CN109866255A - A kind of recognition methods of robot motion's direction and device - Google Patents
A kind of recognition methods of robot motion's direction and device Download PDFInfo
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- CN109866255A CN109866255A CN201910287606.0A CN201910287606A CN109866255A CN 109866255 A CN109866255 A CN 109866255A CN 201910287606 A CN201910287606 A CN 201910287606A CN 109866255 A CN109866255 A CN 109866255A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims description 14
- 238000009434 installation Methods 0.000 claims abstract description 20
- 239000002274 desiccant Substances 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000013598 vector Substances 0.000 claims description 29
- 238000003860 storage Methods 0.000 claims description 26
- 238000005461 lubrication Methods 0.000 claims description 12
- 239000006071 cream Substances 0.000 claims description 9
- 230000001050 lubricating effect Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000011324 bead Substances 0.000 claims description 6
- 239000000945 filler Substances 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 6
- 238000001035 drying Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims 1
- 229910017435 S2 In Inorganic materials 0.000 claims 1
- 230000001681 protective effect Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 28
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Abstract
The invention discloses a kind of identification devices of robot motion's direction, including identifying host, the top of the identification host is connected with transmission line, the other end of the transmission line is connected with installation top plate, moving guide rail has been bolted in the bottom end of the installation top plate, support rod is connected between the inner wall of the moving guide rail, the bottom end of the moving guide rail slidably connects sliding seat, the bottom end of the sliding seat is equipped with mounting base, the inner wall of the mounting base is rotatably connected to camera, structure of the invention is scientific and reasonable, it is safe and convenient to use, it is slidably connected by sliding seat and installation top plate bottom end moving guide rail, the position of camera is adjusted, increase the accuracy to robot motion towards identification, pulling is taken handle, camera shield is fixed below camera, the desiccant connected in conjunction with camera shield inner wall Plate can be dried camera when protecting camera, increase the protective capacities to camera.
Description
Technical field
The present invention relates to robotic technology field, the recognition methods of specially a kind of robot motion's direction and device.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, with the development of science and technology, robot has gradually appeared
In various industries, auxiliary people learn or people are assisted to complete various work, and existing robot is many kinds of, it
Can by grab article be moved, article is carried, and the movement of robot towards robot control in play
Have to important role, affect robot control precision and mobile effect；
But in currently available technology, the movement of robot is longer towards the time calculated, in robot kinematics,
It is easy the deflecting because of robot or by a small margin adjusts the angle, lead to the Caton of robot kinematics.
Summary of the invention
The present invention provides a kind of technical solution, can effectively solve the movement court of robot mentioned above in the background art
Time to calculating is longer, in robot kinematics, is easy the deflecting because of robot or by a small margin adjusts the angle, cause
The problem of Caton of robot kinematics.
To achieve the above object, the invention provides the following technical scheme: a kind of identification device of robot motion's direction, packet
Identification host is included, the top of the identification host is connected with transmission line, and the other end of the transmission line is connected with installation top plate, institute
Moving guide rail has been bolted in the bottom end for stating installation top plate, and support rod, institute are connected between the inner wall of the moving guide rail
The bottom end for stating support rod is uniformly connected with illumination lamp bead, and the bottom end of the moving guide rail slidably connects sliding seat, the sliding
The bottom end of seat is equipped with mounting base, and the inner wall of the mounting base is rotatably connected to camera；
One end of the mounting base is connected with convenient lubricating structure, the convenient lubricating structure include oil storage seat, connecting rod,
Tank filler sleeve, shoe cream room, limited block, oil transportation sliver and lubrication rubber mat；
One end of the mounting base is connected with oil storage seat by connecting rod, and one end of the oil storage seat offers tank filler sleeve,
The inside of the oil storage seat offers shoe cream room, and the top insertion of the oil storage seat is equipped with limited block, the limited block it is interior
Portion, which is uniformly embedded into, is equipped with oil transportation sliver, and the inner wall of the limited block, which corresponds to, is connected with lubrication rubber mat at moving guide rail position.
Preferably, the top groove shape of the limited block is identical as moving guide rail, and one end of the oil transportation sliver passes through
Lubrication rubber mat is contacted with air.
Preferably, the bottom end of the installation top plate is connected with camera protection mechanism, and the camera protection mechanism includes
Placement plate, handle of taking, connecting plate, soft folder placement plate, the soft folder of shield, velcro, is done limit placing clamp, camera shield
Drying prescription plate and dry through-hole；
The bottom end of the installation top plate is connected with placement plate, and the bottom end of the placement plate is symmetrically equipped with limit and places
The bottom end of folder, the limit placing clamp is connected with camera shield, is connected at the bottom center of the camera shield
It takes handle, the both ends of the sliding seat are symmetrically connected with connecting plate, and the bottom end of the connecting plate is equipped with soft folder placement plate, described
The bottom end of soft folder placement plate is connected with the soft folder of shield.
Preferably, the bottom end inner wall of the camera shield is connected with desiccant plate, the desiccant by velcro
Dry through-hole is uniformly provided on the outside of plate.
A kind of recognition methods of robot motion's direction, includes the following steps:
S1, building coordinate system: shooting the initial position of robot, and the initial position for choosing robot is initial coordinate, structure
Build robot motion's plane coordinate system；
S2, track shooting: it is shot by track of the camera to robot motion, and the video recording of shooting is transmitted to
It identifies in host；
S3, coordinate setting: the track video recording of robot motion is transmitted in identification host, robot motion's plane is substituted into
Final states coordinate vector in coordinate system, after obtaining robot motion；
S4, vector calculate: substituting into the final states coordinate vector obtained, calculating final states coordinate vector is inclined with initial coordinate vector
Angle and distance is moved, obtains the direction and distance results of robot motion；
S5, result output: exporting the direction, distance and track of robot motion as a result, and saving the data in identification master
In storage unit in machine.
According to above-mentioned technical characteristic, in the step S1, the camera quantity for shooting robot motion is 5, and 5
Camera position is different.
According to above-mentioned technical characteristic, in the step S2, when being shot to the track of robot motion, it can select and initially clap
Take the photograph that same machines people position is as a reference point, and the video recording obtained to shooting screens.
According to above-mentioned technical characteristic, in the step S3, the track video recording of robot motion substitutes into robot motion's plane
In coordinate system, obtains multiple post exercise robot final states coordinate vectors, select median as end value.
According to above-mentioned technical characteristic, in the step S4, by the end value final states coordinate vector obtained and initial coordinate to
Amount is calculated, and obtains the deviation angle and distance of this movement of robot.
According to above-mentioned technical characteristic, in the step S5, the deviation angle of this movement of the robot that calculates and
Distance can export and be presented to user by display screen, and data of this movement of robot are stored in identification host
In storage unit in.
Compared with prior art, beneficial effects of the present invention: structure of the invention is scientific and reasonable, safe and convenient to use:
1, it is slidably connected, the position of camera can be moved by sliding seat and installation top plate bottom end moving guide rail
Adjustment, the position of position difference adjustment camera when convenient for being used according to robot, to increase to robot motion's direction
Identification accuracy.
2, when pushing sliding seat mobile along moving guide rail, sliding seat movement can drive the connection of mounting base one end connection
Bar and oil storage seat are mobile, and when oil storage seat is mobile, the lubrication rubber mat and oil transportation sliver of limited block inner wall connection can connect with moving guide rail
The lubricating oil stored in shoe cream room can be absorbed and is applied on moving guide rail by touching, oil transportation sliver, consequently facilitating sliding seat is mobile
When lubrication, be also convenient for the corrosion protection to moving guide rail.
3, by pulling handle of taking, camera shield is pulled out out of placement plate bottom end limit placing clamp, and will take the photograph
It is fixed as head shield passes through the soft folder of shield respectively, camera is protected, is connected in conjunction with camera shield inner wall
The desiccant plate connect can be dried camera when protecting camera, increase the protective capacities to camera.
4, it is run, camera camera site is illuminated, thus quickly by the illumination lamp bead that support rod bottom end connects
The brightness to shooting be adjusted.
5, when robot motion, the initial position of robot is shot by camera first, chooses the initial bit of robot
It is set to initial coordinate, robot motion's plane coordinate system is constructed, is then recorded by track of the camera to robot motion
Picture, and can select as a reference point with initially shooting same machines people position, the video recording that obtains of shooting is screened, will be screened
Video recording out is transmitted in identification host, is substituted into robot motion's plane coordinate system, obtains multiple post exercise robot ends
State coordinate vector selects median as end value, the end value final states coordinate vector obtained and initial coordinate vector is carried out
It calculates, obtains the deviation angle and distance of this movement of robot, export the offset of this movement of robot on the display screen
Angle and distance, and the data of this movement of robot are stored in identification host.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the mounting structure schematic diagram of present invention installation top plate and moving guide rail；
Fig. 3 is the mounting structure schematic diagram of sliding seat of the present invention and mounting base；
Fig. 4 is the structural schematic diagram of the convenient lubricating structure of the present invention；
Fig. 5 is the attachment structure schematic diagram of oil transportation sliver and limited block of the present invention；
Fig. 6 is the structural schematic diagram of camera protection mechanism of the present invention；
Fig. 7 is the mounting structure schematic diagram of the soft folder placement plate and the soft folder of shield of the present invention；
Fig. 8 is the mounting structure schematic diagram of velcro of the present invention and desiccant plate；
Fig. 9 is flowage structure schematic diagram of the invention；
Figure label: 1, host is identified；2, transmission line；3, top plate is installed；4, moving guide rail；5, support rod；6, headlamp
Pearl；7, sliding seat；8, mounting base；9, camera；
10, convenient lubricating structure；1001, oil storage seat；1002, connecting rod；1003, tank filler sleeve；1004, shoe cream room；1005,
Limited block；1006, oil transportation sliver；1007, rubber mat is lubricated；
11, camera protection mechanism；1101, placement plate；1102, placing clamp is limited；1103, camera shield；1104,
It takes handle；1105, connecting plate；1106, soft folder placement plate；1107, the soft folder of shield；1108, velcro；1109, desiccant plate；
1110, dry through-hole.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment: as shown in figs 1-9, the present invention provides a kind of technical solution, a kind of identification dress of robot motion's direction
It sets, including identification host 1, the top of identification host 1 is connected with transmission line 2, and the other end of transmission line 2 is connected with installation top plate 3,
Moving guide rail 4 has been bolted in the bottom end of installation top plate 3, and support rod 5 is connected between the inner wall of moving guide rail 4, supports
The bottom end of bar 5 is uniformly connected with illumination lamp bead 6, and the bottom end of moving guide rail 4 slidably connects sliding seat 7, the bottom end peace of sliding seat 7
Equipped with mounting base 8, the inner wall of mounting base 8 is rotatably connected to camera 9；
One end of mounting base 8 is connected with convenient lubricating structure 10, and convenient lubricating structure 10 includes oil storage seat 1001, connecting rod
1002, tank filler sleeve 1003, shoe cream room 1004, limited block 1005, oil transportation sliver 1006 and lubrication rubber mat 1007；
One end of mounting base 8 is connected with oil storage seat 1001 by connecting rod 1002, and one end of oil storage seat 1001, which offers, to be added
Oilhole 1003, the inside of oil storage seat 1001 offer shoe cream room 1004, and the top insertion of oil storage seat 1001 is equipped with limited block
1005, the inside of limited block 1005, which is uniformly embedded into, is equipped with oil transportation sliver 1006, and the inner wall of limited block 1005 corresponds to moving guide rail 4
Lubrication rubber mat 1007 is connected at position, the top groove shape of limited block 1005 is identical as moving guide rail 4, oil transportation sliver 1006
One end pass through lubrication rubber mat 1007 contacted with air, convenient for oil transportation sliver 1006 one end pass through lubricate 1007 pairs of movements of rubber mat
The surface of guide rail 4 is lubricated.
The bottom end of installation top plate 3 is connected with camera protection mechanism 11, camera protection mechanism 11 include placement plate 1101,
Limit placing clamp 1102, camera shield 1103, take 1104, connecting plate 1105, soft folder placement plate 1106, shield is soft
Folder 1107, velcro 1108, desiccant plate 1109 and dry through-hole 1110；
The bottom end of installation top plate 3 is connected with placement plate 1101, and the bottom end of placement plate 1101 is symmetrically equipped with limit and puts
Set folder 1102, the bottom end of limit placing clamp 1102 is connected with camera shield 1103, in the bottom end of camera shield 1103
It is connected with and is taken 1104 at the heart, the both ends of sliding seat 7 are symmetrically connected with connecting plate 1105, and the bottom end of connecting plate 1105 is equipped with
Soft folder placement plate 1106, the bottom end of soft folder placement plate 1106 are connected with the soft folder 1107 of shield, the bottom of camera shield 1103
End inner wall is connected with desiccant plate 1109 by velcro 1108, and the outside of desiccant plate 1109 is uniformly provided with dry through-hole
1110, drying when convenient for protecting camera 9 is also convenient for the replacement of desiccant plate 1109.
A kind of recognition methods of robot motion's direction, includes the following steps:
S1, building coordinate system: shooting the initial position of robot, and the initial position for choosing robot is initial coordinate, structure
Build robot motion's plane coordinate system；
S2, track shooting: it is shot by track of the camera to robot motion, and the video recording of shooting is transmitted to
It identifies in host；
S3, coordinate setting: the track video recording of robot motion is transmitted in identification host, robot motion's plane is substituted into
Final states coordinate vector in coordinate system, after obtaining robot motion；
S4, vector calculate: substituting into the final states coordinate vector obtained, calculating final states coordinate vector is inclined with initial coordinate vector
Angle and distance is moved, obtains the direction and distance results of robot motion；
S5, result output: exporting the direction, distance and track of robot motion as a result, and saving the data in identification master
In storage unit in machine.
According to above-mentioned technical characteristic, in step S1, the camera quantity for shooting robot motion is 5, and 5 camera shootings
Head position is different.
According to above-mentioned technical characteristic, in step S2, when being shot to the track of robot motion, it can select and initially shoot phase
It is as a reference point with robot position, and the video recording obtained to shooting screens.
According to above-mentioned technical characteristic, in step S3, the track video recording of robot motion substitutes into robot motion's plane coordinates
In system, obtains multiple post exercise robot final states coordinate vectors, select median as end value.
According to above-mentioned technical characteristic, in step S4, by the end value final states coordinate vector obtained and initial coordinate vector into
Row calculates, and obtains the deviation angle and distance of this movement of robot.
According to above-mentioned technical characteristic, in step S5, the deviation angle and distance of this movement of robot calculated,
It can export and user is presented to by display screen, and data of this movement of robot are stored in depositing in identification host
In storage unit.
The working principle of the invention and process for using: recognition methods and the device of robot motion's direction are in use, make
Installation top plate 3 can be mounted on the ceiling right above robot by user, mobile by sliding seat 7 and installation 3 bottom end of top plate
Guide rail 4 is slidably connected, can the position to camera 9 carry out mobile adjustment, position when convenient for being used according to robot is different
The position of camera 9 is adjusted, to increase the identification accuracy to robot motion's direction；
When pushing sliding seat 7 mobile along moving guide rail 4,7 movement of sliding seat can drive the company of 8 one end of mounting base connection
Extension bar 1002 and oil storage seat 1001 are mobile, when oil storage seat 1001 is mobile, 1007 He of lubrication rubber mat of 1005 inner wall of limited block connection
Oil transportation sliver 1006 can be contacted with moving guide rail 4, and oil transportation sliver 1006 can absorb the lubricating oil stored in shoe cream room 1004 simultaneously
It is applied on moving guide rail 4, consequently facilitating lubrication when sliding seat 7 is mobile, is also convenient for the corrosion protection to moving guide rail 4；
If dark when shooting, the illumination lamp bead 6 that can be connected by 5 bottom end of support rod is run, and is shot to camera 9
Position is illuminated, to quickly be adjusted to the brightness of shooting, if do not need using camera 9, can be pulled and be taken
It takes 1104, camera shield 1103 is pulled out out of 1101 bottom end of placement plate limit placing clamp 1102, and by camera
Shield 1103 is fixed by the soft folder 1107 of shield respectively, is protected camera 9, in conjunction with camera shield
The desiccant plate 1109 of 1103 inner walls connection can be dried camera 9, increase to camera shooting when protecting camera 9
First 9 protective capacities；
When robot motion, the initial position of robot is shot by camera 9 first, chooses the initial position of robot
For initial coordinate, robot motion's plane coordinate system is constructed, is then recorded by track of the camera 9 to robot motion
Picture, and can select as a reference point with initially shooting same machines people position, the video recording that obtains of shooting is screened, will be screened
Video recording out is transmitted in identification host 1, is substituted into robot motion's plane coordinate system, obtains multiple post exercise robot ends
State coordinate vector selects median as end value, the end value final states coordinate vector obtained and initial coordinate vector is carried out
It calculates, obtains the deviation angle and distance of this movement of robot, export the offset of this movement of robot on the display screen
Angle and distance, and the data of this movement of robot are stored in identification host 1.
Finally, it should be noted that being not intended to restrict the invention the foregoing is merely preferred embodiment of the invention, to the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, for those skilled in the art, still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of identification device of robot motion's direction, including identification host (1), transmission line (2), installation top plate (3), movement
Guide rail (4), support rod (5), illumination lamp bead (6), sliding seat (7), mounting base (8), camera (9), it is characterised in that: the knowledge
The top of other host (1) is connected with transmission line (2), and the other end of the transmission line (2) is connected with installation top plate (3), the peace
The bottom end of dress top plate (3) has been bolted moving guide rail (4), is connected with support between the inner wall of the moving guide rail (4)
Bar (5), the bottom end of the support rod (5) are uniformly connected with illumination lamp bead (6), and the bottom end of the moving guide rail (4) is slidably connected
Have sliding seat (7), the bottom end of the sliding seat (7) is equipped with mounting base (8), and the inner wall of the mounting base (8) is rotatably connected to
Camera (9)；
One end of the mounting base (8) is connected with convenient lubricating structure (10), and the convenient lubricating structure (10) includes oil storage seat
(1001), connecting rod (1002), tank filler sleeve (1003), shoe cream room (1004), limited block (1005), oil transportation sliver (1006) and profit
Sliding rubber mat (1007)；
One end of the mounting base (8) is connected with oil storage seat (1001) by connecting rod (1002), the oil storage seat (1001)
One end offers tank filler sleeve (1003), and the inside of the oil storage seat (1001) offers shoe cream room (1004), the oil storage seat
(1001) top insertion is equipped with limited block (1005), and the inside of the limited block (1005), which is uniformly embedded into, is equipped with oil transportation cotton
Item (1006), the inner wall of the limited block (1005), which corresponds to, is connected with lubrication rubber mat (1007) at moving guide rail (4) position.
2. a kind of identification device of robot motion's direction according to claim 1, which is characterized in that the limited block
(1005) top groove shape is identical as moving guide rail (4), and one end of the oil transportation sliver (1006) passes through lubrication rubber mat
(1007) it is contacted with air.
3. a kind of identification device of robot motion's direction according to claim 1, which is characterized in that the installation top plate
(3) bottom end is connected with camera protection mechanism (11), and the camera protection mechanism (11) includes placement plate (1101), limit
Placing clamp (1102), camera shield (1103) take (1104), connecting plate (1105), soft folder placement plate (1106), prevent
The soft folder (1107) of shield, velcro (1108), desiccant plate (1109) and drying through-hole (1110)；
The bottom end of installation top plate (3) is connected with placement plate (1101), and the bottom end of the placement plate (1101) is symmetrically pacified
Equipped with limit placing clamp (1102), the bottom end of limit placing clamp (1102) is connected with camera shield (1103), described
It is connected with and is taken (1104) at the bottom center of camera shield (1103), the both ends of the sliding seat (7) symmetrically connect
Have connecting plate (1105), the bottom end of the connecting plate (1105) is equipped with soft folder placement plate (1106), the soft folder placement plate
(1106) bottom end is connected with the soft folder (1107) of shield.
4. a kind of identification device of robot motion's direction according to claim 3, which is characterized in that the camera is anti-
The bottom end inner wall of shield (1103) is connected with desiccant plate (1109) by velcro (1108), the desiccant plate (1109)
Outside is uniformly provided with dry through-hole (1110).
5. a kind of recognition methods of robot motion's direction according to claim 1-4, which is characterized in that including
Following steps:
S1, building coordinate system: shooting the initial position of robot, and the initial position for choosing robot is initial coordinate, constructs machine
Device people's plane of movement coordinate system；
S2, track shooting: it is shot by track of the camera to robot motion, and the video recording of shooting is transmitted to identification
In host；
S3, coordinate setting: the track video recording of robot motion is transmitted in identification host, robot motion's plane coordinates is substituted into
Final states coordinate vector in system, after obtaining robot motion；
S4, vector calculate: substituting into the final states coordinate vector obtained, calculate the deviation angle of final states coordinate vector and initial coordinate vector
Degree and distance, obtain the direction and distance results of robot motion；
S5, result output: exporting the direction, distance and track of robot motion as a result, and saving the data in identification host
Storage unit in.
6. a kind of recognition methods of robot motion's direction according to claim 5, which is characterized in that the step S1
In, the camera quantity for shooting robot motion is 5, and 5 camera positions are different.
7. a kind of recognition methods of robot motion's direction according to claim 5, which is characterized in that the step S2
In, it when being shot to the track of robot motion, can select and initially to shoot same machines people position as a reference point, and to shooting
The video recording obtained is screened.
8. a kind of recognition methods of robot motion's direction according to claim 5, which is characterized in that the step S3
In, the track video recording of robot motion substitutes into robot motion's plane coordinate system, obtains multiple post exercise robots final states
Coordinate vector selects median as end value.
9. a kind of recognition methods of robot motion's direction according to claim 5, which is characterized in that the step S4
In, the end value final states coordinate vector obtained is calculated with initial coordinate vector, obtains the offset of this movement of robot
Angle and distance.
10. a kind of recognition methods of robot motion's direction according to claim 5, which is characterized in that the step S5
In, the deviation angle and distance of this movement of robot calculated can export and by showing that screen is presented to use
Person, and the data of this movement of robot are stored in the storage unit in identification host.
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| CN201910287606.0A CN109866255B (en) | 2019-04-11 | 2019-04-11 | Robot motion orientation identification method and device |
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|---|---|---|---|
| CN201910287606.0A CN109866255B (en) | 2019-04-11 | 2019-04-11 | Robot motion orientation identification method and device |
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| CN109213175A (en) * | 2018-10-31 | 2019-01-15 | 浙江工业大学 | A kind of mobile robot visual servo track tracking prediction control method based on primal-dual neural network |
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