CN112572635A - Wheel-leg type stair climbing robot - Google Patents
Wheel-leg type stair climbing robot Download PDFInfo
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- CN112572635A CN112572635A CN202011442060.0A CN202011442060A CN112572635A CN 112572635 A CN112572635 A CN 112572635A CN 202011442060 A CN202011442060 A CN 202011442060A CN 112572635 A CN112572635 A CN 112572635A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a wheel-leg stair climbing robot, which relates to the technical field of stair climbing robots and comprises a robot body, an STM32 single chip microcomputer, a steering control module, an infrared detection module, an inertia sensing module, a motor driving and collecting module, a remote video transmission module, a display module and a power supply module.
Description
Technical Field
The invention relates to the technical field of stair climbing robots, in particular to a wheel-leg stair climbing robot.
Background
The stair and the stepped building can be seen everywhere in life, some robots have certain ability of crossing stair obstacles, for example, arm-supported robots have simple structure, strong bearing capacity, high efficiency and easy control, but the supported arms are wooden products, the environmental adaptability is weak, the robots are difficult to adapt to modern diversified stair structures, the friction force of roller type robots is small, the robots slip easily when meeting smooth floors, the leg type stair climbing robots can overcome the defects of the former two types, and the robots adapt to severe environments by adjusting leg postures and increasing the grip force of soles, but the robots have more complex structures, more internal control components, difficult control of gravity centers, poor flexibility and mobility, and need to carry out complex track design and gait planning.
Aiming at the problems, the invention designs a wheel-leg stair-climbing robot in order to realize the high-speed and stable stair-climbing function of the robot.
Disclosure of Invention
The invention aims to provide a wheel-leg stair-climbing robot to solve the defects caused in the prior art.
A wheel-leg stair climbing robot comprises a robot body, an STM32 single chip microcomputer, a steering control module, an infrared detection module, an inertia sensing module, a motor driving and collecting module, a remote video transmission module, a display module and a power supply module;
rotate on the fuselage and be connected with pivot one, the both ends of pivot one are equipped with advancing wheel respectively, advancing wheel includes fixed disk and round leg, the round leg is "L" type, the round leg is equipped with five and distributes along the circumference of fixed disk, the fixed disk passes through screw connection with pivot one, motor drive and collection module are used for the drive advancing wheel to rotate and transmit the rotational speed of gathering to STM32 singlechip in, the front end of fuselage is located to infrared detection module, the rear end of fuselage is equipped with the backup pad, the rear end of backup pad is rotated and is connected with the directive wheel, steering control module is used for driving the directive wheel and rotates, the STM32 singlechip is installed in the fuselage, power module supplies power for STM32, steering control module, infrared detection module, inertial sensing module, motor drive and collection module, long-range video transmission module and display module respectively, the STM32 singlechip respectively with turn to control module, infrared detection module, inertia sensing module, motor drive and collection module, long-range video transmission module, display module electric connection.
Preferably, the wheel legs are made of aluminum alloy or titanium alloy, and the bending parts of the wheel legs are provided with a layer of anti-skid rubber.
Preferably, the motor driving and collecting module comprises a driving chip, a direct current motor and a motor encoder, the driving chip is specifically an L293D driving chip, the L293D driving chip is electrically connected with a PWM pin of an STM32 singlechip, the two direct current motors are symmetrically arranged on the machine body and are electrically connected with the motor driving pin on the L293D driving chip, the output shafts of the direct current motors are respectively provided with a first gear, the left side and the right side of the first rotating shaft are symmetrically provided with a second gear, the first gear is meshed with the corresponding second gear, the motor encoder is E6A2-CW3C, the input shaft of the motor encoder is provided with a gear III, the motor encoder is fixed on the left side of the machine body through a mounting plate, meshing between gear three and the gear one, motor encoder and STM32 singlechip electric connection.
Preferably, the infrared detection module includes that infrared keeps away barrier sensor, keep away barrier sensor outward and be equipped with two and the symmetry left front side and the right front side of locating the fuselage, the model that infrared kept away barrier sensor adopts TCRT5000, infrared keeps away barrier sensor's output and STM32 singlechip electric connection, infrared keeps away barrier sensor and includes infrared emission diode and infrared ray receiving diode, when the place ahead of the fuselage appears the obstacle, the infrared ray that sends from infrared emission diode and shines on the obstacle, infrared ray reflection to infrared ray receiving diode in succession, infrared keeps away barrier sensor output low level this moment, when the place ahead of the fuselage does not have the obstacle infrared obstacle sensor output high level.
Preferably, the steering module comprises a steering engine, the steering wheel is rotatably connected with the wheel carrier through a second rotating shaft, a third rotating shaft is fixed at the top of the wheel carrier and rotatably connected with the supporting plate, the steering engine is fixed at the tail part of the supporting plate, the type of the steering engine is DS3218mg, an output shaft of the steering engine is fixedly connected with the third rotating shaft through a connecting plate, and the steering engine is electrically connected with a steering engine driving pin on the L293D driving chip.
Preferably, the power module comprises two rechargeable lithium batteries connected in series, the rechargeable lithium batteries are located in a battery mounting box below the machine body, a charging interface used for charging the rechargeable lithium batteries is arranged on the outer wall of the battery mounting box, and a box cover is fixed outside the battery mounting box.
Preferably, the inertia sensing module includes the six-axis gyroscope, the six-axis gyroscope is arranged in the fuselage, the MPU6050 is adopted to the model of six-axis gyroscope, the STM32 singlechip passes through the IIC interface and six-axis gyroscope electric connection, the six-axis gyroscope is arranged in detecting the state with the robot and transmitting to the STM32 singlechip.
Preferably, the display module adopts 0.96 cun OLED display screen, the up end of fuselage is located to the OLED display screen, the OLED display screen passes through SPI bus and STM32 singlechip electric connection.
Preferably, long-range video transmission module includes camera and GPRS module, the camera is fixed in on the riser of fuselage front side, camera and STM32 singlechip electric connection, the model of GPRS module adopts mc39i, GPRS module and STM32 singlechip electric connection, the STM32 singlechip passes through the image transfer that the GPRS module gathered the camera to the host computer.
The invention has the following advantages:
the invention has two modes of manual remote control and automatic operation, when in the manual remote control mode, an operator can observe the front condition of the robot through a camera on an upper computer, the travel direction of the robot is remotely controlled through the upper computer, when in the automatic operation mode, a six-axis gyroscope can collect the posture information of the robot and transmit the posture information to an STM32 singlechip to judge whether the robot is on a stair climbing or a flat ground between the stairs, then the STM32 singlechip outputs torques with different magnitudes to control a direct current motor to rotate so as to enable the robot to move forwards, a motor encoder feeds back the rotating speed information to the STM32 singlechip, and a single-ring PID algorithm converts the result into PWM waves with different duty ratios to drive the direct current motor so as to control the robot to operate at a constant speed, when an infrared obstacle avoidance sensor detects an obstacle on the flat ground, the infrared obstacle avoidance sensor transmits the information to the STM32, the STM32 single chip microcomputer controls the output shaft of the steering engine to rotate through the driving chip, so that the steering wheel rotates to adjust the direction of the robot.
The front wheel of the robot is provided with five wheel legs, the bent parts of the wheel legs are provided with a layer of anti-skid rubber, the bent parts on the wheel legs can hook the steps in the moving process of climbing stairs of the robot, the robot is lifted by using a reaction force, meanwhile, the front wheel rotates to enable the robot to climb the next step, and the layer of anti-skid rubber on the bent parts can increase friction force between the robot and the steps and reduce the damage of sliding and vibration to the wheel legs in the stair climbing process.
Drawings
Fig. 1 and 2 are overall three-dimensional structural diagrams of the present invention.
Fig. 3 is a partial enlarged view of the invention at a in fig. 2.
Fig. 4 and 5 are schematic structural views of the fuselage of the present invention.
Fig. 6 is a schematic structural view of the bottom of the fuselage according to the invention.
Fig. 7 is a schematic structural view of the invention shown in fig. 6 without a cover.
Fig. 8 is a control schematic diagram of the present invention.
FIG. 9 is a control flow diagram of the present invention.
FIG. 10 is a six-axis gyroscope tilt diagram of the robot of the present invention when on level ground.
Fig. 11 is a diagram of the tilt angle of a six-axis gyroscope of the robot of the present invention while climbing stairs.
Wherein: 1. the automobile body comprises an automobile body 11, a first rotating shaft 111, a second gear 12, an advancing wheel 121, a fixed disc 122, wheel legs 123, anti-skid rubber 13, a supporting plate 14, a steering wheel 141, a second rotating shaft 142, a wheel carrier 143, a third rotating shaft 2, a driving chip 21, a direct current motor 221, a first gear 22, a motor encoder 221, a third gear 222, a mounting plate 3, an STM32 single chip microcomputer 4, an infrared obstacle avoidance sensor 5, a steering engine 51, a connecting plate 6, a rechargeable lithium battery 61, a battery mounting box 62, a charging interface 63, a box cover 7, a six-axis gyroscope 8, an OLED display screen 9, a camera 91, a GPRS module 92 and a vertical plate.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-11, the invention provides a wheel-legged stair-climbing robot, which comprises a robot body 1, an STM32 single-chip microcomputer 3, a steering control module, an infrared detection module, an inertia sensing module, a motor driving and collecting module, a remote video transmission module, a display module and a power supply module;
the last rotation of fuselage 1 is connected with pivot 11, the both ends of pivot 11 are equipped with advancing wheel 12 respectively, advancing wheel 12 includes fixed disk 121 and wheel leg 122, wheel leg 122 is "L" type, wheel leg 122 is equipped with five and distributes along the circumference of fixed disk 121, confirms the wheel leg number according to following formula:
wherein r is the wheel radius, namely the size of the wheel leg, h is the height of the stair step, theta is the included angle between the wheel legs, the driving force required by the different numbers of the wheel leg rods for the stair climbing capability of the robot is different, the larger the number of the wheel leg rods is, the smaller the required driving force is, and the number of the wheel leg rods is known to be as large as possible according to the principle. From the above formula, since the step height h is a constant value, the smaller θ, i.e. the larger the number of legs and wheel rods, the larger r, the larger the number of legs and wheel rods, and the number of legs and wheel rods is 5 through experiments, the angle θ between the legs is 72 °.
Fixed disk 121 passes through the screw connection with pivot 11, and advancing wheel 12 passes through the fix with screw on fuselage 1, motor drive and collection module are used for driving advancing wheel 12 to rotate and transmit the rotational speed of gathering to STM32 singlechip 3 in, STM32 singlechip 3 specifically adopts STM32F103R8T6, the front end of fuselage 1 is located to infrared detection module, the rear end of fuselage 1 is equipped with backup pad 13, backup pad 13's rear end is rotated and is connected with directive wheel 14, steering control module is used for driving directive wheel 14 to rotate, STM32 singlechip 3 installs in fuselage 1, power module gives STM32 singlechip 3, turns to control module, infrared detection module, inertia sensing module, motor drive and collection module, long-range video transmission module and display module power supply respectively, STM32 singlechip 3 respectively with turn to control module, infrared detection module, The inertial sensing module, the motor driving and collecting module, the remote video transmission module and the display module are electrically connected.
In this embodiment, the material of wheel leg 122 is aluminum alloy or titanium alloy, be equipped with one deck anti-skidding rubber 123 on the kink of wheel leg 122, the step can be caught on in the motion process that the robot climbed stair to the bending on the wheel leg 122, utilizes reaction force to make the robot lifting, and advancing wheel 12 rotates simultaneously and makes the robot climb next grade step, and the one deck anti-skidding rubber of buckling can increase the friction between robot and the step to can reduce the injury to the wheel leg of sliding and vibrations in the stair climbing process.
In this embodiment, the motor driving and collecting module includes a driving chip 2, a dc motor 21 and a motor encoder 22, the driving chip 2 specifically adopts an L293D driving chip, the L293D driving chip is electrically connected with a PWM pin of an STM32 single chip microcomputer 3, the dc motor 21 is provided with two gears and symmetrically arranged on the body 1, the dc motor 21 is electrically connected with a motor driving pin on the L293D driving chip, an output shaft of the dc motor 21 is provided with a first gear 221, the left and right sides of the rotating shaft 11 are symmetrically provided with second gears 111, the first gear 221 is engaged with the corresponding second gear 111, the model of the motor encoder 22 adopts E6a2-CW3C, an input shaft of the motor encoder 22 is provided with a third gear 221, the motor encoder 22 is fixed on the left side of the body 1 through a mounting plate 222, and the third gear 221 is engaged with the first gear 221, the motor encoder 22 is electrically connected with the STM32 single chip microcomputer 3.
In this embodiment, infrared detection module includes that infrared keeps away barrier sensor 4, keep away barrier sensor 4 outward and be equipped with two and the symmetry left front side and the right front side of locating fuselage 1, infrared model of keeping away barrier sensor 4 adopts TCRT5000, infrared output and the STM32 singlechip 3 electric connection who keeps away barrier sensor 4, infrared obstacle sensor 4 of keeping away includes infrared emission diode and infrared ray receiving diode, when the place ahead of fuselage 1 appears the obstacle, follow the infrared ray that infrared emission diode sent and shine on the obstacle, infrared reflection is in to infrared ray receiving diode after that, and infrared obstacle sensor 4 output low level is kept away to this moment infrared, and infrared obstacle sensor output high level when fuselage 1 the place ahead does not have the obstacle.
In this embodiment, the steering module includes steering engine 5, steering wheel 14 is connected with wheel carrier 142 through pivot two 141 and rotates, wheel carrier 142's top is fixed with pivot three 143, pivot three 143 is connected with backup pad 13 rotates, steering engine 5 is fixed in the afterbody of backup pad 13, steering engine 5's model adopts DS3218mg, steering engine 5's output shaft is connected with pivot three 143 through connecting plate 51 is fixed, steering engine 5 and the steering engine drive pin electric connection on the L293D drive chip.
In this embodiment, the power module includes two rechargeable lithium batteries 6 connected in series, rechargeable lithium battery 6 is located in the battery mounting box 61 below the body 1, the outside of battery mounting box is equipped with the interface 62 that charges that is used for charging rechargeable lithium battery 6, the outer wall of battery mounting box 61 is equipped with the interface 62 that charges that is used for charging rechargeable lithium battery 6, battery mounting box 61 external fixation has lid 63.
In this embodiment, the inertia sensing module includes six gyroscopes 7, six gyroscopes 7 are located in fuselage 1, MPU6050 is adopted to six gyroscopes 7's model, STM32 singlechip 3 passes through IIC interface and six gyroscopes 7 electric connection, six gyroscopes 7 are arranged in detecting the state with the robot and transmit to STM32 singlechip 3.
In this embodiment, display module adopts 0.96 cun OLED display screen 8, OLED display screen 8 locates the up end of fuselage 1, OLED display screen 8 passes through SPI bus and STM32 singlechip 3 electric connection.
In this embodiment, long-range video transmission module includes camera 9 and GPRS module 91, camera 9 is fixed in on the riser 92 of 1 front side of fuselage, camera 9 and STM32 singlechip 3 electric connection, the model of GPRS module 91 adopts mc39i, GPRS module 91 and STM32 singlechip 3 electric connection, STM32 singlechip 3 passes through the image transfer to the host computer of GPRS module 91 with camera 9 collection.
The operation process of the invention is as follows:
the stair climbing robot is placed at a stair to be climbed.
And secondly, powering on the STM32 singlechip 3, resetting the STM32 singlechip 3 under the action of a reset circuit, and if the robot is halted or runs wrongly in the running process, resetting the STM32 singlechip 3 by the reset circuit to initialize the serial ports and the modules.
The upper computer passes through GPRS module 91 and establishes communication with STM32 singlechip 3, and camera 9 can transmit the picture in the front of the robot to the upper computer through GPRS module 91, and STM32 singlechip 3 outputs PWM ripples and drives direct current motor 21 through driver chip 2, makes the robot advance, if make the robot be in manual remote control mode execution r, if make the robot be in automatic operation mode execution r.
And fourthly, observing the condition in front of the robot by an operator through the camera 9 on the upper computer, and remotely controlling the advancing direction of the robot through the upper computer.
Fifthly, the six-axis gyroscope 7 collects posture information of the robot in real time and transmits the information to the STM32 single chip microcomputer 3, data fusion is carried out through a Kalman filtering algorithm, the fused data are used for judging the state of the robot, the robot can be considered to be in a stair climbing state to execute when the inclination angle of the six-axis gyroscope 7 is larger than 36 degrees, the robot can be considered to be in a flat ground between stairs to execute when the inclination angle of the six-axis gyroscope 7 is between 24 and 36 degrees, and the state information of the robot is displayed through an OLED display 8 screen.
Sixthly, the STM32 single chip microcomputer 3 outputs PWM waves with large torque and drives the direct current motor 21 through a driving chip, the motor encoder 22 collects the rotating speed of the advancing wheel 12 and feeds information back to the STM32 single chip microcomputer 3, a single-ring PID algorithm is adopted to convert results into PWM waves with different duty ratios to drive the direct current motor 21, different torques are provided, and the robot is controlled to run at a constant speed.
The STM32 single-chip microcomputer 3 outputs PWM waves with small torque and drives the direct current motor 21 through a driving chip, the motor encoder 22 collects the rotating speed of the advancing wheel 12 and feeds information back to the STM32 single-chip microcomputer 3, a single-ring PID algorithm is adopted to convert results into PWM waves with different duty ratios to drive the direct current motor 21, different torques are provided to control the robot to run at a constant speed, when the infrared obstacle avoidance sensor 4 detects an obstacle, the infrared obstacle avoidance sensor 4 transmits the information to the STM32 single-chip microcomputer 3, the STM32 single-chip microcomputer 3 controls the output shaft of the steering engine 5 to rotate through the driving chip 2, and therefore the steering wheel 14 rotates to adjust the direction of the robot.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (9)
1. The utility model provides a stair robot is climbed to wheel-legged, its characterized in that: the steering control system comprises a machine body (1), an STM32 single chip microcomputer (3), a steering control module, an infrared detection module, an inertia sensing module, a motor driving and collecting module, a remote video transmission module, a display module and a power supply module;
the rotation is connected with pivot (11) on fuselage (1), the both ends of pivot (11) are equipped with advancing wheel (12) respectively, advancing wheel (12) are including fixed disk (121) and wheel leg (122), wheel leg (122) are "L" type, wheel leg (122) are equipped with five and distribute along the circumference of fixed disk (121), fixed disk (121) pass through screw connection with pivot (11), motor drive and collection module are used for drive advancing wheel (12) to rotate and will gather the rotational speed transmission extremely STM32 singlechip (3) in, the front end of fuselage (1) is located to infrared detection module, the rear end of fuselage (1) is equipped with backup pad (13), the rear end of backup pad (13) rotates and is connected with directive wheel (14), the directive control module is used for driving directive wheel (14) to rotate, STM32 (3) are installed in fuselage (1), the power module supplies power for STM32 singlechip (3), steering control module, infrared detection module, inertia sensing module, motor drive and collection module, remote video transmission module and display module respectively, STM32 singlechip (3) respectively with steering control module, infrared detection module, inertia sensing module, motor drive and collection module, remote video transmission module, display module electric connection.
2. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: the wheel legs (122) are made of aluminum alloy or titanium alloy, and a layer of anti-slip rubber (123) is arranged on the bending parts of the wheel legs (122).
3. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: the motor drive and acquisition module comprises a drive chip (2), a direct current motor (21) and a motor encoder (22), the drive chip (2) specifically adopts an L293D drive chip, the L293D drive chip is electrically connected with the PWM pin of an STM32 singlechip (3), the direct current motor (21) is provided with two gears and symmetrically arranged on the machine body (1), the direct current motor (21) is electrically connected with the motor drive pin on the L293D drive chip, a first gear (221) is arranged on the output shaft of the direct current motor (21), a second gear (111) is symmetrically arranged on the left side and the right side of a first rotating shaft (11), the first gear (221) is meshed with the corresponding second gear (111), the model of the motor encoder (22) adopts E6A2-CW3C, a third gear (221) is arranged on the input shaft of the motor encoder (22), and the motor encoder (22) is fixed on the left side of the machine body (1) through a mounting plate (222), the gear three (221) is meshed with the gear one (221), and the motor encoder (22) is electrically connected with the STM32 single chip microcomputer (3).
4. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: infrared detection module includes that infrared keeps away barrier sensor (4), keep away barrier sensor (4) outward and be equipped with two and the symmetry locates the left front side and the right front side of fuselage (1), the model that infrared kept away barrier sensor (4) adopts TCRT5000, the output and STM32 singlechip (3) electric connection of barrier sensor (4) are kept away to infrared, infrared keeps away barrier sensor (4) and includes infrared emission diode and infrared ray receiving diode, when the place ahead of fuselage (1) appears the obstacle, follow the infrared ray that infrared emission diode sent and shine on the obstacle, after that infrared reflection to infrared ray receiving diode in, infrared keeps away barrier sensor (4) output low level this moment, when fuselage (1) the place ahead does not have the obstacle infrared barrier sensor output high level of keeping away.
5. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: the steering module comprises a steering engine (5), a steering wheel (14) is rotatably connected with a wheel carrier (142) through a second rotating shaft (141), a third rotating shaft (143) is fixed at the top of the wheel carrier (142), the third rotating shaft (143) is rotatably connected with a supporting plate (13), the steering engine (5) is fixed at the tail of the supporting plate (13), the steering engine (5) is in a model of DS3218mg, an output shaft of the steering engine (5) is fixedly connected with the third rotating shaft (143) through a connecting plate (51), and the steering engine (5) is electrically connected with a steering engine driving pin on an L293D driving chip.
6. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: the power module comprises two rechargeable lithium batteries (6) which are connected in series, wherein the rechargeable lithium batteries (6) are arranged in a battery mounting box (61) below the machine body (1), the outer wall of the battery mounting box (61) is provided with a charging interface (62) for charging the rechargeable lithium batteries (6), and a box cover (63) is fixed outside the battery mounting box (61).
7. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: the inertia sensing module includes six gyroscopes (7), the fuselage (1) is located in six gyroscopes (7), the MPU6050 is adopted in the model of six gyroscopes (7), STM32 singlechip (3) pass through IIC interface and six gyroscopes (7) electric connection, six gyroscopes (7) are arranged in detecting the state with the robot and transmit to STM32 singlechip (3).
8. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: display module adopts 0.96 cun OLED display screen (8), the up end of fuselage (1) is located in OLED display screen (8), OLED display screen (8) are through SPI bus and STM32 singlechip (3) electric connection.
9. A wheel-legged stair-climbing robot as claimed in claim 1, wherein: remote video transmission module includes camera (9) and GPRS module (91), camera (9) are fixed in on riser (92) of fuselage (1) front side, camera (9) and STM32 singlechip (3) electric connection, the model of GPRS module (91) adopts mc39i, GPRS module (91) and STM32 singlechip (3) electric connection, STM32 singlechip (3) transmit the image of camera (9) collection to the host computer through GPRS module (91).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115092279A (en) * | 2022-05-31 | 2022-09-23 | 仲恺农业工程学院 | Mobile robot and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092279A (en) * | 2022-05-31 | 2022-09-23 | 仲恺农业工程学院 | Mobile robot and method |
| CN115092279B (en) * | 2022-05-31 | 2023-06-09 | 仲恺农业工程学院 | Mobile robot and method |
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