CN108748178A - A kind of clearance intelligent robot system - Google Patents
A kind of clearance intelligent robot system Download PDFInfo
- Publication number
- CN108748178A CN108748178A CN201810591207.9A CN201810591207A CN108748178A CN 108748178 A CN108748178 A CN 108748178A CN 201810591207 A CN201810591207 A CN 201810591207A CN 108748178 A CN108748178 A CN 108748178A
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- Prior art keywords
- robot
- mine
- unit
- clearance
- intelligent robot
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
- F41H11/13—Systems specially adapted for detection of landmines
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent robot MINE-NEUTRALIZATION SYSTEMs, it is used to parse various kinds of sensors signal, the center control of each execution unit of control and processor including being arranged inside the machine, the robotically-driven and walking unit of power drive, transmission and execution at left and right sides of the machine for realizing robot is set, auxiliary turning-over support arm unit etc. before and after the robot rear and front end ascends obstacle for realizing robot is set；Intelligent robot MINE-NEUTRALIZATION SYSTEM provided by the invention, realize the clearance pattern of the robot manipulating task formula of border mine fields, the artificial clearance pattern of clearance engineer can be substituted, carry out the data acquisition of suspicious land mine, minefield marks, information feedback, the human safety issues that clearance engineer faces are efficiently solved, and improve mine-clearing operation efficiency.
Description
Technical field
The present invention relates to a kind of intelligent robot MINE-NEUTRALIZATION SYSTEMs, i.e., carry clearance detect operation unit by mobile robot
Mine-clearing operation is implemented to mine fields, the system that scanning, minefield label, harmful grade judgement are carried out to the dark thunder of mine fields instead of clearance engineer
Device.
Background technology
Unexploded various ammunitions are left in war and land mine is widely distributed in numerous countries of the world, the removal of mines side of artificial clearance
Method is time-consuming and laborious, and working efficiency is extremely low, and its most fatal disadvantage is exactly that safety is very poor, it is easy to casualties occurs.
For the situation that artificial removal of mines safety is very poor, removal of mines engineer can be substituted and carries out in peacetime by being badly in need of one kind
The detection of dark thunder, judgement and the system and device marked of mine fields, for ensureing the personal safety of removal of mines engineer.
Invention content
In view of the above-mentioned problems, the present invention proposes that carrying clearance detect operation unit using mobile robot sweeps mine fields implementation
Thunder operation carries out scanning, label, feedback to the dark thunder of mine fields instead of clearance engineer, efficiently solves clearance engineer in mine fields institute face
The problems such as personal safety, dark thunder scanning, minefield label and the information faced are fed back.Floor manager personnel can tie according to its feedback
Fruit makes harmful grade judgement to marked minefield and science removes disposition.
To realize that above-mentioned function, the present invention are realized by the following technical programs：
Including center control and processor (1), robotically-driven and walking unit (2), auxiliary turning-over support arm unit
(3), detection of obstacles sensor (4), pigment pumping plant unit (5), pressure self-balancing swing arm unit (6), clearance probe unit
(7), injector head array element (8), Charge Management unit (9) and rechargeable battery (10)；Wherein, robotically-driven and walking unit
(2), auxiliary turning-over support arm unit (3), detection of obstacles sensor (4), pigment pumping plant unit (5), pressure self-balancing swing arm
Unit (6), clearance probe unit (7), Charge Management unit (9) are connected with center control with processor (1), walking unit
(2), pressure self-balancing swing arm unit (6) is connected with rechargeable battery (10)；
Center control and processor (1), for controlling the robot ambulation control, the overturning of pressure self-balancing swing arm unit
Each functional component of control, the judgement of clearance sensor signal analysis, control model management and energy management；
Robotically-driven and walking unit (2), the walking for driving the robot and steer-drive；
Turning-over support arm unit (3) is assisted, is adjusted according to robot front and back passage road conditions by swinging up and down support arm
The contact angle of support arm and obstructing objects is saved, throwing over barrier is realized, improves the floor traffic ability of robot；
Charge Management unit (9), for establishing communication to the electrical measurement of rechargeable battery (10) and peripheral control unit；
Detection of obstacles sensor (4) judges for realizing the detection of obstacles on robot pass；
Pigment pumping plant unit (5) and injector head array element (8), for carrying out color sprinkling to suspicious minefield domain of burying,
Different colours are marked to be distinguish according to harmful grade；
Pressure self-balancing swing arm unit (6), for robot advance when front end clearance probe unit apart from the ground moment
The detection range of setting is kept, realizes the autobalance to geostatic pressure, keeps ground pressure within certain safe range；
Clearance probe unit (7), for realizing the detection to land mine, and according to the signal received to harmful grade and face
Material color is defined.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the center control is arranged with processor in the robot
Portion.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein described robotically-driven and walking unit is arranged in the machine
People both sides, including be arranged in a pair of of direct current generator of the robot two bottom sides and by described motor-driven a pair of driving wheels
And traveling crawler.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the auxiliary turning-over support arm unit is arranged in the robot
Rear and front end, including be arranged in the direct current generator of the robot interior rear and front end and by the motor-driven deceleration self-locking
Transmission system and overturning crawler belt.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the Charge Management unit is arranged in the robot interior.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the detection of obstacles sensor (4) is to be arranged in the intelligence
The ultrasound detection range sensor of energy robot MINE-NEUTRALIZATION SYSTEM ambient envelope, is responsible for the robot motion path surrounding obstacles
Object distance is disembarked the range measurement of device body, and path planning and obstacle are carried out with processor (1) by the center control.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the pigment pumping plant unit is to be arranged in the intelligence machine
Pigment bucket, solenoid valve, pigment pump at the top of people's MINE-NEUTRALIZATION SYSTEM and controller, are responsible for the suspicious land mine that the robot probe arrives
By controlling the injector head array element progress pigment sprinkling, danger is carried out with processor (1) by the center control
Rank and color judgement.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the pressure self-balancing swing arm unit is arranged in the robot
Both sides, including be arranged anti-in the direct current generator in the robot interior centre position and its reduction gearing mechanism, the torsion of driving
Balance system is presented, the autobalance of the clearance probe unit ground pressure is responsible for, by the center control and processor
(1) intelligent balance control is carried out.
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein clearance probe unit is arranged in the pressure self-balancing swing arm
Unit top, for detecting ground with the presence or absence of thunder and harmful grade is buried, receiving detection signal and being transmitted to the center control
System is judged with processor (1).
Above-mentioned intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the rechargeable battery is arranged in the clearance robot system
Fuselage cover both sides power for machine system
The present invention has the advantages that compared with the existing technology：The design of the present invention, which realizes, passes through mobile robot
It carries clearance detect operation unit and mine-clearing operation is implemented to mine fields, scanning is carried out to the dark thunder of mine fields instead of clearance engineer, minefield is marked
Note, harmful grade judgement, efficiently solve the human safety issues that removal of mines engineer is faced in hand sweeping land mine operation.
Description of the drawings
Fig. 1 is the technical principle block diagram of the present invention.
Wherein：
The centers 1- control and processor 2- is robotically-driven and walking unit
3- assists turning-over support arm unit 4- detection of obstacles sensors
5- pigment pumping plant unit 6- pressure self-balancing swing arm units
7- clearance probe unit 8- injector head array elements
9- Charge Management unit 10- rechargeable batteries
Specific implementation mode
In the world in many chaos caused by war countries, it is studded with unexploded various ammunitions and land mine everywhere.Such as the Gulf War
In the area of more than 10,000 square kilometres of Kuwait and Iraq border afterwards, have 16 country manufacture 250,000 land mines, 850,000
It fires bullet and 25,000,000 bullets of minelaying shell and shrapnel that multinational forces are cast, wherein at least there is 20% not explode.
In addition, unexploded bomb and land mine in many countries and regions even also remain once Great War and World War II.
The removal of mines method advantage of artificial clearance is exactly to clear away rate height, and its disadvantage is then time-consuming and laborious, and working efficiency is extremely low,
And its most fatal disadvantage is exactly that safety is very poor, it is easy to casualties occurs, therefore, the case where no enemy's situation is worried
Under, especially peacetime, artificial clearance undertakes the benefit of various impersonal force clearances generally only as a kind of auxiliary clearance means
It fills, is carrying out impersonal force clearance and then the mode of the artificial row of searching is taken to be swept again, land mine is improved with this to the maximum extent
Clearance rate.Because anyone understands, though waste again more clearance goods and materials and equipment if than to clear away a land mine hurt one
Human life wants much cost-effective.
The one kind of intelligent robot MINE-NEUTRALIZATION SYSTEM as specialized robot can play very important in mine sweeping action
Effect.Such robot system can replace clearance engineer to carry out scanning, label, feedback to the dark thunder of mine fields, efficiently solve clearance
The problems such as personal safety, dark thunder scanning, minefield label and the information that engineer is faced in mine fields are fed back.Removing mines engineer can basis
Its feedback result makes science to marked minefield and removes disposition.
The present invention is described in further details below in conjunction with the accompanying drawings：The present invention is intelligent robot MINE-NEUTRALIZATION SYSTEM, including
Center control and the processor 1 of the robot interior, for controlling the robot ambulation control, pressure self-balancing swing arm list
Each functional component of member overturning control, the judgement of clearance sensor signal analysis, control model management and energy management；Setting is in institute
State the robotically-driven and walking unit 2 of robot both sides, the walking for driving the robot and steer-drive；
Auxiliary turning-over support arm unit 3 in the robot rear and front end is set, according to robot front and back passage road
Condition adjusts the contact angle of support arm and obstructing objects, realizes throwing over barrier, improve machine by swinging up and down support arm
The floor traffic ability of people；Charge Management unit 9 in the robot interior is set, is surveyed for the electricity to rechargeable battery 10
Amount and peripheral control unit establish communication；Ultrasound detection distance in the intelligent robot MINE-NEUTRALIZATION SYSTEM ambient envelope is set
Sensor 4 is responsible for range measurement of the robot motion path peripheral obstacle apart from machine body, by the center
Control carries out path planning and obstacle with processor 1；It is arranged in pigment pumping plant list at the top of the intelligent robot MINE-NEUTRALIZATION SYSTEM
Member 5 and the injector head array element 8 for being arranged in the robot front end are used to carry out color sprinkling, root to suspicious minefield domain of burying
It is distinguish according to harmful grade label different colours；Pressure self-balancing swing arm unit 6 in the robot both sides is set, including
Direct current generator in the robot interior centre position and its reduction gearing mechanism, the torsion feedback equalization system of driving are set
System is responsible for the autobalance of the clearance probe unit ground pressure, and intelligence is carried out with processor 1 by the center control
Balance control；Clearance probe unit 7 on the pressure self-balancing swing arm unit top is set, for realizing the inspection to land mine
It surveys, and harmful grade and the pigment color of sprinkling is defined according to the signal received, to show difference；Setting is swept described
The rechargeable battery 10 of thunder robot system fuselage cover both sides provides energy supply for machine system, ensures system normal electricity consumption.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the center control and processor are robot clearance system
The core cell of system is responsible for the various inputs of processing, output signal, carries out task arbitration and is handled with Event Priority, the energy of battery
Source control and distribution, the setting and storage of operating parameter, the control of drive signal and feedback, control the robot MINE-NEUTRALIZATION SYSTEM
It is mobile to carry out mine detection, minefield label, harmful grade judgement and color spraying operation in mine fields, it is marked.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the robotically-driven and walking unit is the robot
Steering and running gear, include a pair of of the direct current generator being arranged in the robot two bottom sides driven by pulsewidth modulation,
A pair of driving wheels and traveling crawler of train of reduction gears transmission output are passed through by the motor.By the center control and processor
The steering of 1 control motor and rotating speed, realize the control in robot ambulation speed and direction.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the auxiliary turning-over support arm unit is arranged in the robot
Rear and front end, including be arranged in the direct current generator of the robot interior rear and front end and by the motor-driven deceleration self-locking
Transmission system and overturning crawler belt.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the Charge Management unit, realizes filling to rechargeable battery 10
Electric discharge management and detection, foundation are connect with the communication of the control of the machine exterior, complete charge function.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the detection of obstacles sensor 4 is to be arranged in the intelligence
The ultrasound detection range sensor of energy robot MINE-NEUTRALIZATION SYSTEM ambient envelope, is responsible for the robot motion path surrounding obstacles
Object distance is disembarked the range measurement of device body, and path planning and obstacle are carried out with processor 1 by the center control.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the pigment pumping plant unit is to be arranged in the intelligence machine
Pigment bucket, solenoid valve, pigment pump at the top of people's MINE-NEUTRALIZATION SYSTEM and controller, are responsible for the suspicious land mine that the robot probe arrives
Pigment sprinkling is carried out by controlling the injector head array element, hazard class is carried out with processor 1 by the center control
Not and color judges.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the pressure self-balancing swing arm unit is arranged in the robot
Both sides, including be arranged anti-in the direct current generator in the robot interior centre position and its reduction gearing mechanism, the torsion of driving
Balance system is presented, the autobalance of the clearance probe unit ground pressure is responsible for, by the center control and processor 1
Carry out intelligent independent balance control.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the clearance probe unit is arranged in the pressure self-balancing
Swing arm unit top, for detecting ground with the presence or absence of thunder and harmful grade is buried, receive detection signal and be transmitted to it is described in
Centre control is judged with processor 1.
The intelligent robot MINE-NEUTRALIZATION SYSTEM, wherein the rechargeable battery is arranged in clearance robot System Computer
Body shell both sides power for machine system.
Claims (10)
1. a kind of intelligent robot MINE-NEUTRALIZATION SYSTEM, which is characterized in that including center control with processor (1), it is robotically-driven with
Walking unit (2), auxiliary turning-over support arm unit (3), detection of obstacles sensor (4), pigment pumping plant unit (5), pressure are certainly
Balance oscillating arm unit (6), clearance probe unit (7), injector head array element (8), Charge Management unit (9) and rechargeable battery
(10)；Wherein, it is robotically-driven with walking unit (2), auxiliary turning-over support arm unit (3), detection of obstacles sensor (4),
Pigment pumping plant unit (5), pressure self-balancing swing arm unit (6), clearance probe unit (7), Charge Management unit (9) with center
Control is connected with processor (1), and walking unit (2), pressure self-balancing swing arm unit (6) are connected with rechargeable battery (10)；
Center control and processor (1), for controlling the robot ambulation control, the overturning control of pressure self-balancing swing arm unit
It makes, clearance sensor signal analysis judges, each functional component of control model management and energy management；
Robotically-driven and walking unit (2), the walking for driving the robot and steer-drive；
Turning-over support arm unit (3) is assisted, branch is adjusted by swinging up and down support arm according to robot front and back passage road conditions
The contact angle of brace and obstructing objects realizes throwing over barrier, improves the floor traffic ability of robot；
Charge Management unit (9), for establishing communication to the electrical measurement of rechargeable battery (10) and peripheral control unit；
Detection of obstacles sensor (4) judges for realizing the detection of obstacles on robot pass；
Pigment pumping plant unit (5) and injector head array element (8), for carrying out color sprinkling to suspicious minefield domain of burying, according to
Harmful grade label different colours are distinguish；
Pressure self-balancing swing arm unit (6), for robot, when advancing, clearance probe unit in front end is kept apart from the ground moment
The detection range of setting realizes the autobalance to geostatic pressure, keeps ground pressure within certain safe range；
Clearance probe unit (7), for realizing the detection to land mine, and according to the signal received to harmful grade and pigment face
Color is defined.
2. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the center control is arranged with processor
In the robot interior.
3. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that described robotically-driven and walking unit
It is arranged in the robot both sides, including is arranged in a pair of of direct current generator of the robot two bottom sides and is driven by the motor
Dynamic a pair of driving wheels and traveling crawler.
4. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the auxiliary turning-over support arm unit is set
It sets in the robot rear and front end, including is arranged in the direct current generator of the robot interior rear and front end and by the motor
The deceleration self-locking transmission system and overturning crawler belt of driving.
5. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the Charge Management unit is arranged in institute
State robot interior.
6. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the detection of obstacles sensor (4)
To be arranged in the ultrasound detection range sensor of the intelligent robot MINE-NEUTRALIZATION SYSTEM ambient envelope, it is responsible for the robot
Range measurement of the motion path peripheral obstacle apart from machine body carries out path by the center control with processor (1)
Planning and obstacle.
7. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the pigment pumping plant unit is to be arranged in
Pigment bucket, solenoid valve, pigment pump at the top of the intelligent robot MINE-NEUTRALIZATION SYSTEM and controller, are responsible for the robot and visit
The suspicious land mine measured carries out pigment sprinkling by controlling the injector head array element, by the center control and processing
Device (1) carries out harmful grade and color judgement.
8. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the pressure self-balancing swing arm unit is set
It sets in the robot both sides, including is arranged and is passed in the direct current generator in the robot interior centre position and its deceleration of driving
Motivation structure, torsion feedback equalization system are responsible for the autobalance of the clearance probe unit ground pressure, by the center
Control carries out intelligent balance control with processor (1).
9. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that clearance probe unit is arranged described
Pressure self-balancing swing arm unit top receives detection signal and transmits for detecting ground with the presence or absence of thunder and harmful grade is buried
Judged to the center control with processor (1).
10. intelligent robot MINE-NEUTRALIZATION SYSTEM as described in claim 1, which is characterized in that the rechargeable battery is arranged in institute
Clearance robot system frame shell both sides are stated, are powered for machine system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591207.9A CN108748178A (en) | 2018-06-10 | 2018-06-10 | A kind of clearance intelligent robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591207.9A CN108748178A (en) | 2018-06-10 | 2018-06-10 | A kind of clearance intelligent robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748178A true CN108748178A (en) | 2018-11-06 |
Family
ID=63999704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810591207.9A Pending CN108748178A (en) | 2018-06-10 | 2018-06-10 | A kind of clearance intelligent robot system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108748178A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110044213A (en) * | 2019-03-27 | 2019-07-23 | 中国人民解放军国防科技大学 | Mine sweeping device |
| CN110285715A (en) * | 2019-07-09 | 2019-09-27 | 上海中为智能机器人有限公司 | A kind of mine detection device |
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| FR2759173A1 (en) * | 1997-02-04 | 1998-08-07 | Diehl Stiftung & Co | MINE DETECTOR |
| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
| US20100068024A1 (en) * | 2008-09-18 | 2010-03-18 | Agens Michael W | Remotely controlled robots having improved tool deployment systems |
| US7860614B1 (en) * | 2005-09-13 | 2010-12-28 | The United States Of America As Represented By The Secretary Of The Army | Trainer for robotic vehicle |
| CN201760877U (en) * | 2010-06-13 | 2011-03-16 | 上海中为智能机器人有限公司 | Deformable robot travelling mechanism suitable for all landforms |
| CN105710857A (en) * | 2016-04-15 | 2016-06-29 | 北京电子科技职业学院 | Intelligent explosion removing robot |
| CN105856258A (en) * | 2016-06-15 | 2016-08-17 | 徐洪恩 | Mine clearing robot |
| CN107817319A (en) * | 2017-12-19 | 2018-03-20 | 成都圭目机器人有限公司 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
| CN207268586U (en) * | 2017-07-04 | 2018-04-24 | 上海圭目机器人有限公司 | A kind of autonomous type detecting a mine robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2759173A1 (en) * | 1997-02-04 | 1998-08-07 | Diehl Stiftung & Co | MINE DETECTOR |
| US7860614B1 (en) * | 2005-09-13 | 2010-12-28 | The United States Of America As Represented By The Secretary Of The Army | Trainer for robotic vehicle |
| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110044213A (en) * | 2019-03-27 | 2019-07-23 | 中国人民解放军国防科技大学 | Mine sweeping device |
| CN110044213B (en) * | 2019-03-27 | 2024-02-09 | 中国人民解放军国防科技大学 | Mine sweeping device |
| CN110285715A (en) * | 2019-07-09 | 2019-09-27 | 上海中为智能机器人有限公司 | A kind of mine detection device |
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