CN109240233A - A kind of unmanned vehicle and robot cooperative operation system - Google Patents
A kind of unmanned vehicle and robot cooperative operation system Download PDFInfo
- Publication number
- CN109240233A CN109240233A CN201811125021.0A CN201811125021A CN109240233A CN 109240233 A CN109240233 A CN 109240233A CN 201811125021 A CN201811125021 A CN 201811125021A CN 109240233 A CN109240233 A CN 109240233A
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- China
- Prior art keywords
- unmanned vehicle
- ramp
- robot
- hatch door
- platform controller
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of unmanned vehicle and robot cooperative operation system, the collaborative work by unmanned vehicle and robot can be realized, advantage small in size using robot, light makes up the problem of unmanned vehicle use is by limitation.Robot is mounted in inside unmanned vehicle, discharges robot inside unmanned vehicle using release/recovering mechanism or robot is recycled to inside unmanned vehicle；The hatch door mechanism for opening/closing of unmanned vehicle hatch door is closed in release/recovering mechanism includes: to be used to open/；The ramp of unmanned vehicle passage is driven into or is driven out to as robot；For discharging/recycling the ramp driving device of ramp, ramp after the recovery is located inside unmanned vehicle；Control unit includes ground remote control station and the platform controller on unmanned vehicle；Hatch door mechanism for opening/closing and ramp driving device are controlled by platform controller, and ground remote control station is used to send control instruction to platform controller, and control instruction includes: that hatch door opens/close instruction, ramp release/recovery command；Robot is controlled by ground remote control station.
Description
Technical field
Invention is related to a kind of cooperative operation system, and in particular to a kind of unmanned vehicle and robot cooperative operation system.
Background technique
With the development of automatic Pilot technology, unmanned vehicle will be used widely in military and civil field, including nothing
People investigates vehicle, unmanned logistic car, unmanned van etc..Past traditional work often carried out investigations using independent unmanned vehicle, object
The tasks such as stream, cargo transport, still, independent unmanned vehicle have many limitations when executing task, such as: the general volume of unmanned vehicle compared with
Greatly, it cannot be introduced into narrow space and execute task, such as thick grass, building, this limitation largely constrain answering for unmanned vehicle
Use scene.Therefore, it is realized and is cooperated using unmanned vehicle and robot, advantage small in size using robot, light makes up nothing
The above-mentioned of people's vehicle uses disadvantage, becomes the research hotspot of researcher in recent years.
Summary of the invention
In view of this, the present invention provides a kind of unmanned vehicle and robot cooperative operation system, it can be realized and pass through unmanned vehicle
With the collaborative work of robot, thus advantage small in size using robot, light make up unmanned vehicle use by limitation the problem of.
The unmanned vehicle and robot cooperative operation system, comprising: unmanned vehicle and robot；In addition, further include release/
Recovering mechanism and control unit, the robot are mounted in inside unmanned vehicle, and the release/recovering mechanism is used for the machine
People discharges inside unmanned vehicle or the robot is recycled to inside unmanned vehicle；
The hatch door mechanism for opening/closing of unmanned vehicle hatch door is closed in the release/recovering mechanism includes: to be used to open/；As machine
People drives into or is driven out to the ramp of unmanned vehicle passage；For discharging/recycling the ramp driving device of the ramp, after recycling
The ramp be located inside unmanned vehicle；
Described control unit includes: ground remote control station and the platform controller on unmanned vehicle；The hatch door headstock gear
Structure and ramp driving device are controlled by the platform controller, and the ground remote control station is used to send out to the platform controller
Control instruction is sent, the control instruction includes: that hatch door opens/close instruction, ramp release/recovery command；The robot is controlled
In the ground remote control station.
When the unmanned vehicle works, the robot is mounted in inside unmanned vehicle；
When needing the machine man-hour, the ground telemetering station sends hatch door open instructions, institute to platform controller
It states platform controller and receives hatch door open instructions, control the hatch door mechanism for opening/closing and open unmanned vehicle hatch door；Then the ground
Telemetry station sends ramp to platform controller and releases order, and the platform controller receives control after ramp releases order
The ramp driving device discharges the ramp；After the ramp release in place, the robot is distant on the ground
It is driven out to unmanned vehicle from the ramp under the control of survey station, and executes setting task under the control of the ground telemetering station；
When needing to withdraw the robot, control of the robot at the ground remote control station is back to no vehicle parking stall
It sets, and controls it and driven into inside unmanned vehicle by ramp, then the ground telemetering station sends ramp to platform controller
After the platform controller receives ramp recovery command, it is described to control ramp driving device recycling for recovery command
Land plate, then the ground remote control station sends ramp recovery command to platform controller, and the platform controller receives landing
After plate recovery command, controls the hatch door mechanism for opening/closing and close unmanned vehicle hatch door.
The hatch door mechanism for opening/closing includes: electric pushrod and linear guide；Hatch door is provided at the hatch door of the unmanned vehicle
Plate, the top of the hatch door plate and the car body of the unmanned vehicle are hinged, the extension end of the electric pushrod and are mounted on the cabin
Linear guide on door-plate is slidably matched；The electric pushrod is controlled by the platform controller, when the electric pushrod is outside
When pushing hatch door plate, the hatch door plate is rotated around the hinge joint of itself and unmanned vehicle car body, opens hatch door, the hatch door plate rotated
It is slided along linear guide the extension end of Cheng Zhong, the electric pushrod.
The utility model has the advantages that
(1) it can effectively solve that unmanned vehicle volume is larger using the present invention, cannot be introduced into small space and carry out asking for operation
Topic.
(2) present invention can carry out a variety of adjustment according to its robot driveability, and it is general to realize that a variety of robots carry
Property, the solution towards a variety of environment.
Detailed description of the invention
Fig. 1 is the unmanned vehicle-robot cooperative operation system schematic diagram；
Fig. 2 is ramp release conditions schematic diagram；
Fig. 3 is sub- vehicle and female vehicle communication control signal flow graph.
Wherein: 1- electric pushrod, 2- hatch door plate, 3- linear guide, 4- robot, 5- steering engine, 6- ramp, 7- rack gear,
8- gear, 9- unmanned vehicle, 10- wireless image modulating equipment, 11- platform controller, 12- vehicle-mounted running ejector half camera, 13- communication
Radio station
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of unmanned vehicles and robot cooperative operation system, using unmanned vehicle as parent, in unmanned vehicle
Small scale robot of the upper carrying as daughter allows small scale robot to be detached from mother by controlling the release and recycling of robot
Body unmanned vehicle independently executes task, to solve the problem of that the larger small space that cannot be introduced into of unmanned vehicle volume carries out operation.
As depicted in figs. 1 and 2, the unmanned vehicle and robot cooperative operation system include: unmanned vehicle 9, are mounted in unmanned vehicle 9
Internal robot 4, for discharge and the release/recovering mechanism and control unit of recycling machine people 4, the wherein selection of robot 4
Land reconnaissance robot, control unit include ground remote control station and the platform controller 11 on unmanned vehicle 9.Robot is released
It puts and removal process, is controlled by ground remote control station, complete the discrepancy movement of robot.
Release/recovering mechanism includes: electric pushrod 1, ramp driving device and linear guide；For make robot 4 into
Hatch door plate 2 is provided at the hatch door inside unmanned vehicle cabin out.The extension end of electric pushrod 1 be mounted on it is straight on hatch door plate 2
Line guide rail 3 is connected, and the top of hatch door plate 2 and the car body of unmanned vehicle are hinged, when electric pushrod 1 pushes out hatch door plate 2, hatch door
Plate 2 is rotated up around the hinge joint, opens hatch door, during hatch door plate 2 is rotated up, the extension end of electric pushrod 1 is along straight line
Guide rail 3 slides.
Ramp driving device includes: ramp 6, steering engine 5, gear 8 and rack gear 7.Inside cabin and hatch door relative position
Car bottom plate on be provided with ramp 6, ramp 6 is made of the front and back two parts to be connected together by hinge, rack gear 7 in parallel pacify
The side lateral mounted in ramp 6, identical as 6 length of ramp (or only installing rack gear 7 in the rear part of ramp 6), rack gear 7
It is engaged with the gear 8 driven by steering engine 5, steering engine 5 is controlled by platform controller 11.The parallel position of storage platform of robot 4 simultaneously
Above ramp 6, by an inclined plate transition between 6 place plane of the storage platform and ramp, one end of the inclined plate with
The storage platform end of robot 4 is hinged, and the other end, which is taken, is placed on 7 end of rack gear, does not influence the linear motion of rack gear 7.Work as platform
When controller 11 starts steering engine 5, steering engine 5 is rotated with moving gear 8, and the rack gear 7 engaged with gear 8 moves along a straight line to hatch door direction,
Ramp 6 is driven to move along a straight line to hatch door direction, the preceding part of ramp 6 falls and ground face contact naturally after stretching out, and is used for machine
Device people 4 drives into or is driven out to cabin；The rear part of ramp 6 is still lain against inside cabin at this time, and rack gear 7 always with gear 8
Engagement.
As shown in Fig. 2, being both needed to inclined plate transition, when being driven out to cabin, route since robot 4 drives into or be driven out to cabin
For " storage platform-inclined plate-ramp-ground "；When driving into cabin, route is " ground-ramp-inclined plate-storage platform ",
For guarantee the reliable transition between ramp-inclined plate of robot 4, preferably ramp fall with ground face contact after the gradient and tiltedly
The plate gradient is consistent, i.e., relationship between the inclined plate gradient and ramp extension elongation (i.e. the length of landing prelaminar part point) are as follows:
H/sin (arctanx)=l
Wherein, h is terrain clearance when ramp 6 is located inside unmanned vehicle, and ramp 6 is located at car bottom plate in this programme
On, therefore, h is also the terrain clearance of unmanned chassis, and x is the inclined plate gradient, and l is that the stretching of ramp 6 when being contacted with ground is long
Degree.
It is mounted in the robot 4 inside parent unmanned vehicle 9 equipped with communication radio station 13,12 and of vehicle-mounted running ejector half camera
Wireless image modulating equipment 10, wherein communication radio station 13 is used for after the release of robot 4, realizes ground remote control station and robot 4
Between data transmission, and then realize remote control operation to robot 4, specifically: robot 4 receives ground by communication radio station 13
The motion control instruction that face telemetry station is sent is driven out to the target position that unmanned vehicle reaches setting according to motion control instruction movement.
Vehicle-mounted running ejector half camera 12 is used for the search behind the target position that robot 4 reaches setting, scouts external environment information, obtains
The picture signal of external environment；The external environment that wireless image modulating equipment 10 is used to obtain vehicle-mounted running ejector half camera 12
Picture signal is sent to platform controller 11, and platform controller 11 is used as relay station, receives the picture signal of robot 4, forwarding
It receives and shows to ground remote control station.
As shown in figure 3, the working principle of the unmanned vehicle and robot cooperative operation system are as follows: under normal mode, by nobody
Vehicle executes task, and robot 4 is located in unmanned vehicle cabin；When needing to execute task by robot, ground telemetering station is to platform
Controller 11 sends hatch door open instructions, is 1 on-load voltage of electric pushrod after platform controller 11 receives hatch door open instructions,
Electric pushrod 1 provides constant thrust, and cabin door 2 is made to make rotating motion with upper end axis, opens the hatch door of unmanned vehicle 9；Then
Face telemetry station sends the instruction of release ramp 6 to platform controller 11, and platform controller 11 receives the instruction of release ramp 6
Afterwards, start steering engine 5, steering engine 5 is rotated with moving gear 9, drives ramp 6 to travel forward by rack gear 7, the part before ramp 6
After stretching out hatch door, fall naturally and ground face contact.The starting time of steering engine 5 is setting value, included in the instruction of release ramp 6
In, hatch door is just stretched out in part before which guarantees ramp 6.
After the release in place of ramp 6, robot 4 passes sequentially through inclined plate under the control of ground telemetering station and ramp 6 is sailed
Cabin out.After robot 4 is driven out to cabin, carried out data transmission by the communication radio station 13 and ground remote control station of carrying, Jin Ershi
Existing remote control operation.Robot 4 is searched for by vehicle-mounted running ejector half camera 12, spies out external environment information, is wirelessly schemed after
As transmission device 10 is sent to platform controller 11, the car antenna reception that platform controller logical 11 is arranged on unmanned vehicle 9 excessively
The information, image integration device and modulator inside platform controller 11 carry out preliminary treatment to image, pass through platform controller
The transfer of 11 progress image informations can reduce the transmission range of image.Then, the image information of external environment is again by vehicle-mounted day
Line is sent to ground remote control station, is shown on the display screen at ground remote control station, and thus the observer at ground remote control station can be in distal end
By the first view environment, operation is remotely controlled to robot 4.
When needing to withdraw robot 4, ground remote control station control robot 4 is back to no vehicle truck position, and it is logical to control it
Ramp 6 to be crossed to drive into unmanned vehicle cabin, subsequent ground remote control station sends back the instruction for receiving ramp 6 to platform controller 11,
After platform controller 11 receives the instruction of recycling ramp 6, starting steering engine 5 is rotated backward, and steering engine 5 is rotated backward with moving gear 9,
Ramp 6 is driven to move backward by rack gear 7, until ramp 6 is retracted to completely in unmanned vehicle cabin；Subsequent ground remote control station
Hatch door out code is sent to platform controller 11, after platform controller 11 receives hatch door out code, is loaded for electric pushrod 1
Backward voltage, electric pushrod 1 provide constant force to cabin door 2, make cabin door 2 with the reverse rotation of upper end axis, close nobody
The hatch door of vehicle 9.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of unmanned vehicle and robot cooperative operation system, comprising: unmanned vehicle and robot；It is characterized in that, further including releasing
Put/recovering mechanism and control unit, the robot be mounted in inside unmanned vehicle, the release/recovering mechanism will be for will be described
Robot discharges inside unmanned vehicle or the robot is recycled to inside unmanned vehicle；
The hatch door mechanism for opening/closing of unmanned vehicle hatch door is closed in the release/recovering mechanism includes: to be used to open/；It is sailed as robot
Enter or be driven out to the ramp of unmanned vehicle passage；For discharging/recycling the ramp driving device of the ramp, institute after the recovery
Ramp is stated to be located inside unmanned vehicle；
Described control unit includes: ground remote control station and the platform controller on unmanned vehicle；The hatch door mechanism for opening/closing and
Ramp driving device is controlled by the platform controller, and the ground remote control station is used to send to the platform controller and control
System instruction, the control instruction includes: that hatch door opens/close instruction, ramp release/recovery command；The robot is controlled by institute
State ground remote control station.
2. unmanned vehicle as described in claim 1 and robot cooperative operation system, it is characterised in that:
When the unmanned vehicle works, the robot is mounted in inside unmanned vehicle；
When needing the machine man-hour, the ground telemetering station sends hatch door open instructions to platform controller, described flat
Platform controller receives hatch door open instructions, controls the hatch door mechanism for opening/closing and opens unmanned vehicle hatch door；Then the ground telemetering
It stands and sends ramp to platform controller and release order, the platform controller receives after ramp releases order, described in control
Ramp driving device discharges the ramp；After the ramp release in place, the robot is in the ground telemetering station
Control under from the ramp be driven out to unmanned vehicle, and setting task is executed under the control of the ground telemetering station；
When needing to withdraw the robot, control of the robot at the ground remote control station is back to no vehicle truck position,
And control it and driven into inside unmanned vehicle by ramp, then the ground telemetering station sends ramp recycling to platform controller
Instruction after the platform controller receives ramp recovery command, controls the ramp driving device and recycles the ramp,
Then the ground remote control station sends ramp recovery command to platform controller, and the platform controller receives ramp recycling
After instruction, controls the hatch door mechanism for opening/closing and close unmanned vehicle hatch door.
3. unmanned vehicle as claimed in claim 1 or 2 and robot cooperative operation system, which is characterized in that the hatch door opening and closing
Mechanism includes: electric pushrod and linear guide；Be provided with hatch door plate at the hatch door of the unmanned vehicle, the top of the hatch door plate with
The car body of the unmanned vehicle is hinged, and the extension end of the electric pushrod is matched with the linear guide sliding being mounted on the hatch door plate
It closes；The electric pushrod is controlled by the platform controller, when the electric pushrod pushes out hatch door plate, the hatch door plate
It is rotated around the hinge joint of itself and unmanned vehicle car body, opening hatch door, in the hatch door plate rotation process, the stretching of the electric pushrod
It is slided along linear guide at end.
4. unmanned vehicle as claimed in claim 1 or 2 and robot cooperative operation system, which is characterized in that the ramp drives
Dynamic device includes: steering engine, gear and rack gear；The ramp is made of the front and back two parts being connected by hinge, the rack gear
Affixed with the ramp, the rack gear is engaged with by the gear of servo driving, and the steering engine is controlled by platform controller；Work as institute
When stating platform controller starting steering engine, the steering engine band moving gear is rotated, and the rack gear engaged with gear is transported to hatch door direction straight line
It is dynamic, drive the ramp to move along a straight line to hatch door direction, the preceding part of the ramp falls and ground face contact, shape after stretching out
The channel of unmanned vehicle is driven into or is driven out at robot.
5. unmanned vehicle as claimed in claim 4 and robot cooperative operation system, which is characterized in that inside the unmanned vehicle,
The carrying platform of robot is located in parallel above the ramp, leads between plane where the carrying platform and the ramp
Inclined plate transition is crossed, one end of the inclined plate and the carrying platform end of robot are hinged, and the other end, which is taken, is placed on the ramp end
Portion, after the preceding part of the ramp is stretched out and is fallen with ground face contact, preceding part and the inclined plate pair of the ramp
It connects, forms the channel that robot drove into or be driven out to unmanned vehicle.
6. unmanned vehicle as claimed in claim 5 and robot cooperative operation system, which is characterized in that the inclined plate gradient with
Relationship between the length of land prelaminar part point are as follows:
H/sin (arctanx)=l
Wherein, h is the terrain clearance of ramp inside unmanned vehicle, and x is the inclined plate gradient, and l is that landing prelaminar part divides length, that is, is landed
The extension elongation of plate when being contacted with ground.
7. unmanned vehicle as claimed in claim 1 or 2 and robot cooperative operation system, which is characterized in that in the robot
Equipped with communication radio station, vehicle-mounted running ejector half camera and wireless image modulating equipment；The robot passes through the communication radio station
The motion control instruction that ground telemetering station is sent is received, the target that unmanned vehicle reaches setting is driven out to according to motion control instruction movement
Position；The vehicle-mounted running ejector half camera is used for the search behind the target position that robot reaches setting, scouts external environment letter
Breath, obtains the picture signal of external environment；The picture signal for the external environment that the wireless image modulating equipment is used to obtain
It is sent to platform controller, the platform controller is transmitted to the ground remote control after receiving the picture signal that robot is sent
It stands and receives and show.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125021.0A CN109240233A (en) | 2018-09-26 | 2018-09-26 | A kind of unmanned vehicle and robot cooperative operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811125021.0A CN109240233A (en) | 2018-09-26 | 2018-09-26 | A kind of unmanned vehicle and robot cooperative operation system |
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| CN109240233A true CN109240233A (en) | 2019-01-18 |
Family
ID=65056224
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| CN201811125021.0A Pending CN109240233A (en) | 2018-09-26 | 2018-09-26 | A kind of unmanned vehicle and robot cooperative operation system |
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Cited By (7)
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| CN110758128A (en) * | 2019-11-04 | 2020-02-07 | 中国北方车辆研究所 | Vehicle-mounted unmanned vehicle charging system |
| CN111645048A (en) * | 2020-05-12 | 2020-09-11 | 云南电网有限责任公司保山供电局 | Emergency deployment system and method for transformer substation inspection robot |
| CN111839359A (en) * | 2020-03-20 | 2020-10-30 | 同济大学 | Primary and secondary formula robot of sweeping floor |
| CN112363497A (en) * | 2020-10-14 | 2021-02-12 | 重庆长安工业(集团)有限责任公司 | Recovery and release device of vehicle-mounted unmanned vehicle |
| CN112429117A (en) * | 2020-12-02 | 2021-03-02 | 北方工业大学 | Air-ground coordination device and method for remote complex environment investigation |
| CN113204242A (en) * | 2021-07-05 | 2021-08-03 | 北京理工大学 | Reconfigurable unmanned vehicle three-section type butt joint control method |
| CN114212076A (en) * | 2021-12-27 | 2022-03-22 | 安徽江淮汽车集团股份有限公司 | Automatic parking system based on vehicle-mounted robot |
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| CN110758128A (en) * | 2019-11-04 | 2020-02-07 | 中国北方车辆研究所 | Vehicle-mounted unmanned vehicle charging system |
| CN111839359A (en) * | 2020-03-20 | 2020-10-30 | 同济大学 | Primary and secondary formula robot of sweeping floor |
| CN111839359B (en) * | 2020-03-20 | 2021-07-20 | 同济大学 | Primary and secondary formula robot of sweeping floor |
| CN111645048A (en) * | 2020-05-12 | 2020-09-11 | 云南电网有限责任公司保山供电局 | Emergency deployment system and method for transformer substation inspection robot |
| CN112363497A (en) * | 2020-10-14 | 2021-02-12 | 重庆长安工业(集团)有限责任公司 | Recovery and release device of vehicle-mounted unmanned vehicle |
| CN112429117A (en) * | 2020-12-02 | 2021-03-02 | 北方工业大学 | Air-ground coordination device and method for remote complex environment investigation |
| CN113204242A (en) * | 2021-07-05 | 2021-08-03 | 北京理工大学 | Reconfigurable unmanned vehicle three-section type butt joint control method |
| CN113204242B (en) * | 2021-07-05 | 2021-09-07 | 北京理工大学 | Reconfigurable unmanned vehicle three-section type butt joint control method |
| CN114212076A (en) * | 2021-12-27 | 2022-03-22 | 安徽江淮汽车集团股份有限公司 | Automatic parking system based on vehicle-mounted robot |
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Application publication date: 20190118 |
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