CN109521776A - A kind of intelligent robot chassis control system - Google Patents
A kind of intelligent robot chassis control system Download PDFInfo
- Publication number
- CN109521776A CN109521776A CN201811651080.1A CN201811651080A CN109521776A CN 109521776 A CN109521776 A CN 109521776A CN 201811651080 A CN201811651080 A CN 201811651080A CN 109521776 A CN109521776 A CN 109521776A
- Authority
- CN
- China
- Prior art keywords
- main board
- embedded main
- personal computer
- subsystem
- industrial personal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000003197 gene knockdown Methods 0.000 claims abstract description 12
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 239000000203 mixture Substances 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012360 testing 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a kind of intelligent robot chassis control systems, including industrial personal computer, it further include being issued to each knock-down module via embedded main board with the interchanger of industrial personal computer network connection, the embedded main board connecting with industrial personal computer signal and multiple knock-down modules connecting with embedded main board signal, the control instruction that the industrial personal computer is sent.Embedded main board can connect all sub- equipment in the present invention, it is only necessary to which embedded main board is communicated with industrial personal computer, saves the communication interface of industrial personal computer.Embedded main board incorporates all sub- equipment, monitors the operating condition of sub- equipment in real time, guarantees that chassis can work normally, even if there is exception, can also be accurately positioned exception information.Embedded main board use real time operating system, can all sub- equipment of precise manipulation, guarantee chassis can in real time, accurately work.
Description
Technical field
The invention belongs to intelligent science and technology fields, and in particular to a kind of intelligent robot chassis control system.
Background technique
The Body Control of someone's vehicle be mainly control door, window, the equipment such as lamp switch and state aware, and unmanned vehicle due to
Only PC machine control system, so the input and output of Body Control are the Body Control systems by completing with PC machine interaction data
The perceptible aspect of system not only will control and perceive cabinet door, light etc., it is also necessary to which perceived position and posture information, perception and control are driven
The contents such as dynamic motor, more complicated in terms of algorithm policy, emphasis is also different.
Wherein currently, currently without the chassis control system for being directed to intelligent robot, intelligent robot is controlled on no chassis
When system processed, the information of all robots is individually connected to industrial personal computer, a large amount of to occupy industrial computer communication interface, and industrial personal computer needs
The information of every sub- equipment of independent process, occupies the process resource of industrial personal computer.Also, since industrial personal computer operating system is generally
Linux or Windows is non-real-time system, is unable to accurately control all devices on chassis, can generate a large amount of delay and miss
Difference.
Summary of the invention
To solve the above-mentioned problems, a kind of intelligent robot chassis control system of the present invention is core by embedded main board
The heart is interrogated all internal units of connection by multi-pass, is controlled according to interrelated logic robot chassis.
The technical solution of the present invention is as follows: a kind of intelligent robot chassis control system, including industrial personal computer, further include and industry control
It the interchanger of machine network connection, the embedded main board that is connect with industrial personal computer signal and multiple is connect with embedded main board signal
Knock-down module, the control instruction that the industrial personal computer is sent are issued to each knock-down module via embedded main board.
Robot chassis is made up of each using embedded main board as core the knock-down module on each communication bus in the present invention
A subsystem, all subsystem integrations receive the control instruction of industrial personal computer under embedded main board.Such as industrial personal computer in the present invention
The operation that chassis is controlled by front and back bridge system is obtained the location status on chassis by location aware system, passes through power management
System obtain chassis power information, by control lighting system complete chassis signal light control, chassis by power-supply management system come
Guarantee that chassis power supply is normal, avoids crashing by anti-collision system.
Preferably, the knock-down module includes rotary encoder, battery, GPS receiver, servo motor, remote control reception
Machine, lighting fixture, steering motor, anticollision strip, laser radar, angular transducer and ultrasonic unit.
Preferably, the embedded main board carries out communication connection by full duplex serial port and the industrial personal computer.Due to away from
It is close, so full duplex serial port may operate in high speed (115200bps or higher speed).Embedded main board is to work
Control machine sends chassis attitude information, receives the control instruction that industrial personal computer issues.
Preferably, the embedded main board connects rotary encoder by CAN bus, and is controlled by PWM and turn to electricity
Machine, bridge control subsystem, the preceding bridge control subsystem before the embedded main board, rotary encoder and steering motor form
It allows preceding bridge to turn to by controlling steering motor, closed-loop control is completed by the angle information of rotary encoder feedback.
Preferably, the embedded main board controls servo motor, the embedded main board and servo electricity by CAN bus
Machine forms rear bridge driven subsystem, and the embedded main board controls servo motor, and the operating status of real-time reception servo motor
Information.The present invention can control servo motor, and the speed of Real-time Feedback rear axle servo motor, position using synchronous, high speed communication
It the status informations such as sets, two grades of 50Hz and 100Hz can be reached with real-time control rate.
Preferably, the embedded main board carries out communication connection by the BMS of semi-duplex serial port and battery, and pass through
I/O port controls relay, and the embedded main board, battery and relay form power management subsystem.Power supply pipe in the present invention
Subsystem real time monitoring battery output is managed, robot power supply is deployed in time and uses, guarantees the safety of robot and reliable.
Preferably, the embedded main board passes through full duplex serial port and ultrasonic unit communication connection, and pass through I/O port
Obtain laser radar and anticollision strip feedback information, the embedded main board, ultrasonic unit, laser radar and anticollision strip composition
Vehicle body anticollision subsystem.Short distance volume barrier, laser radar enough can be monitored in the present invention by ultrasonic unit to obtain
The barrier of front height enough is taken, anticollision strip guarantees as last touching anticollision triggering.
Preferably, the embedded main board connects GPS receiver by full duplex serial port, obtained by GPS receiver
Absolute location information, the embedded main board connect angular transducer acquisition chassis by full duplex serial port and absolutely trust information,
The embedded main board, GPS receiver and angular transducer composition robot location perceive subsystem, the robot location
Perception subsystem is used to feed back position and the motion information of robot.Embedded main board is from rear bridge driven subsystem in the present invention
Wheel position information is got, bridge direction information before obtaining from preceding bridge control system obtains absolute position by 232 connection GPS
Confidence breath obtains chassis absolute direction information by 232 connection angular transducers, and composition robot location perceives subsystem, this
The position of a subsystem energy Real-time Feedback robot and motion information.
Preferably, the embedded main board is connect by I/O port with lighting fixture, the embedded main board and light are filled
Composition robot light subsystem is set, the robot light subsystem is according to the control instruction and inherent logic of industrial personal computer come complete
At the lamplight pointing function of robot.
Preferably, the embedded main board connects remote-control receiver by serial ports, the embedded main board and remote control are connect
Receipts machine forms remoting subsystem, and remoting subsystem receives the control information of hand-held remote controller, is sent to embedded main board, completes outer
Remote control actions of the portion to robot.
Preferably, the laser radar is connect with the switch network.
Compared with prior art, the beneficial effects of the present invention are embodied in:
(1) embedded main board can connect all sub- equipment in the present invention, it is only necessary to which embedded main board and industrial personal computer carry out
Communication, saves the communication interface of industrial personal computer.Embedded main board incorporates all sub- equipment, monitors the operation of sub- equipment in real time
Situation guarantees that chassis can work normally, even if there is exception, can also be accurately positioned exception information.Embedded main board is using real-time
Operating system, can all sub- equipment of precise manipulation, guarantee chassis can in real time, accurately work.
(2) chassis of intelligent robot is integrated into one by the present invention, and the unified interface to industrial personal computer can simplify in this way
The whole design of robot improves machine human reriability.Chassis can complete the self-test of all subsystems, in real time by abnormal letter
Breath is reported to industrial personal computer and backstage, and backstage in this way can obtain all information of robot in real time.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
As shown in Figure 1, the present invention includes industrial personal computer 1, it further include the interchanger 2 and industrial personal computer being connected to the network with industrial personal computer 1
The embedded main board 3 of 1 signal connection and multiple knock-down modules being connect with 3 signal of embedded main board, the control that industrial personal computer 1 is sent
System instruction is issued to each knock-down module via embedded main board 3.
Robot chassis is core with embedded main board 3 in the present invention, is made up of the knock-down module on each communication bus
Subsystems, all subsystem integrations receive the control instruction of industrial personal computer 1 under embedded main board 3.Mould is mounted in the present invention
Block include rotary encoder, battery, GPS receiver, servo motor, remote-control receiver, lighting fixture, steering motor, anticollision strip,
Laser radar, angular transducer and ultrasonic unit etc..Such as industrial personal computer 1 passes through front and back bridge system control chassis in the present invention
Operation, by location aware system obtain chassis location status, by power-supply management system obtain chassis power information, lead to
It crosses control lighting system and completes chassis signal light control, chassis guarantees that chassis power supply is normal by power-supply management system, by anti-
System is hit to avoid crashing.
Wherein, embedded main board 3 passes through full duplex serial port and the progress communication connection of industrial personal computer 1 in the present invention.Due to distance
It is close, so full duplex serial port may operate in high speed (115200bps or higher speed).Embedded main board 3 is to work
Control machine 1 sends chassis attitude information, receives the control instruction that industrial personal computer 1 issues.
Embedded main board 3 connects rotary encoder by CAN bus in the present invention, and controls steering motor by PWM, embedding
Enter bridge control subsystem before formula mainboard 3, rotary encoder and steering motor form, preceding bridge control subsystem is turned to by control
Bridge turns to before motor allows, and completes closed-loop control by the angle information of rotary encoder feedback.
Embedded main board 3 controls servo motor, embedded main board 3 and servo motor composition by CAN bus in the present invention
Rear bridge driven subsystem, embedded main board 3 control servo motor, and the running state information of real-time reception servo motor.This hair
It is bright that servo motor can be controlled using synchronous, high speed communication, and the states such as speed, position of Real-time Feedback rear axle servo motor are believed
Breath, can reach two grades of 50Hz and 100Hz with real-time control rate.
Embedded main board 3 carries out communication connection by the BMS of semi-duplex serial port and battery in the present invention, and passes through I/O port
Relay is controlled, embedded main board 3, battery and relay form power management subsystem.Power management subsystem in the present invention
System real time monitoring battery output, deploys robot power supply in time and uses, and guarantees the safety of robot and reliable.
Embedded main board 3 is obtained by full duplex serial port and ultrasonic unit communication connection, and by I/O port in the present invention
Laser radar and anticollision strip feedback information, embedded main board 3, ultrasonic unit, laser radar and anticollision strip composition vehicle body are anti-
Hit subsystem.Volume barrier enough can be monitored closely in the present invention by ultrasonic unit, laser radar obtains front
The barrier of enough height, anticollision strip guarantee as last touching anticollision triggering.
Embedded main board 3 connects GPS receiver by full duplex serial port in the present invention, is obtained by GPS receiver absolute
Location information, embedded main board 3 connect angular transducer acquisition chassis by full duplex serial port and absolutely trust information, embedded master
Plate 3, GPS receiver and angular transducer composition robot location perceive subsystem, and robot location perceives subsystem and is used for
Feed back position and the motion information of robot.Embedded main board 3 gets wheel position from rear bridge driven subsystem in the present invention
Confidence breath, bridge direction information before obtaining from preceding bridge control system obtain absolute location information by 232 connection GPS, pass through
232 connection angular transducers obtain chassis absolute direction information, and composition robot location perceives subsystem, this subsystem can be real
When feedback robot position and motion information.
Embedded main board 3 is connect by I/O port with lighting fixture in the present invention, and embedded main board 3 and lighting fixture form machine
Device thin and weak man's photonic system, robot light subsystem complete robot according to the control instruction of industrial personal computer 1 and inherent logic
Lamplight pointing function.
Embedded main board 3 connects remote-control receiver, embedded main board 3 and remote-control receiver composition by serial ports in the present invention
Remoting subsystem, remoting subsystem receive the control information of hand-held remote controller, are sent to embedded main board 3, complete external to machine
The remote control actions of device people.
Laser radar and interchanger 2 are connected to the network in the present invention.
IMU (model JY901) in the present invention, remote controler and receiver (model: FrSky and mini receiver), lithium electricity
Pond (the 48V lithium battery with BMS), anticollision strip and light (meeting function), steering motor (standard stepper motor and control
Device), rotary encoder (the 4096 line rotary encoders for supporting CAN bus), (750W servo motor is plus control for servo motor
Device), GPS receiver (reference GPS receiver movement station), the model of embedded main board can also there are many, using existing a variety of
Model.
By the above equipment, connection type as shown in figure 1 connects the present invention, that is, constitutes multi-pass news composite chassis control system
System adds relevant device in embedded main board and drives to form control logic.
Claims (10)
1. a kind of intelligent robot chassis control system, including industrial personal computer, which is characterized in that further include being connected to the network with industrial personal computer
Interchanger, the embedded main board that is connect with industrial personal computer signal and multiple knock-down modules being connect with embedded main board signal,
The control instruction that the industrial personal computer is sent is issued to each knock-down module via embedded main board.
2. intelligent robot chassis control system as described in claim 1, which is characterized in that the knock-down module includes rotation
Encoder, battery, GPS receiver, servo motor, remote-control receiver, lighting fixture, steering motor, anticollision strip, laser radar,
Angular transducer and ultrasonic unit.
3. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through complete
Duplexing serial ports and the industrial personal computer carry out communication connection.
4. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through
CAN bus connects rotary encoder, and controls steering motor, the embedded main board, rotary encoder and steering by PWM
Bridge control subsystem before motor form, the preceding bridge control subsystem allow preceding bridge to turn to, pass through rotation by controlling steering motor
The angle information of encoder feedback completes closed-loop control.
5. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through
CAN bus controls servo motor, and the embedded main board and servo motor form rear bridge driven subsystem, the embedded main board
Control servo motor, and the running state information of real-time reception servo motor.
6. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through half
The BMS of duplexing serial ports and battery carry out communication connection, and by I/O port control relay, the embedded main board, battery with
And relay forms power management subsystem.
7. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through complete
Duplexing serial ports and ultrasonic unit communication connection, and laser radar and anticollision strip feedback information, the insertion are obtained by I/O port
Formula mainboard, ultrasonic unit, laser radar and anticollision strip form vehicle body anticollision subsystem.
8. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through complete
Duplexing serial ports connects GPS receiver, obtains absolute location information by GPS receiver, the embedded main board passes through full duplex
Serial ports connection angular transducer obtains chassis and absolutely trusts information, the embedded main board, GPS receiver and angular transducer
It forms robot location and perceives subsystem, the robot location perceives position and the movement letter that subsystem is used to feed back robot
Breath.
9. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through IO
Mouth is connect with lighting fixture, and the embedded main board and lighting fixture form robot light subsystem, the robot light
Subsystem completes the lamplight pointing function of robot according to the control instruction of industrial personal computer and inherent logic.
10. intelligent robot chassis control system as claimed in claim 2, which is characterized in that the embedded main board passes through
Serial ports connects remote-control receiver, and the embedded main board and remote-control receiver form remoting subsystem, and remoting subsystem receives hand
The control information for holding remote controler is sent to embedded main board, completes the external remote control actions to robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651080.1A CN109521776A (en) | 2018-12-31 | 2018-12-31 | A kind of intelligent robot chassis control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651080.1A CN109521776A (en) | 2018-12-31 | 2018-12-31 | A kind of intelligent robot chassis control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109521776A true CN109521776A (en) | 2019-03-26 |
Family
ID=65797435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811651080.1A Pending CN109521776A (en) | 2018-12-31 | 2018-12-31 | A kind of intelligent robot chassis control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109521776A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
| CN111409065A (en) * | 2020-01-15 | 2020-07-14 | 上海锵玫人工智能科技有限公司 | Robot chassis working in complex environment |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1864941A (en) * | 2006-06-01 | 2006-11-22 | 复旦大学 | Driving and reversing gear of robot moving platform |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| CN101428653A (en) * | 2008-12-04 | 2009-05-13 | 复旦大学 | Driving and steering mechanism of robot moving platform |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| CN204650277U (en) * | 2015-05-26 | 2015-09-16 | 中国安全生产科学研究院 | On-the-spot mobile robot environmental information being carried out to mobile monitoring of harmful influence leakage accident |
| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| CN105433860A (en) * | 2015-12-25 | 2016-03-30 | 杭州它人机器人技术有限公司 | Intelligent ground cleaning robot |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN207240220U (en) * | 2017-08-10 | 2018-04-17 | 湖南超能机器人技术有限公司 | A kind of intelligent home health protects robot body's structure |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN207309951U (en) * | 2017-06-30 | 2018-05-04 | 南京信息工程大学 | A kind of intelligent ball collecting robot |
| CN108422419A (en) * | 2018-02-09 | 2018-08-21 | 上海芯智能科技有限公司 | A kind of intelligent robot and its control method and system |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN108814446A (en) * | 2018-07-06 | 2018-11-16 | 杭州它人机器人技术有限公司 | Unmanned dirt cart and its operation method |
| CN108839061A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Auto-navigation robot |
| CN209044388U (en) * | 2018-12-31 | 2019-06-28 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
-
2018
- 2018-12-31 CN CN201811651080.1A patent/CN109521776A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1864941A (en) * | 2006-06-01 | 2006-11-22 | 复旦大学 | Driving and reversing gear of robot moving platform |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| CN101428653A (en) * | 2008-12-04 | 2009-05-13 | 复旦大学 | Driving and steering mechanism of robot moving platform |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| CN204650277U (en) * | 2015-05-26 | 2015-09-16 | 中国安全生产科学研究院 | On-the-spot mobile robot environmental information being carried out to mobile monitoring of harmful influence leakage accident |
| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| CN105433860A (en) * | 2015-12-25 | 2016-03-30 | 杭州它人机器人技术有限公司 | Intelligent ground cleaning robot |
| CN207309951U (en) * | 2017-06-30 | 2018-05-04 | 南京信息工程大学 | A kind of intelligent ball collecting robot |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN207240220U (en) * | 2017-08-10 | 2018-04-17 | 湖南超能机器人技术有限公司 | A kind of intelligent home health protects robot body's structure |
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN108422419A (en) * | 2018-02-09 | 2018-08-21 | 上海芯智能科技有限公司 | A kind of intelligent robot and its control method and system |
| CN108839061A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Auto-navigation robot |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN108814446A (en) * | 2018-07-06 | 2018-11-16 | 杭州它人机器人技术有限公司 | Unmanned dirt cart and its operation method |
| CN209044388U (en) * | 2018-12-31 | 2019-06-28 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
| CN111409065A (en) * | 2020-01-15 | 2020-07-14 | 上海锵玫人工智能科技有限公司 | Robot chassis working in complex environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106707888B (en) | Programmable control module and system, control method with the control module | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN103838230B (en) | The failure switching method of the digital rudder controller control system of a kind of extendible redundance and the number of axle | |
| CN107045353A (en) | All-around mobile AGV master control systems and its control method | |
| CN102887123A (en) | Central controller for full-wire-controlled electric automobile and control method of central controller | |
| CN102085664A (en) | Autonomous operation forestry robot intelligent control system | |
| CN109521776A (en) | A kind of intelligent robot chassis control system | |
| CN103268111A (en) | Networked distribution type multiple-mobile-robot system | |
| CN104590550A (en) | Highly reliable dual redundancy electric steering gear control device | |
| CN109515207A (en) | A kind of intelligent driven controlling system of automatic driving vehicle | |
| CN207571880U (en) | A kind of vehicle body remote control system based on low-power consumption bluetooth | |
| CN209044388U (en) | A kind of intelligent robot chassis control system | |
| CN103220200A (en) | CAN (Controller Area Network/LIN (Local Interconnect Network) bus hybrid network topology structure of vehicle | |
| CN201711968U (en) | Industrial robot | |
| CN208239836U (en) | A kind of environmental sanitation vehicle control based on CAN bus and capacitive touch screen | |
| CN101477365A (en) | Autobody control system and control method | |
| CN201343000Y (en) | Electronic switch integrated controller of automobile electrical system | |
| CN105824267B (en) | A kind of intelligent power for robot servo driver | |
| CN209191861U (en) | A kind of patrol vehicle control and cruiser | |
| CN205375091U (en) | Automatic door controller of tram based on CAN bus | |
| CN205545291U (en) | Car networking is preceding to vehicle operation people's driving action prediction system with image fusion's | |
| CN107962546A (en) | A kind of image recognition element follows pickup robot | |
| CN103645722A (en) | Integrated power supply servo control system | |
| CN113225705A (en) | Multi-robot data communication system with customized communication interface | |
| CN210199541U (en) | Wiper controller with network interface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191230 Address after: 213031 No.2 Tianhe Road, Xinbei District, Changzhou City, Jiangsu Province Applicant after: Jiangsu Tianze Robot Technology Co., Ltd. Address before: 213022, No. 2, Tianhe Road, Tianhe photovoltaic industrial park, Xinbei District, Jiangsu, Changzhou Applicant before: Trina Solar Limited by Share Ltd |