CN108527306A - A kind of intelligent touch mechanical arm trolley - Google Patents
A kind of intelligent touch mechanical arm trolley Download PDFInfo
- Publication number
- CN108527306A CN108527306A CN201810330378.6A CN201810330378A CN108527306A CN 108527306 A CN108527306 A CN 108527306A CN 201810330378 A CN201810330378 A CN 201810330378A CN 108527306 A CN108527306 A CN 108527306A
- Authority
- CN
- China
- Prior art keywords
- control
- mechanical arm
- trolley
- module
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent touch mechanical arm trolleies, including host computer, control feature, directed movement cart system and mechanical arm system；Control feature is established respectively with directed movement cart system and mechanical arm system by Bluetooth communication and is connected, host computer is established with directed movement cart system by WIFI communications and is connected, control feature is used to send operating of the control command to orientation trolley system control orientation trolley and mechanical arm system, it includes control mainboard, control mainboard be loaded with TFT capacitance plates, the MPU6050 time calibrations module controlled for angle, extend out one for communication bluetooth module, including two control models, mechanical arm control model and trolley control model；Control method of the present invention realizes that process is simple, control efficiency is high, can quick multiple joints of control machinery arm simultaneously, greatly improve efficiency.
Description
Technical field
The invention belongs to field of intelligent control more particularly to a kind of intelligent touch mechanical arm trolleies.
Background technology
Intelligent robot becomes more and more important as a kind of technology including suitable multi-subject knowledge, in today's society,
More and more fields and post are required for intelligent robot to participate in, some are done simply instead of the mankind using intelligent robot
Repeated, high-risk sex work be modern machines people research an important directions.In industrial robot field, there is arc-welding machine
People, vacuum (cleaning) robot, full self-programming intelligent industrial robot, man-machine collaboration robot, tow-armed robot, heavy duty
The products such as AGV.In service robot field, there is rescuing robot for fire control, bomb disposal robot, operating robot, intelligent public
Service robot, intelligent nursing machine people etc..
In the said goods, the mobile platform equipped with mechanical arm occupies mainstream applications, while also becoming intelligent robot
The research hotspot of technology development.For example, existing automatic welding platform, needs that a set of fixed welding scheme is previously set out,
The workpiece welding being commonly available under simple scenario.Once field condition is complicated and changeable, serious interference, weld seam are not easy to know automatically
Not, easily lead to that automatic welding risk is big, welding error, have to the positioning of manual control mechanical arm at this time.
The manual control scheme of existing machinery arm, is mainly the following：
1. remote-control handle controls：Pass through the track of remote-control handle control machinery arm.
2. joint controls successively：By instructing each joint of control machinery arm successively to meet the requirements.
3. continuous path controls：The movement locus of mechanical arm is a continuous track, makes machinery by timing or delay
Arm is repeatedly performed arbitrarily complicated action.
4. voice control：Pass through the instruction issuing order control machinery arm of people.
Above-mentioned 4 kinds of Mechanical arm control methods, essence are individually controlled each joint of mechanical arm.This kind of machinery
Arm control method realizes that process is cumbersome, control efficiency is relatively low.
In addition to the control of mechanical arm, trolley positioning is also particularly significant in mobile platform.Existing solution trolley orientation problem has
Three kinds of technologies：Tracking method, speed measure feedback method, inertial guidance method.Add magnetic solving the mostly gyroscope that trolley orientation problem uses
Property supplementary module positioning, it is of high cost, and due to there is the interference of motor electromagnetic on trolley, it is ineffective.
Invention content
The purpose of the present invention is to provide a kind of intelligent touch mechanical arm trolleies, to solve the above technical problems.To realize
The above-mentioned purpose present invention uses following technical scheme：A kind of intelligent touch mechanical arm trolley, which is characterized in that including host computer,
Control feature, directed movement cart system and mechanical arm system；The control feature by Bluetooth communication respectively with it is fixed
Connection is established to trolley system and mechanical arm system, the host computer passes through WIFI communications and directed movement cart system
Connection is established, the directed movement cart system includes trolley platform, infrared obstacle avoidance module, motor drive module and trolley fortune
Dynamic control module, the mechanical arm system includes multi-joint mechanical arm, image capture module, motor drive module and mechanical arm
Motion-control module；The control feature for send control command to orientation trolley system control orientation trolley and
The operating of mechanical arm system comprising control mainboard, when control mainboard is loaded with TFT capacitance plates, the MPU6050 controlled for angle
Between calibration module, extend out one for communication bluetooth module, include two control models, mechanical arm control model and trolley control
Pattern；
Control processor, infrared obstacle avoidance module, binaryzation camera, image processing module, drive are installed on trolley platform
Dynamic motor, WIFI camera modules, OLED display screen, bluetooth module, four-degree-of-freedom mechanical arm, for electric installation, for electric installation
Electric energy is provided in directional vehicle, infrared obstacle avoidance module is for orienting the traveling of trolley avoiding obstacles, image processing module and binaryzation
Camera connects, and for providing image procossing, the position coordinates of bead after control processor offer processing, control are connected by serial ports
Processor processed drives four-degree-of-freedom mechanical arm to operate by controlling driving motor, and four-degree-of-freedom mechanical arm front end is machinery
Pawl is equipped with camera on gripper, and WIFI camera modules are used for the communication of control processor and computer host computer, and WIFI takes the photograph
As head module transmitting mechanical grabs the camera image that upper camera is passed back.
Preferably, the control processor of the control mainboard of the console and orientation trolley is all made of searcher STM32F4
Control processor, driving motor use L289N type motors, image processing module to use K60 processing chips.
Preferably, orientation trolley further includes cart base plate, damper, walking structure, communication antenna, and walking structure includes electricity
Machine and wheel, cart base plate are installed on by damper on walking structure, before infrared obstacle avoidance module is installed on cart base plate
Side, communication antenna are connect with WIFI module and bluetooth module.
Preferably, in mechanical arm control model, by the rectangular area on touch screen, the rectangle in front of mechanical arm is corresponded to
Region, facilitates the control of mechanical arm, and the key area that 3*4 has been divided on touch screen provides traditional control program and to trolley
The control of movement in addition to the control of rectangular area, or coordinates moving of car control system control machinery arm and orientation trolley simultaneously,
Circular annular region around the corresponding trolley vehicle of each point of annulus on touch screen, the resolution ratio of this circular annular region is set to take completely
Certainly in the resolution ratio of steering engine, steering engine used is MG995, and the resolution ratio used is 61*720；
In trolley control model, the movement of trolley is controlled with the mode of gravity sensing, passes through cutting for KEY1 implementation patterns
It changes, initial angle is 0 degree after console presses KEY1, inclined 10 degree to 30 degree previous towards the direction that can control trolley
Corresponding forward speed tilts backwards 10 degree to 30 degree corresponding astern speeds from maximum is minimal to, is tilted to the left from maximum is minimal to
It can make trolley to anticlockwise more than 15 degree, turn 5 degree per 50ms, being tilted to the right then can be to right rotation；
Preferably, image processing module is for providing image procossing, after connecting control processor offer processing by serial ports
The position coordinates of bead, the coordinate is invalid in general mode, and being only set as capturing bead pattern automatically can just work, and arrest
The camera of bead is mounted on the left of vehicle body, and under the pattern, trolley can rotate automatically, and rotating to 175 degree of scannings from -175 degree seeks
Bead is looked for, after finding bead, stops finding immediately, control trolley direction makes bead fall on setting camera setting line, then
Crawl coordinate control mechanical arm crawl is sent out, automatically determines whether to capture successfully immediately, successfully triggers buzzer, otherwise self calibration
After continue to capture.
Preferably, the mechanical arm or step for the mechanical arm or pure mechanic structure that four-degree-of-freedom mechanical arm is driven using non-steering engine
The mechanical arm of stepper motor driving.
Preferably, MPU6050 time calibrations module can be non-temporal using other sensors or increase geomagnetic sensor
Calibration, or realized using high-precision encoder by increasing cost.
Compared with prior art, the beneficial effects of the invention are as follows：Control method of the present invention realizes that process is simple, control efficiency
Height, can quickly simultaneously the multiple joints of control machinery arm, greatly improve efficiency.
Description of the drawings
Fig. 1 is system structure of the invention total figure；
Fig. 2 is console hardware connection figure of the present invention.
Fig. 3 is orientation cart system hardware connection figure.
Fig. 4 is the orientation trolley component location drawing.
In figure：1, driving motor, 2, communication antenna, 3, damper, 4, walking structure, 5, cart base plate, 6, camera, 7,
Gripper, 8, four-degree-of-freedom mechanical arm, 9, infrared obstacle avoidance module, 10, control processor, 11, WIFI module and bluetooth module,
12, for electric installation.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole elaboration.
As shown in Figs 1-4, a kind of intelligent touch mechanical arm trolley, which is characterized in that including host computer, control feature,
Directed movement cart system and mechanical arm system；The control feature by Bluetooth communication respectively with directed movement trolley system
System and mechanical arm system establish connection, and the host computer is established with directed movement cart system by WIFI communications and connected, institute
It includes trolley platform, infrared obstacle avoidance module, motor drive module and moving of car control module to state directed movement cart system,
The mechanical arm system includes multi-joint mechanical arm, image capture module, motor drive module and manipulator motion control mould
Block；The control feature is for sending control command to orientation trolley system control orientation trolley and mechanical arm system
Operating comprising control mainboard, the MPU6050 time calibration moulds that control mainboard is loaded with TFT capacitance plates, is controlled for angle
Block, extend out one for communication bluetooth module, including two control models, mechanical arm control model and trolley control model；
Control processor, infrared obstacle avoidance module 9, binaryzation camera, image processing module, drive are installed on trolley platform
Dynamic motor 1, WIFI camera modules, OLED display screen, bluetooth module, four-degree-of-freedom mechanical arm 8, for electric installation 12, for Denso
It sets and provides electric energy for directional vehicle, infrared obstacle avoidance module is for orienting the traveling of trolley avoiding obstacles, image processing module and two
Value camera connects, and for providing image procossing, the position seat of bead after control processor offer processing is connected by serial ports
Mark, control processor drive four-degree-of-freedom mechanical arm to operate by controlling driving motor, and four-degree-of-freedom mechanical arm front end is
Gripper 7, is equipped with camera 6 on gripper 7, and WIFI camera modules are logical for control processor and computer host computer
News, WIFI camera module transmitting mechanicals grab the camera image that camera is passed back.
The control mainboard of the console and the control processor for orienting trolley are all made of searcher's STM32F4 control process
Device, driving motor use L289N type motors, image processing module to use K60 processing chips.
Orientation trolley further includes cart base plate, damper, walking structure, communication antenna, walking structure 4 include motor and
Wheel, cart base plate 5 are installed on by damper 3 on walking structure, and infrared obstacle avoidance module 9 is installed on the front side of cart base plate 5,
Communication antenna 2 is connect with WIFI module and bluetooth module 11.
In mechanical arm control model, by the rectangular area on touch screen, the rectangular area in front of mechanical arm is corresponded to, side
Just the control of mechanical arm, the key area that 3*4 has been divided on touch screen provide traditional control program and to moving of car
Control makes touch in addition to the control of rectangular area, or cooperation moving of car control system while control machinery arm and orientation trolley
Circular annular region, the resolution ratio of this circular annular region depend entirely on rudder around the corresponding trolley vehicle of each point of annulus on screen
The resolution ratio of machine, steering engine used are MG995, and the resolution ratio used is 61*720；
In trolley control model, the movement of trolley is controlled with the mode of gravity sensing, passes through cutting for KEY1 implementation patterns
It changes, initial angle is 0 degree after console presses KEY1, inclined 10 degree to 30 degree previous towards the direction that can control trolley
Corresponding forward speed tilts backwards 10 degree to 30 degree corresponding astern speeds from maximum is minimal to, is tilted to the left from maximum is minimal to
It can make trolley to anticlockwise more than 15 degree, turn 5 degree per 50ms, being tilted to the right then can be to right rotation；
Image processing module connects the position of bead after control processor offer processing by serial ports for providing image procossing
Coordinate is set, the coordinate is invalid in general mode, and being only set as capturing bead pattern automatically can just work, and arrest taking the photograph for bead
Picture head is mounted on the left of vehicle body, and under the pattern, trolley can rotate automatically, and rotating to 175 degree from -175 degree scans for bead, looks for
To after bead, stop finding immediately, control trolley direction makes bead fall on setting camera setting line, then sends out crawl and sits
The crawl of control machinery arm is marked, automatically determines whether to capture successfully immediately, successfully triggers buzzer, otherwise continue to grab after self calibration
It takes.
The mechanical arm or stepper motor for the mechanical arm or pure mechanic structure that four-degree-of-freedom mechanical arm is driven using non-steering engine
The mechanical arm of driving.
MPU6050 time calibrations module using other sensors or can increase geomagnetic sensor and non-time-aligned, or
It is realized using high-precision encoder by increasing cost.MPU6050 modules by time calibration algorithm process can use it
His high-precision encoder increases geomagnetic sensor without carrying out time calibration.
The multiplexed resource distribution condition of orientation trolley master control is shown in Table 1, wherein timer 7 is the knot that serial ports three provides 100ms
Shu Danci reception timing, base when timer 4 provides the course angle calibration of 1s for MPU6050.The course angle of MPU6050 can be gradual
Substantially drift at any time is surveyed in drift, and different MPU6050 drifts can slightly have difference, but be linear change at any time, is led to
It crosses measurement and obtains data, then linear function is obtained by MATLAB fittings, obtain vertical intercept b, slope k, correcting value is initially b,
Then 1s is incremented by k, subtracts that the value is i.e. rectifiable, and low required precision program effect at low cost is good in measured value.
In order to preferably control the direction of trolley, other than obtaining angle-data under certain precision, it is also necessary to increase super
It turns down and responds the control problem that fast control program solves angle.PID Dead band controllers, dead zone is used to be added with hardware herein
The desired value of two kinds of dead zone and software dead band, Integrated comparative, the error of software dead band is more than hardware dead zone, therefore uses rate controlling herein
Hardware dead zone come reduce oscillation.
| The channels Time3 1 | PWM is counted up | PA6、PC6 |
| The channels Time3 2 | PWM is counted up | PA7、PC7 |
| The channels Time3 3 | PWM is counted up | PB0、PC8 |
| The channels Time3 4 | PWM is counted up | PB1、PC9 |
| The channels Time5 1 | PWM is counted up | PA0 |
| The channels Time9 1 | PWM is counted up | PA2 |
| The channels Time11 1 | PWM is counted up | PF7 |
| The channels Time13 1 | PWM is counted up | PF8 |
| The channels Time14 1 | PWM is counted up | PF9 |
| Time7 | Timer modes | Nothing |
| Time4 | Timer modes | Nothing |
| Interrupt line 0 | Failing edge interrupts | PC0 |
| Interrupt line 10~15 | Failing edge interrupts | PD12~PD15 |
| Serial ports 1 | 8 data, 1 stop position, no parity position | PA9、PA10 |
| Serial ports 2 | 8 data, 1 stop position, no parity position | PA2、PA3 |
| Serial ports 3 | 8 data, 1 stop position, no parity position | PB10、PB11 |
Table 1
The above is present pre-ferred embodiments, for the ordinary skill in the art, according to the present invention
Introduction, in the case where not departing from the principle of the present invention with spirit, changes, modifications, replacement and change that embodiment is carried out
Type is still fallen within protection scope of the present invention.
Claims (7)
1. a kind of intelligent touch mechanical arm trolley, which is characterized in that including host computer, control feature, directed movement trolley system
System and mechanical arm system；The control feature by Bluetooth communication respectively with directed movement cart system and mechanical arm system
The vertical connection of construction in a systematic way, the host computer are established with directed movement cart system by WIFI communications and are connected, the directed movement trolley
System includes trolley platform, infrared obstacle avoidance module, motor drive module and moving of car control module, the mechanical arm system
Including multi-joint mechanical arm, image capture module, motor drive module and manipulator motion control module；The console system
The operating united for sending control command to orientation trolley system control orientation trolley and mechanical arm system comprising control
Mainboard processed, control mainboard are loaded with TFT capacitance plates, the MPU6050 time calibrations module controlled for angle, extend out one for communicating
Bluetooth module, including two control models, mechanical arm control model and trolley control model；
Control processor, infrared obstacle avoidance module, binaryzation camera, image processing module, driving electricity are installed on trolley platform
Machine, WIFI camera modules, OLED display screen, bluetooth module, four-degree-of-freedom mechanical arm, for electric installation, for electric installation for fixed
Electric energy is provided to vehicle, infrared obstacle avoidance module is imaged for orienting the traveling of trolley avoiding obstacles, image processing module with binaryzation
Head connection connects the position coordinates of bead after control processor offer processing by serial ports, at control for providing image procossing
Reason device drives four-degree-of-freedom mechanical arm to operate by controlling driving motor, and four-degree-of-freedom mechanical arm front end is gripper, machine
Camera is installed, WIFI camera modules are used for the communication of control processor and computer host computer, WIFI cameras in machinery claw
Module transmitting mechanical grabs the camera image that camera is passed back.
2. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that the control mainboard of console and
The control processor of orientation trolley is all made of searcher's STM32F4 control processors, and driving motor uses L289N type motors, figure
As processing module uses K60 processing chips.
3. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that orientation trolley further includes trolley
Bottom plate, damper, walking structure, communication antenna, walking structure include motor and wheel, and cart base plate is installed by damper
In on walking structure, infrared obstacle avoidance module is installed on the front side of cart base plate, and communication antenna connects with WIFI module and bluetooth module
It connects.
4. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that in mechanical arm control model
In, by the rectangular area on touch screen, the rectangular area in front of mechanical arm is corresponded to, facilitates the control of mechanical arm, on touch screen
The key area for having divided 3*4 provides traditional control program and the control to moving of car, in addition to the control of rectangular area,
Or coordinate moving of car control system control machinery arm and orientation trolley simultaneously, keep each point of annulus on touch screen corresponding small
The resolution ratio of circular annular region around vehicle vehicle, this circular annular region depends entirely on the resolution ratio of steering engine, and steering engine used is
MG995, the resolution ratio used are 61*720；In trolley control model, the movement of trolley is controlled with the mode of gravity sensing, is led to
The switching of KEY1 implementation patterns is crossed, initial angle is 0 degree after console presses KEY1, towards the direction that can control trolley, first
10 degree of top rake tilt backwards 10 degree to 30 degree corresponding astern speeds from most to 30 degree of corresponding forward speeds from maximum is minimal to
As low as maximum, being tilted to the left can make trolley to anticlockwise more than 15 degree, turn 5 degree per 50ms, being tilted to the right then can be to right rotation.
5. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that image processing module is for carrying
For image procossing, connect the position coordinates of bead after control processor offer processing by serial ports, the coordinate general mode without
Effect, being only set as capture bead pattern automatically can just work, and arrest the camera of bead mounted on vehicle body left side, the pattern
Under, trolley can rotate automatically, and rotating to 175 degree from -175 degree scans for bead, after finding bead, stop finding immediately, control
Trolley direction processed makes bead fall on setting camera setting line, then sends out crawl coordinate control mechanical arm crawl, immediately certainly
It is dynamic to determine whether to capture successfully, buzzer is successfully triggered, otherwise continues to capture after self calibration.
6. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that four-degree-of-freedom mechanical arm uses
Mechanical arm or the stepper motor driven mechanical arm of mechanical arm or pure mechanic structure that non-steering engine drives.
7. a kind of intelligent touch mechanical arm trolley according to claim 1, which is characterized in that MPU6050 time calibration moulds
Block using other sensors or can increase geomagnetic sensor and non-time-aligned, or be encoded using high-precision by increasing cost
Device is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810330378.6A CN108527306A (en) | 2018-04-13 | 2018-04-13 | A kind of intelligent touch mechanical arm trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810330378.6A CN108527306A (en) | 2018-04-13 | 2018-04-13 | A kind of intelligent touch mechanical arm trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527306A true CN108527306A (en) | 2018-09-14 |
Family
ID=63480257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810330378.6A Pending CN108527306A (en) | 2018-04-13 | 2018-04-13 | A kind of intelligent touch mechanical arm trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527306A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| WO2016053126A1 (en) * | 2014-10-02 | 2016-04-07 | Introsys - Integration For Robotic Systems - Integração De Sistemas Robóticos, S.A. | Mobile service robot capable of collecting biological and soil samples for environmental monitoring |
| CN106426122A (en) * | 2016-07-22 | 2017-02-22 | 浙江工业大学 | Four-way walking intelligent robot facing to underground pipe |
| CN106828630A (en) * | 2015-12-03 | 2017-06-13 | 工程服务公司 | Dual-mode vehicle |
| CN107253203A (en) * | 2017-06-29 | 2017-10-17 | 上海理工大学 | Multimode Intelligent toy collects robot |
-
2018
- 2018-04-13 CN CN201810330378.6A patent/CN108527306A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| WO2016053126A1 (en) * | 2014-10-02 | 2016-04-07 | Introsys - Integration For Robotic Systems - Integração De Sistemas Robóticos, S.A. | Mobile service robot capable of collecting biological and soil samples for environmental monitoring |
| CN106828630A (en) * | 2015-12-03 | 2017-06-13 | 工程服务公司 | Dual-mode vehicle |
| CN106426122A (en) * | 2016-07-22 | 2017-02-22 | 浙江工业大学 | Four-way walking intelligent robot facing to underground pipe |
| CN107253203A (en) * | 2017-06-29 | 2017-10-17 | 上海理工大学 | Multimode Intelligent toy collects robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112936275B (en) | Mechanical arm grabbing system based on depth camera and control method | |
| JP5370127B2 (en) | Robot interference avoidance device | |
| CN107820456B (en) | Method for redundantly optimally planning the operation of a mobile robot | |
| KR101909766B1 (en) | Holonomic motion vehicle for travel on non-level surfaces | |
| CN107901041A (en) | A kind of robot vision servo control method based on image blend square | |
| CN110825076B (en) | Mobile robot formation navigation semi-autonomous control method based on sight line and force feedback | |
| CN113848910B (en) | Navigation system, navigation control method and device, controller and AGV | |
| JP2010064198A (en) | Robot working position correcting system, and simple installation type robot with the system | |
| WO2009063318A1 (en) | Mobile robot and mobile robot danger zone indicating method | |
| CN103624790B (en) | Control method of teleoperation of six-freedom-degree mechanical arm | |
| WO2022252221A1 (en) | Mobile robot queue system, path planning method and following method | |
| CN102520723A (en) | Wheelchair indoor global video monitor navigation system based on suspended wireless transmission camera | |
| CN106272438A (en) | The robot express mail dissemination system being applied in express delivery office for incoming and outgoing mail and control method | |
| JP2023133088A (en) | Mobile flexible measurement system and measurement method for large complex component | |
| CN215679136U (en) | Navigation system and AGV dolly | |
| CN109434830A (en) | A kind of industrial robot platform of multi-modal monitoring | |
| CN103273497A (en) | Man-machine interactive control system and method for manipulator | |
| CN108383029A (en) | A kind of intelligent gondola transport, which is hung, unloads equipment | |
| CN111422739A (en) | Electronic anti-swing method of bridge crane based on vision technology | |
| CN110465954A (en) | A kind of tableware recycling machine people system and control method based on machine vision | |
| US20240100691A1 (en) | Self-propelled Device | |
| CN110480295A (en) | A kind of bolt of rack connecting rod automatic welding production system is placed in unit automatically | |
| CN108527306A (en) | A kind of intelligent touch mechanical arm trolley | |
| CN111376263A (en) | Human-computer cooperation system of compound robot and cross coupling force control method thereof | |
| CN208271028U (en) | A kind of control system of the secondary accurate positioning suitable for AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |