CN111367284A - Movement control method and system of transfer robot and related components - Google Patents
Movement control method and system of transfer robot and related components Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000008569 process Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The application discloses a movement control method of a transfer robot, the transfer robot is provided with a positioning device for determining the position of equipment to be followed, the movement control method is applied to a control device inside the transfer robot, and the movement control method comprises the following steps: after the transfer robot moves to the initial target position, determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device; planning a following path according to the following position; and driving the transfer robot to move to the following position according to the following path. The transfer robot in this application can follow and wait to follow the equipment removal under its inside controlling means's drive, does not need the dispatch center to regulate and control again following the position, improves response speed to improve transfer robot's work efficiency. The application also discloses a movement control system of the transfer robot, electronic equipment and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The present disclosure relates to the field of robots, and more particularly, to a method and a system for controlling movement of a transfer robot, and related components.
Background
Most of the existing transfer robots can only execute a point-to-point moving scheme, for example, a two-dimensional code positioning transfer robot based on vision, and although the moving path can be flexibly changed by a dispatching center according to the field situation, the moving scheme is still based on the point-to-point moving scheme. After the transfer robot moves from the position A to the position B, if the transfer robot needs to follow the target equipment or the target staff to start moving from the position B, the center needs to be rescheduled to resend the instruction, the transfer robot can move again after receiving the instruction of the transfer center, and the target equipment or the target staff may have moved to other positions at the moment, so that the existing following scheme is slow in response speed and low in efficiency.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The purpose of the application is to provide a movement control method and system for a transfer robot, an electronic device and a computer readable storage medium, wherein the transfer robot can move along with a device to be followed under the driving of the transfer robot through an internal control device, a dispatching center is not required to regulate and control the following position again, the response speed is increased, and therefore the working efficiency of the transfer robot is improved.
In order to solve the above technical problem, the present application provides a movement control method of a transfer robot, the transfer robot being provided with a positioning device for determining a position of a device to be followed, the movement control method being applied to a control device inside the transfer robot, the movement control method including:
after the transfer robot moves to the initial target position, determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device;
planning a following path according to the following position;
and driving the transfer robot to move to the following position according to the following path.
Preferably, before planning the following path according to the following position, the movement control method further includes:
acquiring obstacle information between the initial target position and the following position;
correspondingly, the process of planning the following path according to the following position specifically comprises the following steps:
and planning a following path according to the initial target position, the following position and the obstacle information.
Preferably, the process of acquiring the obstacle information between the initial target position and the following position specifically includes:
and acquiring obstacle information between the initial target position and the following position through a laser radar.
Preferably, the process of planning the following path according to the following position specifically includes:
planning a following path according to the following position according to a preset target distance and a preset angle;
the preset target distance is a keeping distance between the transfer robot and the position of the equipment to be followed, and the preset angle is a maximum angle adjusting value allowed when the transfer robot runs.
Preferably, the movement control method further includes:
and receiving the position of the equipment to be followed, which is sent by the positioning device, according to a preset receiving period.
Preferably, the movement control method further includes:
judging whether the distance between the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period, and the position of the equipment to be followed, which corresponds to the current following path, exceeds a preset value or not;
if so, determining a new following position corresponding to the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period;
and planning a new following path according to the new following position, and taking the new following path as the current following path so as to drive the transfer robot to move to the new following position according to the current following path. Preferably, the device to be followed is a bluetooth beacon location.
In order to solve the above technical problem, the present application further provides a movement control system of a transfer robot, the transfer robot is provided with a positioning device for determining a position of an apparatus to be followed, the movement control system is applied to a control device inside the transfer robot, and the movement control system includes:
the determining module is used for determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device, after the transfer robot moves to the initial target position;
the planning module is used for planning a following path according to the following position;
and the driving module is used for driving the carrying robot to move to the following position according to the following path.
In order to solve the above technical problem, the present application further provides an electronic device, including:
a memory for storing a computer program;
a processor for implementing the steps of the transfer robot movement control method according to any one of the above items when executing the computer program.
In order to solve the above technical problem, the present application also provides a computer-readable storage medium having a computer program stored thereon, the computer program, when being executed by a processor, implementing the steps of the movement control method of a transfer robot according to any one of the above.
The application provides a mobile control method of transfer robot, the inside positioner that has set up of transfer robot, so that transfer robot can acquire the equipment position of waiting to follow automatically, after transfer robot moved to initial target position, the inside controller of transfer robot is according to waiting to follow the equipment position planning and follows the route, and follow the route drive transfer robot and remove, namely transfer robot in this application can follow the equipment of waiting to follow and remove under its drive of crossing internal control device, do not need the dispatch center to regulate and control again the position of following, improve response speed, thereby improve transfer robot's work efficiency. The present application also provides a movement control system of a transfer robot, an electronic device, and a computer-readable storage medium, which have the same advantageous effects as the movement control method of the transfer robot described above.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a monitoring system of a transfer robot provided in the present application;
fig. 2 is a flowchart illustrating steps of a movement control method of a transfer robot according to the present disclosure;
fig. 3 is a schematic structural diagram of a movement control system of a transfer robot according to the present disclosure.
Detailed Description
The core of the application is to provide a movement control method and system of a transfer robot, electronic equipment and a computer readable storage medium, the transfer robot can move along with equipment to be followed under the driving of the transfer robot passing through an internal control device, a dispatching center is not needed to regulate and control the following position again, the response speed is improved, and therefore the working efficiency of the transfer robot is improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
To facilitate understanding of the movement control method of the transfer robot according to the present application, a monitoring system to which the movement control method according to the present application is applied will be described below, and reference is made to fig. 1, which is a schematic structural diagram illustrating a monitoring system of a transfer robot according to an embodiment of the present application.
As shown in fig. 1, a monitoring system provided in an embodiment of the present application includes: a scheduling device 01, a control device 02 provided inside the transfer robot, and a positioning device 03. The dispatching device 01 is owned by an upper-level central control system and is mainly responsible for dispatching all the carrying robots in the site, dispatching instructions are sent to the carrying robots, and the carrying robots can move from one position to another position according to the received dispatching instructions. The positioning device 03 in this embodiment is used to determine the position of the device to be followed, the device to be followed is a device capable of sending self position information, such as a bluetooth beacon device, in practical applications, the device to be followed should be worn by an on-site worker or placed on an object to be followed, the device position to be followed is a following position or a position to be avoided, it can be understood that the transfer robot is further provided with a Human Machine Interface (HMI) device 04, the worker can set the transfer robot to be in a following mode through the HMI device 04, and the transfer robot can move according to the device to be followed after entering the following mode.
The following describes in detail a movement control method of a transfer robot according to the present application, which is applicable to a control device of a transfer robot.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a movement control method of a transfer robot according to the present application, the movement control method including:
s101: after the transfer robot moves to the initial target position, determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device;
specifically, in the normal long-distance material transportation process, the control device receives a dispatching command sent by the dispatching device and drives the handling robot to move from the position A to the position B, wherein the position B is an initial target position, and the initial target position is generally near the position of the equipment to be followed. When the transfer robot reaches the initial target position, the work such as close-distance material transportation is ready to be carried out, and the working mode of the transfer robot can be switched to the following mode through the HMI device by a worker, so that the control device drives the transfer robot to move according to the position of the equipment to be followed.
Specifically, the positioning device in the transfer robot can collect the position of the equipment to be followed according to a preset period, the collected position of the equipment to be followed is sent to the control device, after the transfer robot enters a following mode, the control device determines the following position according to the received position of the equipment to be followed, generally, the transfer robot and the equipment to be followed need to keep a certain distance, and therefore the following position is the position which is separated from the position of the equipment to be followed by a certain distance.
The preset period may be set according to actual engineering needs, and the minimum time sequence requirement of control is met, which is not specifically limited herein.
S102: planning a following path according to the following position;
specifically, after the following position is determined, the following path of the transfer robot is planned according to the following position. As a preferred embodiment, the following path may be planned according to the following position at a preset target distance and a preset angle. The preset target distance is a keeping distance between the carrying robot and the equipment to be followed, the preset angle is a maximum angle threshold value allowing the carrying robot to be adjusted in a following mode, and the carrying robot is prevented from deviating. Further, preset the target distance and can be for waiting to follow the equipment given with the deviation of transfer robot current position again subtract the distance that follows safe distance and obtain, above-mentioned two preset parameters can be according to the difference of operating condition and adjust, for example the straight line is followed at any time, when keeping away the obstacle, the corresponding preset target distance and the angle of presetting that follow when turning all can be different.
Further, in order to ensure that the following path can achieve the purpose of avoiding obstacles, as a preferred embodiment, before planning the following path, an operation of obtaining obstacle information between an initial target position and a following position may be further included, where the obstacle information includes information such as an obstacle profile, a distance between the initial target position and the following position and the obstacle, an angle between the initial target position and the following position and the obstacle, and the obtaining operation of the obstacle information may be achieved by a laser radar. On the basis of the known initial target position, the following position and the obstacle position, a following path reaching the following position can be planned through a path planning algorithm, such as an A-algorithm. It can be understood that the acquisition of the obstacle information is performed in real time, and along with the following movement of the transfer robot, if new obstacle information is acquired, the following path needs to be planned again, so that the purpose of avoiding obstacles is achieved, and the reliability of the movement control scheme is improved.
S103: and driving the transfer robot to move to the following position according to the following path.
Specifically, the control device may control the transfer robot to travel along the following path planned in S102 by the PID controller. It can be understood that ideal parameter values of variables such as distance, speed, angle, angular speed and the like can be obtained through the planned following path, the ideal parameter values of the variables are compared with actual parameter values obtained by the transfer robot through the PID controller, and the transfer robot is controlled to move according to the comparison result, so that the transfer robot conforms to the ideal path planning.
This embodiment has set up positioner in transfer robot inside, so that transfer robot can acquire automatically and wait to follow the equipment position, after transfer robot moves initial target position, the inside controller of transfer robot follows the route according to waiting to follow the equipment position planning, and move according to this path drive transfer robot that follows, transfer robot in this application can follow under its drive of crossing internal control device and wait to follow the equipment and move promptly, do not need the dispatch center to regulate and control again the position of following, improve response speed, thereby improve transfer robot's work efficiency.
On the basis of the above-described embodiment:
as a preferred embodiment, the movement control method further includes:
and receiving the position of the equipment to be followed, which is sent by the positioning device, according to a preset receiving period.
As a preferred embodiment, the movement control method further includes:
judging whether the distance between the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period, and the position of the equipment to be followed, which corresponds to the current following path, exceeds a preset value or not;
if so, determining a new following position corresponding to the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period;
and planning a new following path according to the new following position, and taking the new following path as the current following path so as to drive the transfer robot to move to the new following position according to the current following path.
Specifically, if a following path is planned according to a following position corresponding to a certain to-be-followed device position, the transfer robot moves according to the following path in the process, if the distance between the to-be-followed device position received by the positioning device in the current receiving period and the to-be-followed device position corresponding to the current following path exceeds a preset value, it is indicated that the to-be-followed device moves, and at this moment, the following path needs to be re-planned according to a new following position corresponding to the current position of the to-be-followed device, so that the transfer robot can be guaranteed to move to the current position of the to-be-followed device.
As a preferred embodiment, the device location to be followed is a bluetooth beacon location.
Specifically, the device to be followed may be a bluetooth beacon device, and certainly, may also be a Wifi device, a zigbee device, or the like, in addition to the bluetooth beacon device.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a movement control system of a transfer robot according to the present application, the movement control system including:
the determining module 11 is configured to determine, according to the received position of the device to be followed, a following position corresponding to the position of the device to be followed, where the position of the device to be followed is sent by the positioning device, after the transfer robot moves to the initial target position;
a planning module 12, configured to plan a following path according to the following position;
and the driving module 13 is used for driving the transfer robot to move to the following position according to the following path.
This embodiment has set up positioner in transfer robot inside, so that transfer robot can acquire automatically and wait to follow the equipment position, after transfer robot moves initial target position, the inside controller of transfer robot follows the route according to waiting to follow the equipment position planning, and move according to this path drive transfer robot that follows, transfer robot in this application can follow under its drive of crossing internal control device and wait to follow the equipment and move promptly, do not need the dispatch center to regulate and control again the position of following, improve response speed, thereby improve transfer robot's work efficiency.
As a preferred embodiment, the movement control system further includes:
the acquisition module is used for acquiring barrier information between an initial target position and a following position;
accordingly, the planning module 12 is specifically configured to:
and planning a following path according to the initial target position, the following position and the obstacle information.
As a preferred embodiment, the obtaining module is specifically configured to:
and acquiring obstacle information between the initial target position and the following position through the laser radar.
As a preferred embodiment, the planning module 12 is specifically configured to:
planning a following path according to a preset target distance and a preset angle and a following position;
the preset target distance is a keeping distance between the transfer robot and the position of the equipment to be followed, and the preset angle is a maximum angle adjusting value allowed when the transfer robot runs.
As a preferred embodiment, the movement control system further includes:
and the receiving module is used for receiving the position of the equipment to be followed, which is sent by the positioning device, according to a preset receiving period.
As a preferred embodiment, the movement control system further includes:
the judging module is used for judging whether the distance between the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period, and the position of the equipment to be followed, which corresponds to the current following path, exceeds a preset value or not, and if so, the determining module 11 is triggered;
the determining module 11 is further configured to determine a new following position corresponding to the position of the device to be followed, which is sent by the positioning apparatus and received in the current receiving period;
and the planning module 12 is further configured to plan a new following path according to the new following position, and use the new following path as the current following path, so that the driving module 13 drives the transfer robot to move to the new following position according to the current following path.
As a preferred embodiment, the device location to be followed is a bluetooth beacon location.
In another aspect, the present application further provides an electronic device, including:
a memory for storing a computer program;
a processor for implementing the steps of the movement control method of the transfer robot as described in any one of the above embodiments when executing the computer program.
For an introduction of an electronic device provided in the present application, please refer to the above embodiments, which are not described herein again.
The electronic equipment provided by the application has the same beneficial effects as the movement control method of the carrying robot.
In another aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the movement control method of a transfer robot as described in any one of the above embodiments.
For the introduction of a computer-readable storage medium provided in the present application, please refer to the above embodiments, which are not described herein again.
The computer-readable storage medium provided by the present application has the same advantageous effects as the movement control method of the transfer robot described above.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A movement control method of a transfer robot, the transfer robot being provided with a positioning device for determining a position of a device to be followed, the movement control method being applied to a control device inside the transfer robot, the movement control method comprising:
after the transfer robot moves to the initial target position, determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device;
planning a following path according to the following position;
and driving the transfer robot to move to the following position according to the following path.
2. The movement control method according to claim 1, wherein before planning the following path according to the following position, the movement control method further comprises:
acquiring obstacle information between the initial target position and the following position;
correspondingly, the process of planning the following path according to the following position specifically comprises the following steps:
and planning a following path according to the initial target position, the following position and the obstacle information.
3. The movement control method according to claim 2, wherein the process of acquiring the obstacle information between the initial target position and the following position is specifically:
and acquiring obstacle information between the initial target position and the following position through a laser radar.
4. The movement control method according to claim 1, wherein the process of planning the following path according to the following position is specifically:
planning a following path according to the following position according to a preset target distance and a preset angle;
the preset target distance is a keeping distance between the transfer robot and the position of the equipment to be followed, and the preset angle is a maximum angle adjusting value allowed when the transfer robot runs.
5. The mobility control method according to claim 1, characterized by further comprising:
and receiving the position of the equipment to be followed, which is sent by the positioning device, according to a preset receiving period.
6. The mobility control method according to claim 5, characterized by further comprising:
judging whether the distance between the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period, and the position of the equipment to be followed, which corresponds to the current following path, exceeds a preset value or not;
if so, determining a new following position corresponding to the position of the equipment to be followed, which is sent by the positioning device and received in the current receiving period;
and planning a new following path according to the new following position, and taking the new following path as the current following path so as to drive the transfer robot to move to the new following position according to the current following path.
7. The mobility control method of any one of claims 1-6, wherein the device location to be followed is a Bluetooth beacon location.
8. A movement control system of a transfer robot, the transfer robot being provided with a positioning device for determining a position of a device to be followed, the movement control system being applied to a control device inside the transfer robot, the movement control system comprising:
the determining module is used for determining a following position corresponding to the position of the equipment to be followed according to the received position of the equipment to be followed, which is sent by the positioning device, after the transfer robot moves to the initial target position;
the planning module is used for planning a following path according to the following position;
and the driving module is used for driving the carrying robot to move to the following position according to the following path.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the movement control method of the transfer robot according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the steps of the movement control method of a transfer robot according to any one of claims 1 to 7.
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| CN202010186647.3A CN111367284A (en) | 2020-03-17 | 2020-03-17 | Movement control method and system of transfer robot and related components |
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| CN202010186647.3A CN111367284A (en) | 2020-03-17 | 2020-03-17 | Movement control method and system of transfer robot and related components |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113031594A (en) * | 2021-02-26 | 2021-06-25 | 山东交通学院 | Maintenance operation-based adjoint type active safety warning robot, system and method |
| CN113034928A (en) * | 2021-02-26 | 2021-06-25 | 山东交通学院 | Accompanying system of road maintenance safety warning robot |
| CN113110413A (en) * | 2021-03-10 | 2021-07-13 | 成都永奉科技有限公司 | Following robot, following control method and following control system |
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