CN109116853A - Autonomous navigation system and tool car based on tool car - Google Patents
Autonomous navigation system and tool car based on tool car Download PDFInfo
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- CN109116853A CN109116853A CN201811072507.2A CN201811072507A CN109116853A CN 109116853 A CN109116853 A CN 109116853A CN 201811072507 A CN201811072507 A CN 201811072507A CN 109116853 A CN109116853 A CN 109116853A
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- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 title abstract description 4
- 238000001514 detection method Methods 0.000 claims description 27
- 238000010586 diagram Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of autonomous navigation system and tool car based on tool car.Wherein, the system comprises: the velocity information and traveling steering direction information that motion module should have according to the left driving wheel of tool car and right driving wheel, the traveling steering direction that tool car should have under current state is controlled by the speed that crawler belt controls the left driving wheel of tool car, right driving wheel should have under current state, and the speed difference by adjusting the left driving wheel of tool car and right driving wheel.By the above-mentioned means, can be realized tool car can advance to designated position by independent navigation in tunnel.
Description
Technical field
The present invention relates to tool car technical fields, more particularly to a kind of autonomous navigation system and tool based on tool car
Vehicle.
Background technique
Currently, using tool car to allow tool car to exist as the main tool of transport mostly to improve traffic efficiency
First passing through independent navigation on the guide wire that magnetic navigation technology is laid on way forward advances to designated position in advance.But work
Have vehicle when way forward is tunnel, due to ground environment is complicated, operating path is long, working line is uncertain in tunnel etc. because
Element, so that the laying of guide wire is difficult to realize, so that tool car can not advance to designated position by independent navigation in tunnel.
Summary of the invention
It is an object of the invention to propose a kind of autonomous navigation system and tool car based on tool car, tool can be realized
Vehicle can advance to designated position by independent navigation in tunnel.
According to an aspect of the present invention, a kind of autonomous navigation system based on tool car is provided, comprising:
Sensor module, control module and motion module；
The sensor module is arranged on tool car, for detection instrument vehicle apart from tunnel left wall, the distance of right wall,
Into front, whether there are obstacles and the distance in detection obstacle distance tool car left side, right side for detection instrument garage, and detection
The travel speed of tool car；
The control module is arranged on tool car, for distance to the tool car apart from tunnel left wall and described
The distance difference of distance of the tool car apart from tunnel right wall does Fuzzy processing, on the left of the obstacle distance tool car away from
From on the right side of information, the obstacle distance tool car range information and the travel speed information do Fuzzy processing, and adopt
The information after Fuzzy processing is handled with fuzzy rule, the tool car left and right wheels under current state is obtained and answers institute
State the speed having and traveling steering direction；
The motion module is arranged on tool car, for answering the velocity information having and the row according to
Into steering direction information, the left driving wheel of tool car is controlled by crawler belt, right driving wheel answers the speed having under current state
Degree, and the speed difference by adjusting the left driving wheel of tool car and right driving wheel answer the tool to control tool car under current state
Some traveling steering directions.
Wherein, the sensor module, comprising:
First laser sensor, second laser sensor, the first ultrasonic sensor, the second ultrasonic sensor and speed
Sensor；
The first laser sensor, is arranged in the left side of tool car headstock or vehicle body, for detection instrument vehicle apart from tunnel
The distance of road left wall, and the range information apart from tunnel left wall is sent to control module；
The second laser sensor, is arranged in the right side of tool car headstock or vehicle body, for detection instrument vehicle apart from tunnel
The distance of road right wall, and the range information apart from tunnel right wall is sent to control module；
First ultrasonic sensor, is arranged in the left side of tool car headstock or vehicle body, for detection instrument garage into
Whether there are obstacles and detects the distance on the left of obstacle distance tool car in front, and sends the obstacle distance tool car
The range information in left side is to control module；
Second ultrasonic sensor, is arranged in the right side of tool car headstock or vehicle body, for detection instrument garage into
Whether there are obstacles and detects the distance on the right side of obstacle distance tool car in front, and sends the obstacle distance tool car
The range information on right side is to control module；
The velocity sensor is arranged on tool car headstock or vehicle body, for the travel speed of detection instrument vehicle, concurrently
Send the travel speed information to control module.
Wherein, the control module, comprising:
Data receipt unit, data processing unit and fuzzy controller；
The data receipt unit, for receiving the range information apart from tunnel left wall, described apart from tunnel right wall
Range information, the range information on the left of the obstacle distance tool car, the distance on the right side of the obstacle distance tool car
Information and the travel speed information；
The data processing unit, for the tool car apart from tunnel left wall distance and the tool car apart from tunnel
The distance difference of the distance of road right wall does Fuzzy processing, to the range information, described on the left of the obstacle distance tool car
Range information and the travel speed information on the right side of obstacle distance tool car do Fuzzy processing；
The fuzzy controller is obtained for being handled using fuzzy rule the information after Fuzzy processing
To under current state tool car left and right wheels answer the speed having and traveling steering direction, and described answer described is had
Velocity information and the traveling steering direction information are output to motion module.
Wherein, the motion module, comprising:
First stepper motor and second stepper motor；
First stepper motor uses caterpillar belt structure with the left driving wheel of tool car, for having described in answering according to
Velocity information and the traveling steering direction information, by crawler belt control the left driving wheel of tool car answered under current state it is described
The speed having；
The second stepper motor uses caterpillar belt structure with the right driving wheel of tool car, for having described in answering according to
Velocity information and the traveling steering direction information, by crawler belt control the right driving wheel of tool car answered under current state it is described
The speed having, and tool car is controlled under current state by the speed difference of the adjusting left driving wheel of tool car and right driving wheel
Answer the traveling steering direction having.
Wherein, the autonomous navigation system based on tool car, further includes:
Manual control unit in the control module is set；
The manual control unit, for it is special or burst in emergency circumstances, by manually control replace automatically control
To control the traveling of tool car, safety problem of the guarantee tool car in special or burst in emergency circumstances.
According to an aspect of the present invention, a kind of tool car is provided, the tool car includes described in above-mentioned any one
Autonomous navigation system based on tool car.
It can be found that above scheme, motion module can be according to the velocity information that should have and the traveling steering side
To information, by the speed that crawler belt controls the left driving wheel of tool car, right driving wheel should have under current state, and pass through tune
The speed difference of the section left driving wheel of tool car and right driving wheel turns to control the traveling that tool car should have under current state
Direction, can be realized tool car can advance to designated position by independent navigation in tunnel.
Further, above scheme, manual control unit can it is special or burst in emergency circumstances, by manually controlling
Replace to automatically control and guarantees the safety problem of tool car in emergency circumstances in special or burst, energy to control the traveling of tool car
Enough implementation tool vehicles can be switched to from automatic control at any time to be manually controlled, and the generation of dangerous situation is prevented.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of one embodiment of autonomous navigation system the present invention is based on tool car；
Fig. 2 is that the present invention is based on the structural schematic diagrams of another embodiment of the autonomous navigation system of tool car.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.It is emphasized that following implement
Example is merely to illustrate the present invention, but is not defined to the scope of the present invention.Likewise, following embodiment is only portion of the invention
Point embodiment and not all embodiments, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall within the protection scope of the present invention.
The present invention provides a kind of autonomous navigation system based on tool car, and can be realized tool car can be in tunnel from leading
Navigation enters designated position.
Referring to Figure 1, Fig. 1 is the structural schematic diagram of one embodiment of autonomous navigation system the present invention is based on tool car.This
It should include sensor module 11, control module 12 and motion module 13 based on the autonomous navigation system 10 of tool car in embodiment.
The sensor module 11 is arranged on tool car, for detection instrument vehicle apart from tunnel left wall, the distance of right wall,
Into front, whether there are obstacles and the distance in detection obstacle distance tool car left side, right side for detection instrument garage, and detection
The travel speed of tool car.
The control module 12 is arranged on tool car, for the distance and the tool to the tool car apart from tunnel left wall
The distance difference of distance of the vehicle apart from tunnel right wall does Fuzzy processing, believes the distance on the left of the obstacle distance tool car
Range information and the travel speed information on the right side of breath, the obstacle distance tool car do Fuzzy processing, and using fuzzy rule
Then the information to this after Fuzzy processing is handled, and obtains the speed that tool car left and right wheels should have under current state
With traveling steering direction.
The motion module 13 is arranged on tool car, for being turned to according to the velocity information that should have and the traveling
Directional information by the speed that crawler belt controls the left driving wheel of tool car, right driving wheel should have under current state, and passes through
The speed difference of the left driving wheel of tool car and right driving wheel is adjusted to control the traveling that tool car should have under current state and turn
To direction.
Optionally, the sensor module 11 may include:
First laser sensor 111, second laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic wave pass
Sensor 114 and velocity sensor 115；
The first laser sensor 111, is arranged in the left side of tool car headstock or vehicle body, for detection instrument vehicle apart from tunnel
The distance of road left wall, and the range information apart from tunnel left wall is sent to control module 12；
The second laser sensor 112, is arranged in the right side of tool car headstock or vehicle body, for detection instrument vehicle apart from tunnel
The distance of road right wall, and the range information apart from tunnel right wall is sent to control module 12；
First ultrasonic sensor 113, is arranged in the left side of tool car headstock or vehicle body, for detection instrument garage into
Whether there are obstacles and detects the distance on the left of obstacle distance tool car in front, and it is left to send the obstacle distance tool car
The range information of side is to control module 12；
Second ultrasonic sensor 114, is arranged in the right side of tool car headstock or vehicle body, for detection instrument garage into
Whether there are obstacles and detects the distance on the right side of obstacle distance tool car in front, and it is right to send the obstacle distance tool car
The range information of side is to control module 12；
The velocity sensor 115 is arranged on tool car headstock or vehicle body, for the travel speed of detection instrument vehicle, and
The travel speed information is sent to control module 12.
Optionally, the control module 12 may include:
Data receipt unit 121, data processing unit 122 and fuzzy controller 123；
The data receipt unit 121, for receive the range information apart from tunnel left wall, this apart from tunnel right wall away from
From the range information on the left of information, the obstacle distance tool car, the range information on the right side of the obstacle distance tool car and it is somebody's turn to do
Travel speed information；
The data processing unit 122, for the tool car apart from tunnel left wall distance and the tool car apart from tunnel
The distance difference of the distance of right wall does Fuzzy processing, to range information, barrier on the left of the obstacle distance tool car
Range information and the travel speed information on the right side of the Distance tool vehicle do Fuzzy processing；
The fuzzy controller 123 is obtained for being handled using fuzzy rule the information after Fuzzy processing
The speed and traveling steering direction that tool car left and right wheels should have under current state, and by the velocity information that should have
Motion module 13 is output to the traveling steering direction information.
Optionally, the motion module 13 may include:
First stepper motor 131 and second stepper motor 132；
First stepper motor 131 uses caterpillar belt structure with the left driving wheel of tool car, for according to the speed that should have
Information and the traveling steering direction information are spent, the speed that the left driving wheel of tool car should have under current state is controlled by crawler belt
Degree；
The second stepper motor 132 uses caterpillar belt structure with the right driving wheel of tool car, for according to the speed that should have
Information and the traveling steering direction information are spent, the speed that the right driving wheel of tool car should have under current state is controlled by crawler belt
Degree, and the speed difference by adjusting the left driving wheel of tool car and right driving wheel should have to control tool car under current state
Traveling steering direction.
In the present embodiment, which can distance according to the tool car apart from tunnel left wall and should
The distance difference of distance of the tool car apart from tunnel right wall judges position of the tool car relative to left tunnel, right wall, the distance
Difference is negative and can be expressed as tool car closer to tunnel left wall, which is positive can be with representational tool vehicle closer to tunnel
Right wall.To the representation of the distance difference, the present invention is not limited.
In the present embodiment, the ultrasonic wave that first ultrasonic sensor 113 and second ultrasonic sensor 114 issue
The front of tool car can be covered.To the coverage mode of the ultrasonic wave, the present invention is not limited.
In the present embodiment, the fuzzy controller 123 can there are three input variables, such as tool car movement to need to consider
The information of three aspects: the distance D1 of tool car and traveling front obstacle can use NL (far), N (remote), P (close), PL
(close) four Fuzzy Linguistic Variable descriptions；Tool car, can be using NL (very relative to the distance between left and right tunnel wall D2
Keep right), N (keeping right), O (centre), P (keeping left), PL (keeping left very much) five Fuzzy Linguistic Variables description；The travel speed of tool car
V can be retouched using five NL (slowly retreating), N (retrogressing), O (stopping), P (advance), PL (fast forwarding through) Fuzzy Linguistic Variables
It states.The variable of the fuzzy controller 123 output can be tool car left active wheel speed L-V and right active wheel speed R-V, difference
It is output to first stepper motor 131 and second stepper motor 132, to control the speed of left and right two driving wheels of tool car,
Fuzzy Linguistic Variable and the linguistic variable of travel speed can as, therefore the fuzzy controller 123 is that one three input two is defeated
Controller out.
In the present embodiment, the number of fuzzy rules which uses can be set to 4*5*5=100 item, should
Fuzzy rule can be formulated according to operating experience and expertise, which can indicate are as follows: if tool car and tunnel
The distance between left and right wall difference be B, speed C at a distance from A, with front obstacle, then the left active wheel speed of tool car
Speed for D, right driving wheel is E.
It can be found that in the present embodiment, motion module can turn according to the velocity information that should have and the traveling
To directional information, by the speed that crawler belt controls the left driving wheel of tool car, right driving wheel should have under current state, and lead to
The speed difference of the left driving wheel of tool car and right driving wheel is overregulated to control the traveling that tool car should have under current state
Steering direction, can be realized tool car can advance to designated position by independent navigation in tunnel.
Fig. 2 is referred to, Fig. 2 is that the present invention is based on the structural schematic diagrams of another embodiment of the autonomous navigation system of tool car.
It is different from an embodiment, the autonomous navigation system 20 based on tool car described in the present embodiment further include: be arranged in the control mould
Manual control unit 21 in block 12.
The manual control unit 21, for it is special or burst in emergency circumstances, by manually control replace automatically control
To control the traveling of tool car, safety problem of the guarantee tool car in special or burst in emergency circumstances.
It can be found that in the present embodiment, manual control unit can special or burst in emergency circumstances, by manual
Control, which replaces to automatically control, guarantees that tool car is asked in the safety of special or burst in emergency circumstances to control the traveling of tool car
Topic, can be realized tool car and can be switched at any time from automatic control and manually control, and prevent the generation of dangerous situation.
The present invention also provides a kind of tool cars, and can be realized tool car can advance to specific bit by independent navigation in tunnel
It sets.
The tool car includes the autonomous navigation system based on tool car in above-described embodiment, should be based on the autonomous of tool car
Each unit module of navigation system can execute the function of each functional module and connection relationship etc. in above-described embodiment respectively, therefore
This does not repeat each unit module of the autonomous navigation system based on tool car, refers to the above corresponding theory
It is bright.
It can be found that above scheme, motion module can be according to the velocity information that should have and the traveling steering side
To information, by the speed that crawler belt controls the left driving wheel of tool car, right driving wheel should have under current state, and pass through tune
The speed difference of the section left driving wheel of tool car and right driving wheel turns to control the traveling that tool car should have under current state
Direction, can be realized tool car can advance to designated position by independent navigation in tunnel.
Further, above scheme, manual control unit can it is special or burst in emergency circumstances, by manually controlling
Replace to automatically control and guarantees the safety problem of tool car in emergency circumstances in special or burst, energy to control the traveling of tool car
Enough implementation tool vehicles can be switched to from automatic control at any time to be manually controlled, and the generation of dangerous situation is prevented.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.
In addition, to simplify explanation and discussing, and in order not to obscure the invention, it can in provided attached drawing
It is connect with showing or can not show with the well known power ground of integrated circuit (IC) chip and other components.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this has also contemplated following facts, i.e., about this
The details of the embodiment of a little block diagram arrangements be height depend on will implementing platform of the invention (that is, these details should
It is completely within the scope of the understanding of those skilled in the art).Elaborating that detail (for example, circuit) is of the invention to describe
In the case where exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case where or implement the present invention in the case that these details change.Therefore, these descriptions should be considered as explanation
Property rather than it is restrictive.
Although having been incorporated with specific embodiments of the present invention, invention has been described, according to retouching for front
It states, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, discussed embodiment can be used in other memory architectures (for example, dynamic ram (DRAM)).
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of autonomous navigation system based on tool car characterized by comprising
Sensor module, control module and motion module；
The sensor module is arranged on tool car, for detection instrument vehicle apart from tunnel left wall, the distance of right wall, detection
Tool car is advanced, and whether there are obstacles and the distance and detection instrument in detection obstacle distance tool car left side, right side in front
The travel speed of vehicle；
The control module, be arranged on tool car, for the tool car apart from tunnel left wall distance and the tool
The distance difference of distance of the vehicle apart from tunnel right wall does Fuzzy processing, believes the distance on the left of the obstacle distance tool car
Range information and the travel speed information on the right side of breath, the obstacle distance tool car do Fuzzy processing, and use mould
Paste rule handles the information after Fuzzy processing, obtains the tool car left and right wheels under current state and answers the tool
Some speed and traveling steering direction；
The motion module is arranged on tool car, for answering the velocity information having and described advance to turn according to
To directional information, the speed having is answered under current state by the left driving wheel of crawler belt control tool car, right driving wheel, and
Controlling tool car under current state by adjusting the speed difference of the left driving wheel of tool car and right driving wheel and answering described has
Traveling steering direction.
2. as described in claim 1 based on the autonomous navigation system of tool car, which is characterized in that the sensor module, packet
It includes:
First laser sensor, second laser sensor, the first ultrasonic sensor, the second ultrasonic sensor and velocity pick-up
Device；
The first laser sensor, is arranged in the left side of tool car headstock or vehicle body, for detection instrument vehicle apart from left tunnel
The distance of wall, and the range information apart from tunnel left wall is sent to control module；
The second laser sensor, is arranged in the right side of tool car headstock or vehicle body, for detection instrument vehicle apart from Tunnel Right
The distance of wall, and the range information apart from tunnel right wall is sent to control module；
First ultrasonic sensor, is arranged in the left side of tool car headstock or vehicle body, is used for detection instrument garage into front
Whether there are obstacles and detects the distance on the left of obstacle distance tool car, and sends on the left of the obstacle distance tool car
Range information to control module；
Second ultrasonic sensor, is arranged in the right side of tool car headstock or vehicle body, is used for detection instrument garage into front
Whether there are obstacles and detects the distance on the right side of obstacle distance tool car, and sends on the right side of the obstacle distance tool car
Range information to control module；
The velocity sensor is arranged on tool car headstock or vehicle body, for the travel speed of detection instrument vehicle, and sends institute
Travel speed information is stated to control module.
3. as claimed in claim 2 based on the autonomous navigation system of tool car, which is characterized in that the control module, comprising:
Data receipt unit, data processing unit and fuzzy controller；
The data receipt unit, for receive the range information apart from tunnel left wall, it is described apart from tunnel right wall away from
From the range information on the left of information, the obstacle distance tool car, the range information on the right side of the obstacle distance tool car
With the travel speed information；
The data processing unit, for the tool car apart from tunnel left wall distance and the tool car apart from Tunnel Right
The distance difference of the distance of wall does Fuzzy processing, to range information, the obstacle on the left of the obstacle distance tool car
Range information and the travel speed information of the object on the right side of tool car do Fuzzy processing；
The fuzzy controller is obtained for being handled using fuzzy rule the information after Fuzzy processing
Tool car left and right wheels answer the speed having and traveling steering direction under current state, and answer the speed having for described
Information and the traveling steering direction information are output to motion module.
4. as claimed in claim 3 based on the autonomous navigation system of tool car, which is characterized in that the motion module, comprising:
First stepper motor and second stepper motor；
First stepper motor uses caterpillar belt structure with the left driving wheel of tool car, for answering the speed having according to
Information and the traveling steering direction information are spent, controlling the left driving wheel of tool car by crawler belt and answer under current state described has
Speed；
The second stepper motor uses caterpillar belt structure with the right driving wheel of tool car, for answering the speed having according to
Information and the traveling steering direction information are spent, controlling the right driving wheel of tool car by crawler belt and answer under current state described has
Speed, and the speed difference by adjusting the left driving wheel of tool car and right driving wheel answers institute to control tool car under current state
State the traveling steering direction having.
5. the autonomous navigation system based on tool car as described in Claims 1-4 any one, which is characterized in that the base
In the autonomous navigation system of tool car, further includes:
Manual control unit in the control module is set；
The manual control unit, for special or burst in emergency circumstances, controlled by manually controlling to replace to automatically control
The traveling of tool car processed guarantees the safety problem of tool car in emergency circumstances in special or burst.
6. a kind of tool car, which is characterized in that the tool car includes as described in claim 1 to 5 any one based on work
Has the autonomous navigation system of vehicle.
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| CN201811072507.2A CN109116853B (en) | 2018-09-14 | 2018-09-14 | Autonomous navigation system based on tool car and tool car |
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