CN111309019A - Inspection robot, emergency stop control device thereof and state confirmation method - Google Patents
Inspection robot, emergency stop control device thereof and state confirmation method Download PDFInfo
- Publication number
- CN111309019A CN111309019A CN202010135432.9A CN202010135432A CN111309019A CN 111309019 A CN111309019 A CN 111309019A CN 202010135432 A CN202010135432 A CN 202010135432A CN 111309019 A CN111309019 A CN 111309019A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses an inspection robot, an emergency stop control device and a state confirmation method thereof, wherein the inspection robot comprises: the cutting-off module is used for cutting off the electric connection between the motor of the inspection robot and the power supply; the remote control module is in wireless communication connection with the cut-off module and can send a turn-off instruction to the cut-off module; the cutting-off module is used for disconnecting the motor from the power supply after receiving the turn-off instruction. When the robot is abnormal, an operator can remotely and emergently stop the operation of a motor of the robot through the remote control module, and can realize emergency braking under the condition of high-speed operation of the robot, so that property loss can be avoided under emergency.
Description
Technical Field
The invention relates to a robot technology, in particular to an inspection robot, an emergency stop control device and a state confirmation method thereof.
Background
A rail type inspection robot is intelligent equipment which assists or replaces part of manual inspection tasks. Two rail-type inspection robots are described below:
a suspension type inspection robot generally runs in a tunnel and an urban underground comprehensive pipe gallery, a suspension type rail is laid on the top end of the tunnel, and the inspection robot is suspended on the suspension type rail to perform inspection tasks. The inspection robot is higher than the ground, and is difficult to touch by workers;
the other rail type inspection robot runs on rails such as subways and high-speed rails and can run at a high speed.
The rail-mounted inspection robot emergency stop button is usually installed on the robot body, and the inspection robot is usually higher in position or runs at a high speed, is difficult to be triggered when meeting emergency, and is difficult to make the inspection robot stop running through the emergency stop button.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
A primary object of the present invention is to overcome at least one of the above-mentioned drawbacks of the prior art, and to provide an emergency stop control apparatus for an inspection robot, including:
the cutting-off module is used for cutting off the electric connection between the motor of the inspection robot and the power supply;
the remote control module is in wireless communication connection with the cut-off module and can send a turn-off instruction to the cut-off module;
the cutting-off module is used for disconnecting the motor from the power supply after receiving the turn-off instruction.
In accordance with one embodiment of the present invention,
the remote control module includes:
a switch for emergency stop is arranged on the vehicle,
a first trigger circuit comprising
A first wireless communication module; and
the first trigger controller is connected with the emergency stop switch and the first wireless communication module;
the cutoff module includes:
a first main control loop including
The first switch is arranged on the power supply wire of the motor;
the first switch control circuit is connected with the first switch and can drive the first switch to be switched off;
the first switching controller is connected to the first switch control circuit;
the second wireless communication module is connected with the first switching controller and is in wireless communication connection with the first wireless communication module;
the first trigger controller is used for sending a turn-off instruction to the first switching controller after the emergency stop switch is triggered, and the first switching controller is used for controlling the first switch control circuit to drive the first switch to be switched off after receiving the turn-off instruction.
In accordance with one embodiment of the present invention,
the remote control module further comprises:
a second trigger circuit comprising
A third wireless communication module; and
the second trigger controller is connected with the emergency stop switch and the third wireless communication module;
the cutoff module further includes:
a second main control loop including
The second switch is arranged on the power supply wire of the motor;
the second switch control circuit is connected with the second switch and can drive the second switch to be disconnected;
a second cut-off controller connected to the second switch control circuit;
a fourth wireless communication module connected to the second disconnection controller and wirelessly connected to the third wireless communication module;
the second trigger controller is used for sending a turn-off instruction to the second cut-off controller after the emergency stop switch is triggered, and the second cut-off controller is used for controlling the second switch control circuit to drive the second switch to be turned off after receiving the turn-off instruction.
According to one embodiment of the present invention, the first trigger controller, the second trigger controller, the first cut-off controller and the second cut-off controller are all PLC controllers.
According to an embodiment of the present invention, the first wireless communication module, the second wireless communication module, the third wireless communication module, and the fourth wireless communication module are one of a bluetooth module, a WiFi wireless module, and an infrared communication module.
The invention also provides an inspection robot which comprises the emergency stop control device.
According to one embodiment of the present invention, the inspection robot includes a power supply and a motor, the motor and the power supply are connected by a motor power supply line, and the cutoff module is installed on the motor power supply line.
According to one embodiment of the invention, the inspection robot further comprises an encoder for measuring the rotating speed of the motor, a motor driving circuit connected with the motor and used for driving the motor to rotate, and a robot processor respectively connected with the encoder and the motor driving circuit;
wherein the robot processor adjusts the motor rotation speed according to a difference between the measured motor rotation speed and a set value of the motor rotation speed so that the motor rotation speed reaches the set value.
The invention also provides a state confirmation method of the emergency stop control device, which is implemented based on the emergency stop control device and comprises the following steps:
a request sending step: the cutting-off module sends a confirmation request to the remote control module so that the remote control module sends a feedback signal to the remote control module after receiving the confirmation request;
the cut-off module judges whether the feedback signal is received in a preset period of sending the confirmation request;
and if the feedback signal is received in the preset period, the step of sending the request is re-entered when the preset period is ended, otherwise, the disconnection module disconnects the electric connection between the motor and the power supply.
According to the technical scheme, the scram control device has the advantages and positive effects that:
when the robot is abnormal, an operator can remotely and emergently stop the operation of a motor of the robot through the remote control module, and can realize emergency braking under the condition of high-speed operation of the robot, so that property loss can be avoided under emergency.
Drawings
Various objects, features and advantages of the present invention will become more apparent from the following detailed description of preferred embodiments of the invention, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary of the invention and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:
fig. 1 is a schematic diagram illustrating a construction of an inspection robot according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method for status confirmation of an emergency stop control device according to an exemplary embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
Referring to fig. 1, fig. 1 is a schematic circuit diagram of an inspection robot 1. The inspection robot 1 may be a rail-type inspection robot. The inspection robot 1 is movable along a rail, and for example, the inspection robot 1 may be installed upright on a rail of a subway or a high-speed railway and operated along the rail of the subway or the high-speed railway to perform an inspection task. The robot may also be mounted suspended on a suspended track along which it travels to perform.
The inspection robot 1 comprises a robot processor 11, a motor driving circuit 12, a motor 13, a speed reducer 15, a power wheel 16, an encoder 14, a power supply 17 and an emergency stop control device 19. The main shaft of the motor 13 is connected to the input shaft of the reducer 15 in a transmission manner, and the rotating shaft of the power wheel 16 is connected to the output shaft of the reducer 15 in a transmission manner. The speed reducer 15 plays a role in matching the rotation speed and transmitting the torque between the motor 13 and the power wheel 16, and plays a role in reducing the rotation speed and increasing the torque.
The encoder 14 may be mounted on the motor 13, and rotation of the spindle of the motor 13 triggers the encoder 14, and the encoder 14 is used to measure the rotation speed of the motor 13. The encoder 14 is electrically connected to the robot processor 11, and the encoder 14 transmits the spindle rotation speed information to the robot processor 11. The robot processor 11 is a logic control unit. The robot processor 11 is electrically connected to a motor drive circuit 12, and the motor drive circuit 12 is connected to a motor 13. The robot processor 11 calculates an adjustment amount from a difference between the measured motor rotation speed and a set value of the motor rotation speed, and sends an adjustment instruction including the adjustment amount to the motor drive circuit 12. After receiving the adjustment instruction, the motor drive circuit 12 controls the rotation speed of the motor 13 according to the adjustment amount, so that the actual rotation speed of the motor 13 reaches the set value of the motor rotation speed. Thus, the robot processor 11, the encoder 14, the motor driving circuit 12 and the power motor 13 form a closed-loop control system to control the rotation speed of the motor 13 in real time. The adjustment method employed in the robot processor 11 may be PID adjustment.
The scram control 19 includes a shut-off module 20 and a remote control module 21. The remote control module 21 and the inspection robot body 18 are arranged separately. The remote control module 21 may be provided on a remote control device of the inspection robot. The remote control module 21 includes an emergency stop switch 210 and a first trigger circuit 211. The first trigger circuit 211 includes a first trigger controller 212 and a first wireless communication module 213. The first trigger controller 212 is a logic control unit, and the first trigger controller 212 may be a PLC controller. The first trigger controller 212 is connected to the emergency stop switch 210 and the first wireless communication module 213, respectively. The scram switch 210 may be a push button switch.
The cutting module 20 is provided on the inspection robot body 18. The power supply 17 is connected to the motor 13 via a motor supply line on which the shut-off module 20 is arranged. The power supply 17, the shutdown module 20 and the motor 13 are connected in series in sequence. A power source 17 is used to power the motor 13, which power source 17 may be a battery. A switch-off module 20 is provided between the power supply 17 and the motor 13 and is capable of switching off and on the electrical connection between the power supply 17 and the motor 13.
The shutdown module 20 includes a first master loop 200. The first master control loop 200 includes a first switch 201, a first switch control circuit 202, a first cut-off controller 203, and a second wireless communication module 204. The first switch 201 may be a relay, and the first switch 201 is provided on a motor power supply line connecting the power source 17 and the motor 13. The first switch 201 is kept in a closed state when the inspection robot operates normally, so that the power supply 17 and the motor 13 are conducted. The first switch 201 is opened to disconnect the circuit between the power supply 17 and the motor 13.
The first cut-off controller 203 is a logic control unit, and may be a PLC controller. The first switching controller 203 is connected to the first switch control circuit 202 and the second wireless communication module 204, respectively. The first switch control circuit 202 is connected to the first switch 201. The second wireless communication module 204 can perform wireless communication with the first wireless communication module 213. The second wireless communication module 204 and the first wireless communication module 213 may be one of a bluetooth module, an infrared wireless communication module, a wifi wireless module, and other wireless communication modules.
When the inspection robot is abnormal, the inspection robot can stop moving by triggering the emergency stop switch 210 on the remote control module 21 to cut off the power supply 17 of the motor 13. Specifically, the emergency stop switch 210 sends a shutdown signal to the first trigger controller 212 after triggering, and the first trigger controller 212 sends a shutdown instruction to the second wireless communication module 204 through the first wireless communication module 213 after receiving the shutdown signal. The second wireless communication module 204 transmits a shutdown instruction to the first shutdown controller 203 after receiving the shutdown instruction. The first switching controller 203 turns off the first switch 201 via the first switch control circuit 202 upon receiving the off command, thus cutting off the power supply 17 of the motor 13. Therefore, the inspection robot in the embodiment can emergently stop the operation of the motor 13 of the inspection robot through the remote control module 21, and can realize emergency braking under the condition that the inspection robot operates at a high speed, so that property loss can be avoided under the emergency condition.
Further, the remote control module 21 further comprises a second trigger circuit 214. The second trigger loop 214 includes a second trigger controller 215 and a third wireless communication module 216. The second trigger controller 215 is a logic control unit, and the second trigger controller 215 may be a PLC controller. The second trigger controller 215 is connected to the emergency stop switch 210 and the third wireless communication module 216, respectively.
The shutdown module 20 also includes a second master loop 214. The second master control loop 214 includes a second switch 206, a second switch control circuit 207, a second cut-off controller 208, and a fourth wireless communication module 209. The second switch 206 may be a relay, and the second switch 206 is provided on a motor power supply line connecting the power source 17 with the motor 13. The second switch 206 is kept in a closed state when the inspection robot operates normally, so that conduction is made between the power supply 17 and the motor 13. The second switch 206 is open to break the electrical circuit between the power source 17 and the motor 13. The first switch 201 and the second switch 206 may be connected in series.
The second cut-off controller 208 is a logic control unit, and may be a PLC controller. The second disconnection controller 208 is connected to the second switch control circuit 207 and the fourth wireless communication module 209, respectively. The second switch control circuit 207 is connected to the second switch 206. The fourth wireless communication module 209 and the third wireless communication module 216 can perform wireless communication therebetween. The fourth wireless communication module 209 and the third wireless communication module 216 may be one of a bluetooth module, an infrared wireless communication module, a wifi communication module, and other wireless communication modules.
Thus, when the inspection robot is abnormal, the emergency stop switch 210 also sends a shutdown signal to the second trigger controller 215 after being triggered, and the second trigger controller 215 sends a shutdown instruction to the fourth wireless communication module 209 through the third wireless communication module 216 after receiving the shutdown signal. The fourth wireless communication module 209 transmits a shutdown instruction to the second shutdown controller 208 after receiving the shutdown instruction. The second cut-off controller 208 turns off the second switch 206 via the second switch control circuit 207 upon receiving the turn-off instruction, thus cutting off the power supply 17 of the motor 13. Thus, the second trigger circuit 214 and the second master circuit 214 are used as safety redundant control circuits, and the emergency stop operation can be reliably executed when the first trigger circuit 211 or the first master circuit 200 fails.
Further, the first switching controller 203 also periodically sends an acknowledgement request to the first trigger controller 212, the first trigger controller 212 sends a feedback signal to the first switching controller 203 after receiving the acknowledgement request, and when the first switching controller 203 does not receive the feedback signal within a period after sending the acknowledgement request, the first switching controller 202 is controlled to drive the first switch 201 to be switched off. The length of one period can be determined by specific working conditions, and the value range of the period can be 1-3 seconds.
In the present embodiment, the shut-off method in the first shut-off controller 203 includes the steps of:
s1 a: the first switching controller 203 sends an acknowledgement request to the first trigger controller 212;
s2 a: judging whether a feedback signal sent by the first trigger controller 212 is received in a period, if so, going to step S3a, otherwise, going to step S4 a;
s3 a: after the lapse of the length of one cycle from the last transmission of the confirmation request, the flow proceeds to step S1 a;
s4 a: the first switching controller 203 controls the first switch control circuit 202 to turn off the first switch 201.
The first cut-off controller 203 continuously confirms the working states of the first trigger controller 212, the first wireless communication module 213 and the second wireless communication module 204, when any one of the first trigger controller 212, the first wireless communication module 213 and the second wireless communication module 204 has a problem and the first cut-off controller 203 cannot receive a feedback signal, the power supply 17 of the motor 13 of the inspection robot is cut off, and thus the inspection robot cannot be started when the emergency stop control device 19 has a defect, and the design can ensure that the emergency stop control device 19 is in an effective state when the inspection robot can work normally.
Further, the second cut-off controller 208 also periodically sends an acknowledgement request to the second trigger controller 215, the second trigger controller 215 sends a feedback signal to the second cut-off controller 208 after receiving the acknowledgement request, and when the second cut-off controller 208 does not receive the feedback signal within a period after sending the acknowledgement request, the second switch control circuit 207 is controlled to drive the second switch 206 to be turned off.
In the present embodiment, the shut-off method in the first shut-off controller 203 includes the steps of:
s1 b: the second disconnection controller 208 sends an acknowledgement request to the second trigger controller 215;
s2 b: judging whether a feedback signal sent by the second trigger controller 215 is received in a period, if so, going to step S3b, otherwise, going to step S4 b;
s3 b: after the lapse of the length of one cycle from the last transmission of the confirmation request, the process proceeds to step S1;
s4 b: the second cut-off controller 208 controls the second switch control circuit 207 to turn off the second switch 206.
The second cut-off controller 208 continuously confirms the working states of the second trigger controller 215, the third wireless communication module 216 and the fourth wireless communication module 209, and cuts off the power supply 17 of the motor 13 of the inspection robot when any one of the second trigger controller 215, the third wireless communication module 216 and the fourth wireless communication module 209 has a problem and the first cut-off controller 203 cannot receive a feedback signal, so that the inspection robot cannot be started when the emergency stop control device 19 has a defect, and the emergency stop control device 19 is designed to be in an effective state when the inspection robot can work normally.
The present embodiment also proposes a state confirmation method of the emergency stop control device, which is implemented based on the emergency stop control device 19 as described above, the method including:
s1, the cutting module 20 sends a confirmation request to the remote control module 21 so that the remote control module 21 sends a feedback signal to the remote control module 21 after receiving the confirmation request;
s2, the cutting-off module 20 judges whether the feedback signal is received in the preset period of sending the confirmation request, if yes, the step S3 is executed, otherwise, the step S4 is executed;
s3: re-proceeding to step S1 at the end of the preset period;
s4: the disconnection module 20 disconnects the electrical connection of the motor to the power source. The emergency stop control device 19 cannot start the inspection robot when the emergency stop control device 19 has defects, so that the emergency stop control device 19 is in an effective state when the inspection robot can work normally.
Although the present invention has been disclosed with reference to certain embodiments, numerous variations and modifications may be made to the described embodiments without departing from the scope and ambit of the present invention. It is to be understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the scope of the appended claims and their equivalents.
Claims (9)
1. The utility model provides an inspection robot's scram controlling means which characterized in that includes:
the cutting-off module (20) is used for cutting off the electric connection between the motor (13) and the power supply (17) of the inspection robot;
the remote control module (21) is in wireless communication connection with the cut-off module (20) and can send a cut-off instruction to the cut-off module (20);
the cutting-off module (20) is used for disconnecting the electric connection between the motor (13) and the power supply (17) after receiving the turn-off instruction.
2. The scram control device according to claim 1,
the remote control module (21) comprises:
a sudden stop switch (210),
a first trigger circuit (211) comprising
A first wireless communication module (213); and
a first trigger controller (212) connected to the emergency stop switch (210) and the first wireless communication module (213);
the severing module (20) comprises:
a first master control loop (200) comprising
A first switch (201) provided on a motor power supply line for connecting the motor (13) and the power supply (17);
a first switch control circuit (202) connected to the first switch (201) and capable of driving the first switch (201) to be turned off;
a first switching controller (203) connected to the first switch control circuit (202);
a second wireless communication module (204) connected to the first switching controller (203) and wirelessly communicatively connected to the first wireless communication module (213);
the first trigger controller (212) and the first switching controller (203) are in wireless communication through a first wireless communication module (213) and a second wireless communication module (204), the first trigger controller (212) is used for sending a switching-off instruction to the first switching controller (203) after the emergency stop switch (210) is triggered, and the first switching controller (203) is used for controlling the first switching control circuit (202) to drive the first switch (201) to be switched off after receiving the switching-off instruction.
3. The scram control device according to claim 2,
the remote control module (21) further comprises:
a second trigger circuit (214) comprising
A third wireless communication module (216); and
a second trigger controller (215) connected to the emergency stop switch (210) and the third wireless communication module (216);
the severing module (20) further comprising:
a second master loop (214) comprising
A second switch (206) provided on the motor power supply line;
a second switch control circuit (207) connected to the second switch (206) and capable of driving the second switch (206) to be turned off;
a second cut-off controller (208) connected to the second switch control circuit (207);
a fourth wireless communication module (209) connected to the second disconnection controller (208) and wirelessly connected to the third wireless communication module (216);
the second trigger controller (215) and the second cut-off controller (208) are in wireless communication through a third wireless communication module (216) and the fourth wireless communication module (209), the second trigger controller (215) is used for sending a cut-off instruction to the second cut-off controller (208) after the emergency stop switch (210) is triggered, and the second cut-off controller (208) is used for controlling the second switch control circuit (207) to drive the second switch (206) to be switched off after receiving the cut-off instruction.
4. The scram control device according to claim 3, wherein the first trigger controller (212), the second trigger controller (215), the first cut-off controller (203), and the second cut-off controller (208) are all PLC controllers.
5. The scram control device of claim 3, wherein the first wireless communication module (213), the second wireless communication module (204), the third wireless communication module (216) and the fourth wireless communication module (209) are one of a Bluetooth module, a WiFi wireless module, an infrared communication module.
6. An inspection robot characterized by comprising the scram control device according to any one of claims 1 to 5.
7. The inspection robot according to claim 6, including a power source (17) and a motor (13), the motor (13) and the power source (17) being connected by a motor supply line, the cut-off module (20) being mounted on the motor supply line.
8. The inspection robot according to claim 7, further comprising an encoder (14) for measuring a rotational speed of the motor, a motor drive circuit (12) connected to the motor (13) for driving the motor (13) to rotate, and a robot processor (11) connected to the encoder (14) and the motor drive circuit (12), respectively;
wherein the robot processor (11) adjusts the motor speed according to a difference between the measured motor speed and a set value of the motor speed so that the motor speed reaches the set value.
9. A state confirmation method of an emergency stop control apparatus, which is implemented based on the emergency stop control apparatus according to any one of claims 1 to 7, the state confirmation method comprising:
a request sending step: the cut-off module (20) sends a confirmation request to the remote control module (21) so that the remote control module (21) sends a feedback signal to the remote control module (21) after receiving the confirmation request;
the cut-off module (20) judges whether the feedback signal is received in a preset period for sending the confirmation request;
if the feedback signal is received in the preset period, the step of sending the request is re-entered when the preset period is ended, otherwise, the cutting-off module (20) cuts off the electric connection between the motor and the power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010135432.9A CN111309019A (en) | 2020-03-02 | 2020-03-02 | Inspection robot, emergency stop control device thereof and state confirmation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010135432.9A CN111309019A (en) | 2020-03-02 | 2020-03-02 | Inspection robot, emergency stop control device thereof and state confirmation method |
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| CN111309019A true CN111309019A (en) | 2020-06-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549031A (en) * | 2020-12-09 | 2021-03-26 | 广州高新兴机器人有限公司 | Method, device and system for remotely relieving scram of patrol robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040078116A1 (en) * | 2002-10-08 | 2004-04-22 | Fanuc Ltd. | Robot controller |
| JP2018164440A (en) * | 2017-03-28 | 2018-10-25 | ヤンマー株式会社 | Work vehicle autonomous travel system |
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2020
- 2020-03-02 CN CN202010135432.9A patent/CN111309019A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040078116A1 (en) * | 2002-10-08 | 2004-04-22 | Fanuc Ltd. | Robot controller |
| JP2018164440A (en) * | 2017-03-28 | 2018-10-25 | ヤンマー株式会社 | Work vehicle autonomous travel system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549031A (en) * | 2020-12-09 | 2021-03-26 | 广州高新兴机器人有限公司 | Method, device and system for remotely relieving scram of patrol robot |
| CN112549031B (en) * | 2020-12-09 | 2022-05-24 | 广州高新兴机器人有限公司 | Method, device and system for remotely relieving scram of patrol robot |
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