CN110733377A - quick alignment system - Google Patents

quick alignment system Download PDF

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Publication number
CN110733377A
CN110733377A CN201911033418.1A CN201911033418A CN110733377A CN 110733377 A CN110733377 A CN 110733377A CN 201911033418 A CN201911033418 A CN 201911033418A CN 110733377 A CN110733377 A CN 110733377A
Authority
CN
China
Prior art keywords
robot
alignment
alignment image
laser emitter
image
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
Application number
CN201911033418.1A
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Chinese (zh)
Inventor
舒远
尹鹏焰
李宁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN201911033418.1A priority Critical patent/CN110733377A/en
Publication of CN110733377A publication Critical patent/CN110733377A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)

Abstract

The application discloses quick alignment system, which comprises two robot bodies, a laser emitter, a second laser emitter and a vision sensor, wherein the 0 laser emitter is installed on the robot body and used for projecting a th alignment image, the second laser emitter is installed on the robot body and used for projecting a second alignment image aligned and matched with an th alignment image, at least the robot body is provided with the vision sensor, the vision sensor is used for determining a movement adjusting signal according to the position relation between the th alignment image and the second alignment image, at least the robot body moves and adjusts to the th alignment image and the second alignment image aligned and matched according to the movement adjusting signal, so that the two robot bodies are aligned and matched, alignment is quick, efficiency is high, and battery replacement efficiency is guaranteed.

Description

quick alignment system
Technical Field
The application relates to the technical field of battery replacement, especially, relate to kinds of quick counterpoint systems.
Background
At present, in the field of building, part of building operations with large danger degree and low stability of manual operation are gradually replaced by building operation robots, so that the operation efficiency is ensured, and the safety of building personnel can be well guaranteed.
In order to realize flexible and long-distance operation, the building operation robot adopts a battery as a power source, but the configured battery cannot meet the long-time working requirement, and the operation is stopped for charging or battery replacement operation after fixed working time, and the charging mode is adopted, so that the time is long, the building construction operation efficiency is greatly influenced, while the battery replacement mode is adopted, the time is greatly shortened compared with the charging mode, but the existing battery replacement robot and the building operation robot have poor alignment accuracy and low alignment efficiency, so that the battery replacement efficiency is low, and the building construction operation efficiency is still influenced by fixed degree.
Disclosure of Invention
In view of this, an object of the present invention is to provide fast alignment systems, which can improve alignment efficiency, ensure battery replacement efficiency, and reduce the influence on the efficiency of construction work.
In order to achieve the above technical objectives, the present application provides fast alignment systems, which include two robot bodies, a th laser emitter, a second laser emitter, and a vision sensor;
the th laser transmitter is mounted on the robot body and is used to project a th alignment image;
the second laser transmitter mounted on the robot body and for projecting a second registration image in registration with the th registration image;
at least said vision sensor is mounted on said robot body;
the vision sensor is used for determining a movement adjusting signal according to the position relation between the th alignment image and the second alignment image;
at least the robot main body moves and adjusts to the th alignment image and the second alignment image to align and match according to the movement adjustment signal, so that the two robot main bodies are aligned and matched.
, the robot main bodies are adjusted according to the movement adjusting signal.
, the vision sensor is mounted on both the robot main bodies;
and the two robot main bodies are respectively adjusted according to the movement adjusting signal determined by the vision sensor arranged on the robot main bodies.
, the vision sensor comprises a CCD camera and a processor;
the CCD camera is used for acquiring the th alignment image and the position information of the second alignment image and feeding back the position information to the processor;
the processor is connected with a main control system of the robot main body and used for determining a movement adjusting signal according to the position relation between the th alignment image and the second alignment image.
, the th laser transmitter and the second laser transmitter are both tilted toward the ground.
, it also comprises two fixing frames;
the two fixing frames are respectively arranged on the robot main body;
the th laser emitter and the second laser emitter are respectively arranged on the fixed frame.
, the fixing frame includes a U-shaped mounting seat and a supporting rod;
the supporting rod is arranged on the mounting seat;
the th laser emitter and the second laser emitter are respectively arranged on the supporting rod.
, a locking member corresponding to the rod ;
the supporting rod is rotatably connected with the mounting seat and is matched with the mounting seat in a locking manner through the locking piece.
, the th laser transmitter and the second laser transmitter are both laser pens.
Further , the th and second registration images may be kinds of V-shaped, cross-shaped, zigzag-shaped, and zigzag-shaped images.
According to the technical scheme, the laser transmitter used for projecting the th alignment image and the second laser transmitter used for projecting the th alignment image are respectively installed on the two robot bodies, the vision sensor is at least arranged on the robot body and used for determining the movement adjusting signal of the robot body according to the position relation between the th alignment image and the second alignment image, so that at least the robot body moves to be adjusted to be the th alignment image and the second alignment image according to the movement adjusting signal to be aligned and matched with each other, the two robot bodies are aligned and matched, the quick alignment and matching between the two robot bodies are achieved, the alignment efficiency is improved, the battery replacement efficiency is guaranteed, and the influence on the construction work efficiency is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a schematic isometric view of rapid alignment systems provided herein;
FIG. 2 is a front view of quick alignment systems provided herein;
FIG. 3 is a top view of rapid alignment systems provided herein;
FIG. 4 is a schematic diagram of the alignment image and the second alignment image of the rapid alignment system provided in the present application under (a), (b), and (c) states;
fig. 5 is a schematic view of a fixing frame of rapid alignment systems provided in the present application;
in the figure, 1, a robot main body, 2, th laser emitters, 3, second laser emitters, 4, a vision sensor, 5, a fixed frame, 51, a mounting seat, 52, a support rod, 53, a rotating disc, 531, a poking rod, 532, a through hole, 61, th alignment images and 62, second alignment images are arranged.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some of the embodiments , but not all of them.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and for simplicity in description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus are not to be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" shall be used to mean, for example, a fixed connection, an interchangeable connection, or body connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediary, and communication between two elements.
The embodiment of the application discloses quick counterpoint systems.
Referring to fig. 1 and fig. 4, embodiments of fast alignment systems provided in the embodiments of the present application include:
the robot comprises two robot bodies 1, th laser transmitters 2, 3 second laser transmitters and 4 vision sensors, wherein the th laser transmitter 2 is arranged on the robot body 1 and used for projecting a th alignment image 61, the second laser transmitter 3 is arranged on the robot body 1 and used for projecting a second alignment image 62 aligned and matched with the th alignment image 61, at least robot body 1 is provided with the vision sensor 4, the vision sensor 4 is used for determining a movement adjusting signal according to the position relation of the th alignment image 61 and the second alignment image 62, and at least robot body 1 is adjusted to move according to the movement adjusting signal to enable the th alignment image 61 to be aligned and matched with the second alignment image 62 so as to align and match the two robot bodies 1.
Specifically, the two robot main bodies 1 in the present embodiment may be a battery replacement robot for battery replacement and a construction work robot, or may be other robot devices that need to be aligned and adjusted in movement, such as a service robot provided with a moving device such as an AGV carriage, for example, and those skilled in the art may appropriately change the robot main bodies based on this, and specifically, the robot main bodies 1 are not limited to the above embodiments, and when only robot main bodies 1 are provided with the vision sensors 4 and both the robot main bodies 1 need to move according to the movement adjustment signal determined by the vision sensor 4, the robot main body 1 not provided with the vision sensor 4 may be wirelessly connected to the vision sensor 4.
In this embodiment, taking a battery replacement robot and a robot for construction as examples, the specific alignment process is as follows:
1. before the alignment matching operation, the battery replacing robot can be manually moved to the side of the operation robot for coarse positioning according to the navigation route control, so that the alignment image 61 and the second alignment image 62 generated by the th laser emitter 2 and the second laser emitter 3 can be recognized by the vision sensor 4.
2. After the coarse positioning is completed, the vision sensor 4 can receive the th alignment image 61 and the second alignment image 62, and after the th alignment image 61 and the second alignment image 62 are obtained, the vision sensor 4 can calculate and determine the movement adjustment signal of the battery replacing robot and/or the working robot according to the position relationship between the th alignment image 61 and the second alignment image 62, so that the battery replacing robot and/or the working robot can perform movement adjustment according to the movement adjustment signal, and the th alignment image 61 and the second alignment image 62 are aligned to match each other to enable the battery replacing robot and the working robot to be aligned, wherein the th alignment image 61 and the second alignment image 62 can be similar or identical V-shaped, cross-shaped, Y-shaped and the like, so that the direction angle and the image of the coincident point can be conveniently identified, and a person skilled in the art can appropriately transform on the basis, and particularly does not limit the images.
In addition, in the alignment matching of the patterns, in order to ensure the matched position list after alignment, the movement adjustment signals include an angle signal and a displacement signal, the alignment matching process between the th alignment image 61 and the second alignment image 62 in this embodiment is as follows:
taking fig. 4 as an example, the th alignment image 61 and the second alignment image 62 in this embodiment are similar re-digital images, and specifically, may be composed of two vertically crossing th line segment and second line segment with the same or different lengths, and a third line segment connecting the th line segment and the second line segment .
First, the vision sensor 4 can obtain position signals of the alignment image 61 and the second alignment image 62 in the state of fig. 4a, and calculate and determine an angle quantity signal, wherein points of the position image 61 and the second alignment image 62 can be used as a rotation reference point, at this time, the required angle quantity when the position image 61 and/or the second alignment image 62 rotates around the rotation reference point to the state of b is the angle quantity signal determined by the vision sensor 4.
Moreover, after the th alignment image 61 and the second alignment image 62 are adjusted to the b-state, the vision sensor 4 can calculate and determine the displacement signals, at this time, the point where the th line segment and the second line segment intersect can be selected as the alignment point, alignment reference points are selected on the connection line of the two alignment points, and the displacement of the th alignment image 61 and/or the second alignment image 62 moved to the alignment reference points is the displacement signal calculated and determined by the vision sensor 4.
The angle signal and the displacement signal may be sequentially checked, or may be calculated and checked times, that is, the battery replacement robot and/or the working robot may obtain the command signal times for movement adjustment, or may perform movement adjustment sequentially or in response to the command signal.
According to the technical scheme, the laser emitter 2 used for projecting the th alignment image 61 and the second laser emitter 3 used for projecting the second alignment image 62 aligned with the th alignment image 61 are respectively installed on the two robot bodies 1, and the vision sensor 4 is at least arranged on the robot body 1 and used for determining the movement adjusting signal of the robot body 1 according to the position relation between the th alignment image 61 and the second alignment image 62, so that at least the robot body 1 moves and adjusts to the th alignment image 61 aligned with the second alignment image 62 according to the movement adjusting signal, and the two robot bodies 1 are aligned and matched.
The above is an embodiment of the fast alignment systems provided in the present application, and the following is an embodiment two of the fast alignment systems provided in the present application, please refer to fig. 1 to 5 specifically.
A quick alignment system comprises two robot bodies 1, a laser emitter 2, a second laser emitter 3 and a vision sensor 4, wherein the 0 th laser emitter 2 is installed on the robot body 1 and is used for projecting a th alignment image 61, the second laser emitter 3 is installed on the robot body 1 and is used for projecting a second alignment image 62 aligned and matched with the th alignment image 61, at least the robot body 1 is provided with the vision sensor 4, the vision sensor 4 is used for determining a movement adjustment signal according to the position relation of the th alignment image 61 and the second alignment image 62, and at least the robot body 1 moves and adjusts to the th alignment image 61 and the second alignment image 62 to be aligned and matched according to the movement adjustment signal so that the two robot bodies 1 are aligned and matched.
, the two robot bodies 1 move and adjust according to the movement adjustment signal, the two robot bodies 1 move and adjust to achieve alignment matching more quickly, and after the vision sensor 4 confirms the movement adjustment signal, the battery replacing robot and the working robot can move and adjust to achieve alignment matching more quickly, for example.
, vision sensors 4 are mounted on the two robot bodies 1, and the two robot bodies 1 are respectively adjusted according to the movement adjusting signal determined by the vision sensor 4 mounted on the robot bodies 1. the number of the vision sensors 4 is two, that is, the vision sensors 4 are mounted on the two robot bodies 1, so that the two robot bodies 1 are respectively adjusted according to the movement adjusting signal determined by the vision sensor 4 mounted on the robot bodies, and compared with the single vision sensor 4, a wireless connection module is not required to be added.
, the vision sensor 4 includes a CCD camera and a processor, the CCD camera is used to obtain the position information of the th alignment image 61 and the second alignment image 62 and feed back to the processor, the processor is connected with the main control system of the robot body 1 and is used to determine the movement adjusting signal of the robot body 1 according to the position relation of the th alignment image 61 and the second alignment image 62, the vision sensor 4 can be a conventional color CCD camera and a processor, wherein the CCD camera and the processor can be integrally installed or separately installed, and are not limited specifically.
, the laser emitter 2 and the second laser emitter 3 are both inclined toward the ground, as shown in fig. 1 to 2, positioning and acquisition of the alignment image 61 and the second alignment image 62 by the vision sensor 4 are facilitated, and therefore, the alignment and the matching are more accurate, in addition, the vision sensor 4 can also be installed above the laser emitter 2 and/or the second laser emitter 3, the above means are only used as implementation means in the embodiment, and correspondingly, the alignment and the matching can be performed indoors, and at this time, the projection direction can also be projected to the ceiling.
, the robot further comprises two fixing frames 5, the two fixing frames 5 are respectively installed on the robot main body 1, the laser emitter 2 and the second laser emitter 3 are respectively installed on the fixing frames 5, the corresponding vision sensors 4 can also be respectively installed on the fixing frames 5, and the laser emitter 2, the second laser emitter 3 and the vision sensors 4 can be more conveniently installed and fixed through the fixing frames 5.
, as shown in fig. 1 to 5, the fixing frame 5 may include a U-shaped mounting seat 51 and a supporting rod 52, and correspondingly, the supporting rod 52 is mounted on the mounting seat 51, and the th laser emitter 2 and the second laser emitter 3 are respectively mounted on the supporting rod 52, in this embodiment, two supporting rods 52 may be respectively disposed on the mounting seat 51, so that the vision sensor 4 can also be mounted and fixed on the fixing frame 5, and it is sufficient that the two supporting rods do not interfere with each other.
, a locking member corresponding to the support rod 52 is further included, the support rod 52 is rotatably connected with the mounting seat 51 and is locked and matched with the mounting seat 51 through the locking member (not shown), the support rod 52 is set to be in a rotation matching structure, and locking in a rotation matching process can be performed through the locking member, so that the support rod 52 can be flexibly adjusted in a rotation mode, the laser emitter 2 and the second laser emitter 3 which are installed on the support rod 52 can be flexibly adjusted in a projection angle, and alignment matching adjustment is more flexible.
Specifically, a turntable 53 can be sleeved on the end of the supporting rod 52 extending out of the mounting seat 51, a through hole 532 for the locking member to movably pass through is arranged on the turntable 53, and a plurality of adjusting holes (not shown) which are uniformly distributed around the circumference of the end of the supporting rod 52 and into which the locking member movably extends are arranged on the mounting seat 51. as shown in fig. 5, during adjustment, the turntable 53 can be rotated to align the through holes 532 on the turntable 53 with the adjusting holes at different angular positions, and then the adjustment can be completed by locking and fixing the adjusting holes through the locking member, wherein the locking member can be a latch member, and is not limited specifically, and in addition, a deflector rod 531 can be arranged on the turntable 53 to facilitate the rotation.
, the laser emitter 2 and the second laser emitter 3 are both laser pens, specifically GLP series laser pens, which can project the required positioning images, and the use is simple and convenient.
According to the technical scheme, the laser emitter 2 used for projecting the th alignment image 61 and the second laser emitter 3 used for projecting the second alignment image 62 aligned with the th alignment image 61 are respectively installed on the two robot bodies 1, and the vision sensor 4 is at least arranged on the robot body 1 and used for determining the movement adjusting signal of the robot body 1 according to the position relation between the th alignment image 61 and the second alignment image 62, so that at least the robot body 1 moves and adjusts to the th alignment image 61 aligned with the second alignment image 62 according to the movement adjusting signal, and the two robot bodies 1 are aligned and matched.
While the rapid alignment systems provided herein have been described in detail, those skilled in the art can change the embodiments and applications of the present disclosure according to the concept of the present disclosure, and the disclosure should not be construed as limiting the present disclosure.

Claims (10)

  1. The quick alignment system is characterized by comprising two robot bodies, a laser emitter, a second laser emitter and a vision sensor;
    the th laser transmitter is mounted on the robot body and is used to project a th alignment image;
    the second laser transmitter mounted on the robot body and for projecting a second registration image in registration with the th registration image;
    at least said vision sensor is mounted on said robot body;
    the vision sensor is used for determining a movement adjusting signal according to the position relation between the th alignment image and the second alignment image;
    at least the robot main body moves and adjusts to the th alignment image and the second alignment image to align and match according to the movement adjustment signal, so that the two robot main bodies are aligned and matched.
  2. 2. The rapid alignment system according to claim 1, wherein both of the robot bodies are movably adjusted according to the movement adjustment signal.
  3. 3. The rapid alignment system according to claim 1, wherein the vision sensor is mounted on both of the robot bodies;
    and the two robot main bodies are respectively adjusted according to the movement adjusting signal determined by the vision sensor arranged on the robot main bodies.
  4. 4. The rapid alignment system of claim 1, wherein the vision sensor comprises a CCD camera and a processor;
    the CCD camera is used for acquiring the th alignment image and the position information of the second alignment image and feeding back the position information to the processor;
    the processor is connected with a main control system of the robot main body and used for determining a movement adjusting signal according to the position relation between the th alignment image and the second alignment image.
  5. 5. The rapid alignment system of claim 2, wherein the th laser emitter and the second laser emitter are both tilted toward the ground.
  6. 6. The rapid alignment system of claim 1, further comprising two holders;
    the two fixing frames are respectively arranged on the robot main body;
    the th laser emitter and the second laser emitter are respectively arranged on the fixed frame.
  7. 7. The rapid alignment system according to claim 6, wherein the fixing frame comprises a U-shaped mounting seat and a supporting rod;
    the supporting rod is arranged on the mounting seat;
    the th laser emitter and the second laser emitter are respectively arranged on the supporting rod.
  8. 8. The rapid alignment system of claim 7, further comprising a locking member corresponding to the strut ;
    the supporting rod is rotatably connected with the mounting seat and is matched with the mounting seat in a locking manner through the locking piece.
  9. 9. The rapid alignment system of claim 1, wherein the th laser emitter and the second laser emitter are both laser pens.
  10. 10. The rapid alignment system of claim 1, wherein said th alignment image and said second alignment image are kinds of V-shaped, cross-shaped, zigzag-shaped and zigzag-shaped images.
CN201911033418.1A 2019-10-28 2019-10-28 quick alignment system Pending CN110733377A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911033418.1A CN110733377A (en) 2019-10-28 2019-10-28 quick alignment system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911033418.1A CN110733377A (en) 2019-10-28 2019-10-28 quick alignment system

Publications (1)

Publication Number Publication Date
CN110733377A true CN110733377A (en) 2020-01-31

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201809065U (en) * 2009-11-03 2011-04-27 南通通镭软件有限公司 Automatic container loading and unloading control system under shore bridge
CN104417382A (en) * 2013-08-30 2015-03-18 国家电网公司 Visual positioning system
CN107585052A (en) * 2017-09-19 2018-01-16 深圳大学 A kind of electric vehicle wireless charging alignment control device and method
CN207416566U (en) * 2017-09-19 2018-05-29 深圳大学 A kind of electric vehicle wireless charging alignment control device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201809065U (en) * 2009-11-03 2011-04-27 南通通镭软件有限公司 Automatic container loading and unloading control system under shore bridge
CN104417382A (en) * 2013-08-30 2015-03-18 国家电网公司 Visual positioning system
CN107585052A (en) * 2017-09-19 2018-01-16 深圳大学 A kind of electric vehicle wireless charging alignment control device and method
CN207416566U (en) * 2017-09-19 2018-05-29 深圳大学 A kind of electric vehicle wireless charging alignment control device

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