hanger rail 1, rear orientation sensor 52 can acquire hanger rail 1
Wherein one of middle gap 1 or two sides are as direction reference signal, when the hanger rail 1 of cross rail is driven into walking backward, after
Orientation sensor 52 using gap 11 in hanger rail 1 continuously a line as direction reference signal.
When the mobile advance of dynamical system 2 bends to right, front wheel 21 is turned right, rear roller 22 turns left, when mobile dynamical system
When 2 advance of system is turned to the left, front wheel 21 turns left, rear roller 22 is turned right.
Backward when driving, principle is identical.
Claims (10)
1. a kind of suspension type robot system, by hanger rail（1）, mobile dynamical system（2）And robot body（3）Composition,
It is characterized in：
Hanger rail（1）, it is arranged have the gap among it（11）；
Mobile dynamical system（2）, front wheel（21）And rear roller（22）It can be in hanger rail（1）Upper traveling, mobile dynamical system（2）
Across gap（11）；
Robot body（3）, it is suspended on mobile dynamical system（2）Lower section；
Orientation sensor is fixed on mobile dynamical system（2）Upper and electrical connection robot body（3）Controller, be oriented to pass
Sensor（51）Hanger rail can be acquired（1）Gap（11）Position is as directional information；
Position sensor（53）, it is fixed on mobile dynamical system（2）Controller that is upper and being electrically connected robot body, position passes
Sensor（53）Energy capture setting is in hanger rail（1）On position label information；
Robot body（3）It can the mobile dynamical system of control（2）Drive to designated position.
2. a kind of suspension type robot system as described in claim 1, it is characterized in that：
The mobile dynamical system（2）Including：
The front wheel（21）And rear roller（22）Respectively there are two, front wheel（21）And rear roller（22）At least one of by
Power drive unit drives；
Preceding sunpender（23）, top couple with the shell of power drive unit or front wheel, preceding sunpender（23）Across hanger rail（1）In
Gap（11）；
Rear suspension bar（24）, top couple with the shell of power drive unit or rear roller, rear suspension bar（24）Across hanger rail（1）In
Gap（11）；
Holder（4）；
Preceding power steering gear, shell and holder（4）Fixed, its shaft and preceding sunpender（23）Bottom fix；
Power steering gear afterwards, shell and holder（4）Fixed, its shaft and rear suspension bar（24）Bottom fix；
The orientation sensor is by two preceding orientation sensors（51）With two after orientation sensor（52）Composition, wherein：
Two preceding orientation sensors（51）, it is fixed on the shell of power drive unit, preceding sunpender（23）Or holder（4）Above and divide
It Wei Yu not front wheel（21）Front and rear；
Orientation sensor after two（52）, it is fixed on shell, the rear suspension bar of power drive unit（24）Or holder（4）Above and divide
It Wei Yu not rear roller（22）Front and rear.
3. a kind of suspension type robot system as claimed in claim 2, it is characterized in that：
The front wheel（21）It is driven by preceding power drive unit, preceding power drive unit is by preceding driving motor（251）And forerunner
Moving teeth wheel decelerator（252）Composition, front drive gear retarder（252）The shell connection preceding sunpender（23）, preceding driving
Motor（251）Premenstrual driving gear reduction unit（252）Couple front wheel（21）, preceding driving motor（251）It is electrically connected the machine
Human body（3）Controller；
The rear roller（22）It is driven by rear power drive unit, rear power drive unit is by rear driving motor（262）And rear-guard
Moving teeth wheel decelerator（261）Composition, rear drive gear retarder（261）The shell connection rear suspension bar（24）, rear to drive
Motor（262）Through rear drive gear retarder（261）Couple rear roller（22）, rear driving motor（262）It is electrically connected the machine
Human body（3）Controller.
4. a kind of suspension type robot system as claimed in claim 3, it is characterized in that：
The preceding driving motor（251）With rear driving motor（262）It is servo motor.
5. a kind of suspension type robot system as claimed in claim 2, characterized in that the preceding power steering gear is by forward
To servo motor（272）With front steering gear reduction unit（271）Composition, front steering servo motor（272）Premenstrual tooth sector subtracts
Fast device（271）Sunpender before shaft connection（23）, the rear power steering gear is by rear steering servo motor（282）With rear steering tooth
Wheel decelerator（281）Composition, rear steering servo motor（282）Through rear steering gear reduction unit（281）Couple rear suspension bar（24）.
6. a kind of suspension type robot system as claimed in claim 2, characterized in that the position sensor（53）, it is leading
To sensor（51）With rear orientation sensor（52）It is camera, the hanger rail（1）On be pasted with by position sensor（53）
Bar code, Quick Response Code, color block label, feature size label, graphic color label, RFID or the pattern number label of acquisition.
7. a kind of suspension type robot system as claimed in any one of claims 1 to 6, characterized in that the hanger rail（1）Including
Intersect hanger rail, the hanger rail（1）Section be in hollow shape, the gap（11）It is opened in hanger rail（1）Bottom surface, before described
Idler wheel（21）And rear roller（22）It can travel on bottom surface, hanger rail（1）It is fixed by the bracket on building.
8. a kind of suspension type robot sorting system, characterized in that including such as claim 2-7 any one of them suspension type machine
Device people's system, the robot body（3）For sorting machine people, hanger rail（1）Lower section be provided with multiple package collection devices, also
Including：
Cargo identification sensor is fixed on the hanger rail（1）Cargo access at, mobile dynamical system（2）Or sorting machine
On people；
Server, with multiple sorting machine people wireless communications, server can control sorting machine people and advance, retreats, turn, point
Designated position can be discharged in by cargo by picking robot.
9. a kind of discriminating direction method of suspension type robot, including such as claim 2-7 any one of them suspension type machines
People's system also includes a kind of sorting system of suspension type robot as claimed in claim 8, characterized in that including walking as follows
Suddenly：
When suspension type robot walks forward in the hanger rail（1）Non-crossing hanger rail on when, the preceding orientation sensor（51）
Hanger rail can be acquired（1）Middle gap（11）Wherein one or two sides as direction reference signal, when friendship has been driven into walking forward
The hanger rail of fork（1）When, preceding orientation sensor（51）With hanger rail（1）Middle gap（11）Continuously a line is referred to as direction
Signal；
When suspension type robot is walked backward in the hanger rail（1）Non-crossing hanger rail（1）When upper, the rear orientation sensor
（52）Hanger rail can be acquired（1）Middle gap（1）Wherein one or two sides as direction reference signal, when walking has been driven into backward
The hanger rail of cross rail（1）When, rear orientation sensor（52）With hanger rail（1）Middle gap（11）Continuously a line is as direction
Reference signal.
10. a kind of discriminating direction method of suspension type robot as claimed in claim 9, characterized in that when the movement is dynamic
Force system（2）When advance bends to right, the front wheel（21）It turns right, the rear roller（22）Turn left, when the mobile power
System（2）When advance is turned to the left, the front wheel（21）Turn left, the rear roller（22）It turns right.
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| CN201810417520.0A CN108406736B (en) | 2018-05-04 | 2018-05-04 | Suspension type robot system, sorting system and direction distinguishing method thereof |
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| CN201810417520.0A CN108406736B (en) | 2018-05-04 | 2018-05-04 | Suspension type robot system, sorting system and direction distinguishing method thereof |
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| CN108406736B CN108406736B (en) | 2024-07-30 |
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| CN109500798A (en) * | 2018-12-06 | 2019-03-22 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot including more driving |
| CN109571413A (en) * | 2018-11-21 | 2019-04-05 | 杭州亚美利嘉科技有限公司 | Suspension type robot |
| CN109664260A (en) * | 2018-11-21 | 2019-04-23 | 杭州亚美利嘉科技有限公司 | Suspension type guide rails of robots direction positioning device and its localization method |
| CN114044051A (en) * | 2021-11-29 | 2022-02-15 | 东风汽车集团股份有限公司 | Auxiliary guiding control method and control device for automatic driving vehicle |
| CN114770553A (en) * | 2022-05-20 | 2022-07-22 | 中国矿业大学 | Intelligent inspection robot for cable tunnel |
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