CN108519533A - A kind of charging pile inspection dedicated track robot - Google Patents
A kind of charging pile inspection dedicated track robot Download PDFInfo
- Publication number
- CN108519533A CN108519533A CN201810515059.2A CN201810515059A CN108519533A CN 108519533 A CN108519533 A CN 108519533A CN 201810515059 A CN201810515059 A CN 201810515059A CN 108519533 A CN108519533 A CN 108519533A
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- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000003028 elevating effect Effects 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 241001422033 Thestylus Species 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of charging pile inspection dedicated track robots.The charging pile inspection dedicated track robot, including section in the "Ji" type track of "Ji" type and by walking mechanism along the crusing robot of "Ji" type track length direction walking lower part in "Ji" type track, crusing robot includes robot body, is located at the elevating mechanism of robot body lower part, the elevating mechanism tail end is equipped with touch screen card swiping mechanism, high speed ball-shaped cloud platform video camera, high speed ball-shaped cloud platform video camera wireless telecommunications connect the controller on backstage, and controller wireless control connects walking mechanism, elevating mechanism and touch screen card swiping mechanism.This is reasonable in design, novel, simple to operate, can automatically realize the inspection to multiple charging piles, and judges inspection as a result, suitable for being widely used to promote.
Description
Technical field：
The present invention relates to a kind of charging pile inspection dedicated track robots.
Background technology：
Charging pile is a kind of power equipment for for electric vehicle charging.The inspection of charging pile mostly uses greatly manually at present
The mode of inspection, reaches scene by testing staff, operates charging pile touch screen, and the sequence of operations such as swipe the card, charge judge to fill
Whether electric stake work is normal.Charging pile is large number of, and distribution is more dispersed, heavy to the inspection Comparision of charging pile.Therefore,
Need a kind of inspection that can replace the robot realization of manpower to charging pile.
Detect whether charging pile is working properly, need the touch screen for operating charging pile, is carried out according to button prompts a series of
Operation, and need to carry out swiping card, and the connection of combined charge rifle confirms, it is final to determine whether charging pile working properly.
Since the charging pile shape of each producer is inconsistent, touch screen and position of swiping the card are uncertain, in the same charging station, also have not
With the charging pile of producer, therefore, realize that the detection to charging pile needs a flexible operating mechanism and intelligentized judgement hand
Section.
Invention content：
The present invention provides a kind of charging pile inspection dedicated track robots, this is reasonable in design, novel, easy to operate
It is convenient, it can automatically realize the inspection to multiple charging piles, and judge inspection as a result, suitable for being widely used to promote, solve
Problems of the prior art.
Used technical solution is the present invention to solve above-mentioned technical problem：
A kind of charging pile inspection dedicated track robot, including section are in the "Ji" type track of "Ji" type and pass through row
Mechanism is walked along the crusing robot of "Ji" type track length direction walking lower part in "Ji" type track, crusing robot packet
The elevating mechanism for including robot body, being located at robot body lower part, the elevating mechanism tail end be equipped with touch screen card swiping mechanism,
High speed ball-shaped cloud platform video camera, high speed ball-shaped cloud platform video camera wireless telecommunications connect the controller on backstage, controller wireless control
Connect walking mechanism, elevating mechanism and touch screen card swiping mechanism.
The trolley being arranged along track length direction, crusing robot are equipped on "Ji" type track wherein a madial wall
Power supply unit is connected by trolley.
The walking mechanism includes the synchronous belt being located at along track length direction on another madial wall of "Ji" type track, machine
The movable motor of connection speed reducer being vertically arranged is equipped in device human body, the output shaft of movable motor, which rotates coaxially, is connected with water
The flat synchronous pulley being located in "Ji" type track, synchronous pulley is meshed with synchronous belt and connect, in robot body or so two
Upper lateral part is vertically arranged with traveling wheel mounting plate, and the both sides with "Ji" type track are equipped on the inside of traveling wheel mounting plate along upper
Surface mutually rolls the traveling wheel of abutting.
The traveling wheel mounting plate is 1-2 pair be arranged along robot body length direction.
It is also equipped on the inside of the traveling wheel mounting plate and mutually rolls the water abutted with two lateral walls of "Ji" type track
The horizontal wheels of setting are equalled, the horizontal wheels described in every side are a along the horizontally disposed 1-2 of traveling wheel mounting plate front-rear direction.
The elevating mechanism includes the lifting motor being located on robot body, and lifting motor is connected with by leading screw drive
It connect elevator with robot body phase vertical sliding.
The touch screen card swiping mechanism includes the horizontal positioning mounting plate for being connected in elevator tail end, and positioning mounting plate lower part is set
There are a horizontally disposed direct current generator, the output shaft of direct current generator to be coaxially connected with a driving gear disc, driving gear disc engagement connection
There is a passive fluted disc for being rotatably connected on driving gear disc side, it is perpendicular with the passive tooth dish axle heart that passive fluted disc is rotatably connected to one
Linear motor, linear motor is located at the side of robot body, and the output shaft fixed connection of linear motor front end has stylus holder, touches
It is fixed with the stylus and connecting rod being arranged along stylus support width direction on holder, stylus and connecting rod are and linear motor
Parallel, stylus front end is contact, and one side of contact is equipped with magnetic card, and connecting rod front end is fixed with a proximity sensor, in straight-line electric
Positioning mounting plate right over machine be equipped with for linear motor vertically by slot, positioning mounting plate is equipped with one for visiting
Survey the upper contact-making switch and a lower contact-making switch for detecting linear motor lower limit of linear motor upper limit.
The stylus is internally provided with sleeve, and casing front end is the contact for being pierced by stylus, and the side of stylus is equipped with one along tactile
The side opening of length direction setting, cannula end are vertically connected with a detection bar for being pierced by side opening, on rear side of the detection bar in stylus
It is connected with a spring, the other end of spring is connected with stylus, and the detection bar is located at the front of the proximity sensor.
The controller includes the signal receiving unit for being mutually wirelessly connected with high speed ball-shaped cloud platform video camera, signal
Receiving unit is connected with the processor unit for handling the signal received, and it is single that processor unit is connected with signal transmitting
Member, processor unit control connection walking mechanism, elevating mechanism and touch screen card swiping mechanism by signal transmitter unit.
A ultrasound emission and detection device are equipped on front side of the crusing robot of positioning mounting plate lower part；On crusing robot
Equipped with the microphone and a loud speaker being connect with controller phase wireless telecommunications.
Using the above structure, this is reasonable in design, novel, suitable for being widely used to promote by the present invention.
Description of the drawings：
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the dimensional structure diagram of crusing robot of the present invention.
Fig. 3 is the structural schematic diagram of walking mechanism of the present invention.
Fig. 4 is the scheme of installation of horizontal wheels in walking mechanism of the present invention.
Fig. 5 is touch screen card swiping mechanism structural schematic diagram of the present invention.
In figure, 1 "Ji" type track, 2 robot bodies, 3 high speed ball-shaped cloud platform video cameras, 4 synchronous belts, 5 movable motors,
6 synchronous pulleys, 7 traveling wheel mounting plates, 8 traveling wheels, 9 horizontal wheels, 10 elevators, 11 positioning mounting plates, 12 driving gear discs, 13 quilts
Active toothed disk, 14 linear motors, 15 stylus holders, 16 stylus, 17 connecting rods, 18 proximity sensors, 19 ultrasound emissions and detection device.
Specific implementation mode：
In order to clarify the technical characteristics of the invention, below by specific implementation mode, and its attached drawing is combined, to this hair
It is bright to be described in detail.
As shown in figures 1-5, a kind of charging pile inspection dedicated track robot, including section are in " several " word of "Ji" type
Type track 1 and by walking mechanism along 1 length direction of "Ji" type track walk in "Ji" type track 1 lower part survey monitor
Device people, crusing robot include robot body 2, are located at the elevating mechanism of 2 lower part of robot body, the elevating mechanism tail
End connects backstage equipped with touch screen card swiping mechanism, high speed ball-shaped cloud platform video camera 3,3 wireless telecommunications of high speed ball-shaped cloud platform video camera
Controller, controller wireless control connect walking mechanism, elevating mechanism and touch screen card swiping mechanism.
In order to ensure the stability of electricity consumption, avoid limitation of the power cord to track machine people, "Ji" type track 1 wherein
One madial wall is equipped with the trolley being arranged along track length direction, and crusing robot connects power supply unit by trolley.
In order to realize that track machine people smoothly walks on "Ji" type track 1, the walking mechanism includes along track
Length direction is located at the synchronous belt 4 on 1 another madial wall of "Ji" type track, and connection speed reducer is equipped in robot body 2
The movable motor 5 being vertically arranged, the output shaft of movable motor 5, which rotates coaxially, is connected with horizontal be located in "Ji" type track 1
Synchronous pulley 6, synchronous pulley 6 are meshed with synchronous belt 4 and connect, and 2 left and right sides Upper vertical of robot body is provided with row
Walk to take turns mounting plate 7, the inside of traveling wheel mounting plate 7 is equipped with mutually to roll along upper surface with the both sides of "Ji" type track 1 and abut
Traveling wheel 8.
The traveling wheel mounting plate 7 is 1-2 pair be arranged along 2 length direction of robot body.
In order to avoid crusing robot generates impact to crusing robot to track when turning round, ensure track long-play
Stability, the inside of the traveling wheel mounting plate 7 is also equipped with mutually to roll with two lateral walls of "Ji" type track 1 and abut
Horizontally disposed horizontal wheels 9, often the horizontal wheels 9 described in side are a along the horizontally disposed 1-2 of traveling wheel mounting plate front-rear direction.By
There is certain speed when walking in crusing robot, that is, there is certain momentum, the momentum of crusing robot to be easy to bend
Impulse force is generated, influences the service life of track, the setting of horizontal wheels 9 can effectively avoid the generation of momentum, advancing the track
Service life.
In order to realize the adjustment to touch screen card swiping mechanism height, the charging of various height is adapted to convenient for touch screen card swiping mechanism
Stake, the elevating mechanism include the lifting motor being located on robot body 2, and lifting motor is connected with by leading screw drive and machine
2 phase vertical sliding of device human body connects elevator 10.
In order to realize contact action and swiping card to charging pile screen, convenient for examining the working condition of charging pile, institute
It includes the horizontal positioning mounting plate 11 for being connected in 10 tail end of elevator to state touch screen card swiping mechanism, and 11 lower part of positioning mounting plate is equipped with one
The output shaft of horizontally disposed direct current generator, direct current generator is coaxially connected with a driving gear disc 12, the engagement connection of driving gear disc 12
There are a passive fluted disc 13 for being rotatably connected on 12 side of driving gear disc, passive fluted disc 13 to be rotatably connected to one and 13 axis of passive fluted disc
The perpendicular linear motor 14 of the heart, linear motor 14 are located at the side of robot body 2, and the output shaft of 14 front end of linear motor is solid
It is connected with stylus holder 15, stylus 16 and connecting rod that one is arranged along 15 width direction of stylus holder are fixed on stylus holder 15
17, stylus 16 and connecting rod 17 are parallel with linear motor 14, and 16 front end of stylus is contact, and one side of contact is equipped with magnetic card, even
17 front end of bar is fixed with a proximity sensor 18, is equipped in the positioning mounting plate 11 right over linear motor 14 and is used for straight-line electric
Machine 14 vertically by slot, positioning mounting plate 11 be equipped with one for detect 14 upper limit of linear motor upper contact-making switch and
The one lower contact-making switch for detecting linear motor lower limit.The setting of upper contact-making switch and lower contact-making switch ensures straight-line electric
Machine 14 rotates in certain predetermined angular, and linear motor 14 is made to swing in certain angle,
In order to ensure that validity and the safety of touch screen, the stylus 16 are internally provided with sleeve, casing front end is to be pierced by
The side of the contact of stylus 16, stylus 16 is equipped with a side opening along the setting of 16 length direction of stylus, and cannula end is vertically connected with
One is pierced by the detection bar 17 of side opening, and 17 rear side of detection bar in stylus 16 is connected with a spring, the other end and the stylus 16 of spring
It is connected, the detection bar 17 is located at the front of the proximity sensor 18.Spring has cushioning effect, is ensureing to touching
While screen applies certain pressure, touch screen will not be damaged；Metal object can be detected using proximity sensor 18,
Here it is used for detecting detection bar 17, cooperation linear motor completes touch-control feedback, greatly reduces 16 size of stylus and stylus 16 is reliable
Property.
The controller includes the signal receiving unit for being wirelessly connected with 3 phase of high speed ball-shaped cloud platform video camera, letter
Number receiving unit is connected with the processor unit for handling the signal received, and it is single that processor unit is connected with signal transmitting
Member, processor unit control connection walking mechanism, elevating mechanism and touch screen card swiping mechanism by signal transmitter unit.
In order to which there is clear in front when detecting crusing robot walking, crusing robot is avoided to occur with front obstacle
Collision is equipped with a ultrasound emission and detection device 19 on front side of 11 lower part crusing robot of positioning mounting plate；After making
The controller of platform and charging pile direct interaction, are equipped with the microphone being connect with controller phase wireless telecommunications on crusing robot
With a loud speaker.
Charging pile inspection dedicated track robot using the present invention, crusing robot at work, pass through walking
Mechanism drive is run in face of charging pile, then, the height of subsequent operation and charging pile screen is made by the adjusting of elevating mechanism
Low to match, then, high speed ball-shaped cloud platform video camera 3 takes pictures to current charging pile display screen, information of taking pictures wireless transmission
To controller, the processor unit of controller judges whether display screen is in standby by pattern-recognition, if it is being in
Standby mode then carries out carrying out contact action to display screen by touch screen mechanism card swiping mechanism, make the display screen of charging pile into
Enter working interface, then, then taken pictures by high speed ball-shaped cloud platform video camera 3, the processor unit of controller judges whether to enter
Working interface, after confirmation, touch screen card swiping mechanism can carry out clicking button actions and action of swiping the card, the charging of touch screen card swiping mechanism motor
After charging modes button in stake, charging pile simulation, which enters, has been inserted into charging gun state, i.e. simulation enters charged state, at this point,
Monitoring is after the completion of action is swiped the card in confirmation in charging pile, you can carry out insulating monitoring, can determine whether in whole process charger module,
Whether the functions such as module communication, BMS accessory power supplys, output relay, relay of releasing, bleeder resistance are working properly, can check
Whether the insulating resistance value size of direct current output positive and negative anodes over the ground meets startup standard, can also acquire the information such as charging output voltage
Record data are uploaded in real time, and the data that high speed ball-shaped cloud platform video camera 3 is displayed on charging pile screen are sent to controller, control
Device processed judges whether charging pile works normal by these data.
Above-mentioned specific implementation mode cannot function as limiting the scope of the invention, for the technology people of the art
For member, any alternate modification or transformation made to embodiment of the present invention are all fallen in protection scope of the present invention.
Place is not described in detail by the present invention, is the known technology of those skilled in the art of the present technique.
Claims (10)
1. a kind of charging pile inspection dedicated track robot, it is characterised in that：It is in the "Ji" type rail of "Ji" type including section
Road and by walking mechanism along "Ji" type track length direction walk in "Ji" type track lower part crusing robot, patrol
Inspection robot includes robot body, is located at the elevating mechanism of robot body lower part, and the elevating mechanism tail end, which is equipped with, to be touched
Shield card swiping mechanism, high speed ball-shaped cloud platform video camera, high speed ball-shaped cloud platform video camera wireless telecommunications connect the controller on backstage, control
Device wireless control connects walking mechanism, elevating mechanism and touch screen card swiping mechanism.
2. a kind of charging pile inspection dedicated track robot according to claim 1, it is characterised in that：In "Ji" type rail
A road wherein madial wall is equipped with the trolley being arranged along track length direction, and crusing robot is set by trolley connection power supply
It is standby.
3. a kind of charging pile inspection dedicated track robot according to claim 2, it is characterised in that：The walking mechanism
Include the synchronous belt being located at along track length direction on another madial wall of "Ji" type track, being equipped with connection in robot body subtracts
The movable motor of fast machine being vertically arranged, the output shaft of movable motor rotate coaxially the level of being connected with and are located in "Ji" type track
Synchronous pulley, synchronous pulley is meshed with synchronous belt and connect, and Upper vertical is provided with walking at left and right sides of robot body
Mounting plate is taken turns, is equipped on the inside of traveling wheel mounting plate and mutually rolls the walking abutted along upper surface with the both sides of "Ji" type track
Wheel.
4. a kind of charging pile inspection dedicated track robot according to claim 3, it is characterised in that：The traveling wheel peace
Loading board is 1-2 pair be arranged along robot body length direction.
5. a kind of charging pile inspection dedicated track robot according to claim 3, it is characterised in that：The traveling wheel peace
It is also equipped on the inside of loading board and mutually rolls the horizontally disposed horizontal wheels abutted with two lateral walls of "Ji" type track, per side institute
The horizontal wheels stated are a along the horizontally disposed 1-2 of traveling wheel mounting plate front-rear direction.
6. a kind of charging pile inspection dedicated track robot according to claim 1, it is characterised in that：The elevating mechanism
Including the lifting motor being located on robot body, lifting motor is connected with mutually vertical sliding with robot body by leading screw drive
Dynamic connection elevator.
7. a kind of charging pile inspection dedicated track robot according to claim 6, it is characterised in that：The touch screen is swiped the card
Mechanism includes the horizontal positioning mounting plate for being connected in elevator tail end, and positioning mounting plate lower part is equipped with a horizontally disposed direct current
The output shaft of machine, direct current generator is coaxially connected with a driving gear disc, and driving gear disc engagement is connected with one and is rotatably connected on driving tooth
The passive fluted disc of disk side, passive fluted disc are rotatably connected to one and the perpendicular linear motor of the passive tooth dish axle heart, linear motor
Positioned at the side of robot body, the output shaft fixed connection of linear motor front end has stylus holder, and an edge is fixed on stylus holder
The stylus and connecting rod that stylus support width direction is arranged, stylus and connecting rod are parallel with linear motor, and stylus front end is
One side of contact, contact is equipped with magnetic card, and connecting rod front end is fixed with a proximity sensor, the location and installation right over linear motor
Plate be equipped with for linear motor vertically by slot, positioning mounting plate is equipped with one for detecting linear motor upper limit
Upper contact-making switch and a lower contact-making switch for detecting linear motor lower limit.
8. a kind of charging pile inspection dedicated track robot according to claim 7, it is characterised in that：Inside the stylus
Equipped with sleeve, casing front end is the contact for being pierced by stylus, and the side of stylus is equipped with a side opening along the setting of stylus length direction,
Cannula end is vertically connected with a detection bar for being pierced by side opening, is connected with a spring on rear side of the detection bar in stylus, spring it is another
One end is connected with stylus, and the detection bar is located at the front of the proximity sensor.
9. a kind of charging pile inspection dedicated track robot according to claim 1, it is characterised in that：The controller packet
The signal receiving unit for being useful for mutually being wirelessly connected with high speed ball-shaped cloud platform video camera is included, signal receiving unit is connected with for locating
The processor unit of the signal received is managed, processor unit is connected with a signal transmitter unit, and processor unit passes through signal
Transmitter unit control connection walking mechanism, elevating mechanism and touch screen card swiping mechanism.
10. a kind of charging pile inspection dedicated track robot according to claim 7, it is characterised in that：In location and installation
A ultrasound emission and detection device are equipped on front side of the crusing robot of plate lower part；It is equipped on crusing robot mutually wireless with controller
Communicate the microphone and a loud speaker of connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810515059.2A CN108519533A (en) | 2018-05-25 | 2018-05-25 | A kind of charging pile inspection dedicated track robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810515059.2A CN108519533A (en) | 2018-05-25 | 2018-05-25 | A kind of charging pile inspection dedicated track robot |
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| CN108519533A true CN108519533A (en) | 2018-09-11 |
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| CN201810515059.2A Withdrawn CN108519533A (en) | 2018-05-25 | 2018-05-25 | A kind of charging pile inspection dedicated track robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048851A (en) * | 2018-10-23 | 2018-12-21 | 哈尔滨工程大学 | A kind of rail mounted crusing robot |
| CN109305176A (en) * | 2018-10-11 | 2019-02-05 | 国家电网公司 | A kind of auxiliary climbing mechanism of rail mounted crusing robot |
| CN109587387A (en) * | 2019-01-22 | 2019-04-05 | 宁波市电力设计院有限公司 | A kind of converting station electric power equipment monitoring system based on infrared detection |
| CN109849023A (en) * | 2019-04-10 | 2019-06-07 | 江苏方天电力技术有限公司 | A kind of track suspension intelligent inspection robot system |
| CN110435466A (en) * | 2019-09-10 | 2019-11-12 | 山西中科智能控制技术研究院有限公司 | Charging pile, inspection car and cruising inspection system |
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| CN110955234A (en) * | 2018-09-25 | 2020-04-03 | 国网天津市电力公司客户服务中心 | Track robot inspection system for charging station and application method thereof |
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| CN113161816A (en) * | 2021-04-30 | 2021-07-23 | 广东科凯达智能机器人有限公司 | Full-automatic charging docking device for robot and control method |
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| CN113879162A (en) * | 2021-09-27 | 2022-01-04 | 国网北京市电力公司 | Robot control method, device and system |
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Application publication date: 20180911 |