CN201021981Y - Magnetic navigation differential carrying robot - Google Patents
Magnetic navigation differential carrying robot Download PDFInfo
- Publication number
- CN201021981Y CN201021981Y CNU2007200673187U CN200720067318U CN201021981Y CN 201021981 Y CN201021981 Y CN 201021981Y CN U2007200673187 U CNU2007200673187 U CN U2007200673187U CN 200720067318 U CN200720067318 U CN 200720067318U CN 201021981 Y CN201021981 Y CN 201021981Y
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- car body
- weak magnetic
- sensor
- guiding
- transfer mechanism
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Abstract
A magnetic guided differential carrier robot relates to a carrier robot especially basing on the magnetic guidance mode, the equipment mainly comprises a steering wheel, a calculator, a display screen, sensors, cells, switches, a power supply, coders and a weak magnet guiding and detecting apparatus, the apparatus comprises at least a bodywork, an electric carrier mechanism, an electric assembled steering wheel assembly, front and back wheels, and various of sensors, language and light hint, musical warning device and drive steering control device. The electric assembled steering wheel assembly is mounted in the front of the bodywork, relative technical questions such as the combination of weak magnetic induction guiding and detecting system and photoelectricity sensor are mostly to be settled. The advanced effects of the utility model are that the utility model runs stably and has strong anti-interference ability, weak magnetic strips are laid simply, the change of the path schedule is convenient, the turning radius is small, the installation environment demand of the workshop is low, the utility model is capable of being applied to the field that the electromagnetic lead can't be laid, and is a novel and reliable running gear.
Description
Technical field
The utility model relates to a kind of transfer robot, refers to the delivery formula robot of the differential mode of a kind of magnetic navigation especially.
Background technology
Along with industrial development, the raising of logistlcs technology, the delivery robot is extensively applied to automobile, food, clothes, printing and tobacco, metallurgy is joined industry fields such as goods center, wherein most delivery robots that adopt electromagnetic induction as bootstrap technique.
Our company had had before researched and developed successful a kind of novel weak magnetic guiding sniffer and had delivered the weak magnetic guiding delivery robot system overall technology that robot forms as core.Circuit that should weak magnetic guiding sniffer is only directly over weak magnetic joint strip, and between 2 to 5 centimetres of the distances time, circuit is exported effective level signal.Being used to deliver the navigation of robot and path chooses and rectifies a deviation.
The delivery robot that is somebody's turn to do weak magnetic guiding can finish the carrying of object under unsupervised situation, can be by manually moulding magnetic stripe at need to be sticked on the road of traveling straight line and curve glue, it is weak magnetic adhesive tape by technological requirement guiding usefulness customized especially, bandwidth 50mm, the wear-resisting resistance to compression of thick 2mm is not demagnetized, and is laid on ground surface with viscose glue subsides method and can come off.Carrier can be according to these circuit walkings.As changing route, only need to change the magnetic joint strip and just can conveniently finish.Simultaneously, in regulation place, guiding route next door, increase the short joint strip of same material, can form the address mark on the road, for the identification of automatic guide vehicle, accurately various operations are carried out in the location.
Summary of the invention
In order to overcome above-mentioned weak point, fundamental purpose of the present utility model aims to provide a kind of weak magnetic navigation detector and delivery robot, the entire combination structure includes: car body, electronic transfer mechanism, electronic combined rudder wheel assembly, before, trailing wheel and various sensing system, language, light prompt, music alarm device and driving steering control device etc., can reach stable, antijamming capability is strong, and it is simple to lay weak magnetic magnetic stripe, can be applicable to the place that electromagnetic wire can't be laid again, be that a kind of novel reliable magnetic navigation differential type of delivery machine philtrum delivers robot.
The technical problems to be solved in the utility model is: the guiding device problem that magnetic induction guiding detection system and photoelectric sensing combine a little less than how solving; Solve the control system problem of the truck-mounted computer that how to have independent and perfect; Solve how to have system's host computer computer controlled automatic and vehicle-mounted touch operation screen two kinds of mode of operations of control automatically, can manual control under case of emergency etc. the relevant technologies problem.
The technical scheme that its technical matters that solves the utility model adopts is: this device mainly is made up of steering wheel, computing machine, display screen, sensor, battery, switch, power supply, scrambler and weak magnetic guiding sniffer etc., this device includes at least: car body, electronic transfer mechanism, electronic combined rudder wheel assembly, front and rear wheel and various sensing system, language, light prompt, music alarm device and driving steering control device; Electronic combined rudder wheel assembly is fixed on the place ahead of car body; Wherein:
Driving steering control system mainly forms by driving steering mechanism, electronic transfer mechanism, hoisting gear, carried-on-vehicle computer system, wireless communication station, guiding device and power supply; This guiding device is mainly formed a weak magnetic sensing lead system by weak magnetic guiding sniffer, contraposition photoelectric sensor, weak magnetic terrestrial reference alignment sensor;
The vehicle body front and rear portions of one car body bottom is mounted with weak magnetic guiding sniffer respectively, and the place ahead and rear vehicle on weak magnetic guide sensor are mounted with collision prevention obstacle avoidance sensor and mechanical anticollision mechanism respectively;
Be mounted with mechanical anticollision mechanism in the bottom of car body, the collision prevention obstacle avoidance sensor of mechanical anticollision mechanism and car body back segment is combined as the corresponding anticollision device in front and back;
Be mounted with weak magnetic terrestrial reference sensor and contraposition photoelectric sensor in the vehicle body both sides;
Be mounted with the electronic transfer mechanism of move left and right at body top section, in electronic transfer mechanism, be mounted with the photoelectricity load sensor, load sensor is fixed on the top of car body and the lower position of electronic transfer mechanism;
Two contraposition photoelectric sensors about being provided with above the car body stage casing;
Be mounted with electric battery at rear vehicle;
Distance in the car body back upper place is mounted with two emergency stop switchs respectively, and two emergency stop switchs have a spacing distance respectively and between the central hummer that installs and fixes of front upper place;
The upper end is mounted with touch operating display behind car body, touch operating display be installed in car body in the middle part of carried-on-vehicle computer system between be connected for winding displacement;
Electronic combined rudder wheel assembly in car body the place ahead one distance is coaxial the connection with absolute encoder, is connected with steer motor again in the distance apart from preceding support wheel, and is meshed transmission gear;
Be mounted with wireless communication station at the car body front upper part;
Be mounted with fast pulley at the car body rear lower.
Electronic combined rudder wheel assembly the place ahead one distance and place, the place ahead that described magnetic navigation differential type delivers robot are mounted with support wheel and hoisting gear respectively.
The outer shape that described magnetic navigation differential type delivers the electronic transfer mechanism of robot is a rectangle.
The beneficial effects of the utility model are: this weak magnetic navigation detector and delivery robot device, stable, antijamming capability is strong, it is simple to lay weak magnetic magnetic stripe, it is convenient to change path planning, and radius of turn is little, and the factory building installation environment requires lower, can be applicable to the place that electromagnetic wire can't be laid, be a kind of novel reliable running gear of delivery robot; Be embodied in:
(1) the utility model is the guiding device that weak magnetic induction guiding detection system and photoelectric sensing combine, and makes that delivery robot anti-electromagnetic interference capability is strong, move more stable,
Can be suitable for laying the place of weak magnetic adhesive tape; Improved the reliability that the guiding of delivery robot is surveyed greatly, accuracy, thus guaranteed that the delivery robot is in best running status.
(2) magnetic navigation differential type of the present utility model delivers robot, owing to have the control system of the truck-mounted computer of independent and perfect.Not only can participate in, act on by the vehicle-mounted transportation system of the unified operation control of host computer, also can carry out the various delivery task of assigning by vehicle-mounted touch operation screen by manually separately.Can carry out the free routing of interior each starting point of total system and the point of arrival.
(3) it is easy to maintenance, easy to operate, safe and reliable that magnetic navigation differential type of the present utility model delivers robot.Have system's host computer computer controlled automatic and vehicle-mounted touch operation screen 2 kinds of mode of operations of control automatically, can manual control under case of emergency etc. advantage.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the utility model one-piece construction synoptic diagram;
Fig. 2 is the integrally-built vertical view of the utility model;
Fig. 3 is the integrally-built left view of the utility model;
Label declaration in the accompanying drawing:
The 1-car body;
The electronic combined rudder wheel assembly of 2-;
The 3-fast pulley;
The 4-support wheel;
The electronic transfer mechanism of 5-;
The 6-hoisting gear;
The 7-carried-on-vehicle computer system;
The touch operating display of 8-;
9-machinery anticollision mechanism;
The weak magnetic guiding of 10-sniffer;
The 11-wireless communication station;
The 12-electric battery;
The 13-absolute encoder;
14-contraposition photoelectric sensor;
15-collision prevention obstacle avoidance sensor;
The 16-hummer;
The 17-load sensor;
The 18-emergency stop switch;
Embodiment
See also shown in the accompanying drawing 1,2,3, the utility model is a kind of novel reliable running gear, and one-piece construction reaches the domestic initiation level, belongs to independent intellectual property right; The part innovative point has reached the advanced level of international like product;
The utility model mainly is made up of steering wheel, computing machine, display screen, sensor, battery, switch, power supply, scrambler and weak magnetic guiding sniffer etc., this device includes at least: car body (1), electronic transfer mechanism (5), electronic combined rudder wheel assembly (2), front and rear wheel and various sensing system, language, light prompt, music alarm device and driving steering control device; Electronic combined rudder wheel assembly (2) is fixed on the place ahead of car body (1); Wherein:
Driving steering control system mainly forms by driving steering mechanism, electronic transfer mechanism (5), hoisting gear (6), carried-on-vehicle computer system (7), wireless communication station (11), guiding device and power supply; This guiding device is mainly formed a weak magnetic sensing lead system by weak magnetic guiding sniffer (10), contraposition photoelectric sensor (14), weak magnetic terrestrial reference alignment sensor;
The vehicle body front and rear portions of one car body (1) bottom is mounted with weak magnetic guiding sniffer (10) respectively, and the place ahead and car body (1) rear portion on weak magnetic guide sensor is mounted with collision prevention obstacle avoidance sensor (15) and mechanical anticollision mechanism (9) respectively;
Be mounted with mechanical anticollision mechanism (9) in the bottom of car body (1), mechanical anticollision mechanism (9) is combined as the corresponding anticollision device in front and back with the crashproof sensing of collision prevention (15) of car body back segment;
Be mounted with weak magnetic terrestrial reference sensor and contraposition photoelectric sensor (14) in the vehicle body both sides;
Be mounted with the electronic transfer mechanism (5) of move left and right at body top section, in electronic transfer mechanism (5), be mounted with photoelectricity load sensor (17), load sensor (17) is fixed on the top of car body (1) and the lower position of electronic transfer mechanism (5);
Two contraposition photoelectric sensors (14) about top, car body (1) stage casing is provided with;
Be mounted with electric battery (12) at car body (1) rear portion;
Distance in car body (1) back upper place is mounted with two emergency stop switchs (18) respectively, and two emergency stop switchs (18) have a spacing distance respectively and between the central hummer (16) that installs and fixes of front upper place;
Be mounted with touch operating display (8) in car body (1) back upper end, touch operating display (8) be installed in car body (1) in the middle part of carried-on-vehicle computer system (7) between be connected for winding displacement;
Electronic combined rudder wheel assembly (2) in car body (1) the place ahead one distance is coaxial the connection with absolute encoder (13), is connected with steer motor again in the distance apart from preceding support wheel (4), and is meshed transmission gear;
Be mounted with wireless communication station (11) at car body (1) front upper part;
Be mounted with fast pulley (3) at car body (1) rear lower.
Electronic combined rudder wheel assembly (2) the place ahead one distance and place, the place ahead that described magnetic navigation differential type delivers robot are mounted with support wheel (4) and hoisting gear (6) respectively.
The outer shape that described magnetic navigation differential type delivers the electronic transfer mechanism (5) of robot is a rectangle.
One of embodiment of the present utility model:
The magnetic navigation robot comprises car body, electronic transfer mechanism, electronic steering wheel drives and turns to assembly, front and rear wheel and lifting gear, carried-on-vehicle computer system and various sensing system, it comprises, the weak magnetic guiding sniffer of vehicle body front and rear part, the weak magnetic terrestrial reference sensor in vehicle body both sides, photoelectricity is to level sensor, in the transfer mechanism of body top section, the photoelectricity load sensor is housed, control transfer task is carried out and is finished.The place ahead on weak magnetic guide sensor is equipped with crashproof collision prevention detector and mechanical anticollision device respectively, language is housed, light prompt and music alarm device for this robot of safe effectiveness that improves system in addition.
The driving steering control system of the utility model magnetic navigation differential type delivery robot is formed by driving steering mechanism, transfer mechanism, hoisting gear, truck-mounted computer, wireless communication apparatus, guiding device and power supply, is all controlled by truck-mounted computer; Truck-mounted computer is high performance truck-mounted computer PC104; Communication device then adopts radio modem (MODEN) and automatic signal gain apparatus; Power supply adopts the high energy cadmium-nickel storage cell, guiding device then mainly be by weak magnetic guiding sniffer, photoelectricity to level sensor, the weak magnetic sensing lead of of forming such as weak magnetic terrestrial reference alignment sensor system.
The utility model magnetic navigation differential type delivery robot is under the domination of its driving and steering control system, finish actions such as advancing, fall back, turn to, owing to adopt weak magnetic guidance mode, thereby improved anti-interference greatly, the accuracy that running route is surveyed, the accuracy of terrestrial reference address detected location, thus guaranteed that the delivery robot is in best running status.
As shown in Figure 1: distance is about 400-410mm in the car body back upper place, has two emergency stop switchs (18) and front upper place central authorities' hummers (16) distance to be about about 700-800mm, and the prompting that is used for when breaking down stops with anxious.
As shown in Figure 3: the electronic combined rudder wheel assembly in preceding 400mm place (2) at car body (1) is coaxial the connection with absolute encoder (13), about support wheel (4) 500-750mm of distance back, being connected with steer motor again, adopting meshed transmission gear, is the vitals that travels and turn to.
As shown in Figure 1: support wheel (4) is installed electronic combined rudder wheel assembly the place ahead 100-120mm and place, top approximately with hoisting gear (6), about hoisting depth 45-55mm, poor for avoiding road conditions, and when maintenance adopt, be a more novel car body physical construction, adopt lever principle to regulate freely.
As shown in Figure 1: be mechanical anticollision mechanism (9) that made up a corresponding collision prevention function in front and back with the collision prevention obstacle avoidance sensor (15) of car body back segment, it is installed in the bottom of car body apart from being about 1000-1050 rice, the detecting obstacles thing stops robot automatically.
As shown in Figure 2, upper end central authorities were connected with carried-on-vehicle computer system (7) winding displacement that is installed in the car body middle part after touch operating display (8) placed car body, were convenient to revise parameter, and observed ruuning situation.
As shown in Figure 2: at the roof of car body the electronic transfer mechanism (5) of move left and right is housed, physical dimension is 500*500*100-120mm, can steadily accurately deliver to station to object freely.
As shown in Figure 1: it is the detecting device of guided robot direction that weak magnetic guiding sniffer (10) is installed in about the about 950-1000mm rice in front and back of car body bottom,
As shown in Figure 1: two contraposition photoelectric sensors (14) about having above the car body stage casing, make it accurately to stop the instruction station, the loading and unloading object is at detecting device.
As shown in Figure 2: the front upper part at car body is equipped with Radio Station (11).
As shown in Figure 1: be that a kind of safe and reliable duration of charging is short, the assembled battery (12) that the working time is long is installed in the postmedian of car body (1).
As shown in Figure 2, load sensor (17) is fixed on the top of car body (1), the lower position of electronic transfer mechanism (5);
Innovative point of the present utility model is as follows:
Adopt special non-ferromagnetic material, be processed into the strip guide line, and delivery robot operating path is surveyed the airmanship of self-actuated controller according to the technical parameter main points.(independent intellectual property right, domestic initiation)
The synchronous automatic control technology and the modular design method of delivery robot driving mechanism and steering.(independent intellectual property right, domestic initiation)
The Automatic Track Finding operation of delivery robot, instantaneous steering operation and accurate address coordinate setting technology, guidance accuracy reaches ± 10mm, and repetitive positioning accuracy reaches ± 5mm. (reaching international like product advanced level)
The off-line emergency protection of delivery robot and the manually functional development of the on-line automatic operation of recovery.(our company's domestic initiation)
The exploitation of the automatic on-line charging of delivery robot and the zero handoff functionality of auto-activation.(both at home and abroad still beyond example)
Delivery the robot operation of vehicle-mounted magnetic navigation detector Automatic Track Finding, the quick calculation control model of side-play amount, the judgement when program start or memory are lost and the functional development of resuming operation automatically.(reaching international like product advanced level)
Delivery robot running environment and the dynamic menu Input Software of boot environment and the automatic generation technique of data file.(reaching international like product advanced level)
The team control technology of many delivery robots of system running environment and the real-time and the reliability of traffic administration.(reaching international like product advanced level)
Delivery vehicle-mounted automation control system of robot and host computer management system dispatching and monitoring system, the system integration of topworks.(reaching international like product advanced level)
Design that is full of hommization that delivery robot employing practicality and novelty combine and unmanned operational administrative.
Claims (3)
1. a magnetic navigation differential type delivers robot, this device mainly is made up of steering wheel, computing machine, display screen, sensor, battery, switch, power supply, scrambler and weak magnetic guiding sniffer, it is characterized in that: this device includes at least: car body (1), electronic transfer mechanism (5), electronic combined rudder wheel assembly (2), front and rear wheel and various sensing system, language, light prompt, music alarm device and driving steering control device; Electronic combined rudder wheel assembly (2) is fixed on the place ahead of car body (1); Wherein:
Driving steering control system mainly forms by driving steering mechanism, electronic transfer mechanism (5), hoisting gear (6), carried-on-vehicle computer system (7), wireless communication station (11), guiding device and power supply; This guiding device is mainly formed a weak magnetic sensing lead system by weak magnetic guiding sniffer (10), contraposition photoelectric sensor (14), weak magnetic terrestrial reference alignment sensor;
The vehicle body front and rear portions of one car body (1) bottom is mounted with weak magnetic guiding sniffer (10) respectively, and the place ahead and car body (1) rear portion on weak magnetic guide sensor is mounted with collision prevention obstacle avoidance sensor (15) and mechanical anticollision mechanism (9) respectively;
Be mounted with mechanical anticollision mechanism (9) in the bottom of car body (1), mechanical anticollision mechanism (9) is combined as the corresponding anticollision device in front and back with the collision prevention obstacle avoidance sensor (15) of car body back segment;
Be mounted with weak magnetic terrestrial reference sensor and contraposition photoelectric sensor (14) in the vehicle body both sides;
Be mounted with the electronic transfer mechanism (5) of move left and right at body top section, in electronic transfer mechanism (5), be mounted with photoelectricity load sensor (17), load sensor (1 7) is fixed on the top of car body (1) and the lower position of electronic transfer mechanism (5);
Two contraposition photoelectric sensors (14) about top, car body (1) stage casing is provided with;
Be mounted with electric battery (12) at car body (1) rear portion;
Distance in car body (1) back upper place is mounted with two emergency stop switchs (18) respectively, and two emergency stop switchs (18) have a spacing distance respectively and between the central hummer (16) that installs and fixes of front upper place;
Be mounted with touch operating display (8) in car body (1) back upper end, touch operating display (8) be installed in car body (1) in the middle part of carried-on-vehicle computer system (7) between be connected for winding displacement;
Electronic combined rudder wheel assembly (2) in car body (1) the place ahead one distance is coaxial the connection with absolute encoder (13), is connected with steer motor again in the distance apart from preceding support wheel (4), and is meshed transmission gear;
Be mounted with wireless communication station (11) at car body (1) front upper part;
Be mounted with fast pulley (3) at car body (1) rear lower.
2. magnetic navigation differential type according to claim 1 delivers robot, it is characterized in that: described electronic combined rudder wheel assembly (2) the place ahead one distance and place, the place ahead are mounted with support wheel (4) and hoisting gear (6) respectively.
3. magnetic navigation differential type according to claim 1 delivers robot, and it is characterized in that: the outer shape of described electronic transfer mechanism (5) is a rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200673187U CN201021981Y (en) | 2007-02-13 | 2007-02-13 | Magnetic navigation differential carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200673187U CN201021981Y (en) | 2007-02-13 | 2007-02-13 | Magnetic navigation differential carrying robot |
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| Publication Number | Publication Date |
|---|---|
| CN201021981Y true CN201021981Y (en) | 2008-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200673187U Expired - Fee Related CN201021981Y (en) | 2007-02-13 | 2007-02-13 | Magnetic navigation differential carrying robot |
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| CN (1) | CN201021981Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541064A (en) * | 2012-03-27 | 2012-07-04 | 沈阳中兴电力通信有限公司 | Magnetic navigation routing inspection robot |
| CN102628836A (en) * | 2012-04-28 | 2012-08-08 | 中国石油天然气集团公司 | Method for detecting cracks of hot bends |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN103728978A (en) * | 2013-12-23 | 2014-04-16 | 江苏清弘物联网股份有限公司 | Control device for sand table car model |
| CN104298162A (en) * | 2014-09-29 | 2015-01-21 | 北华大学 | Robot control system for fire early warning of warehouse |
| CN105501277A (en) * | 2015-12-21 | 2016-04-20 | 中南大学 | Electromagnetic navigation self-homing supermarket trolley and homing method thereof |
| CN105619410A (en) * | 2016-02-19 | 2016-06-01 | 威海奥睿博机器人制造有限公司 | Transferring robot and automatic transferring system |
| CN105679168A (en) * | 2015-12-04 | 2016-06-15 | 南京航空航天大学 | Teaching experimental platform simulating ramp vehicle dispatching |
| CN106325267A (en) * | 2015-06-26 | 2017-01-11 | 北京卫星环境工程研究所 | Omnidirectional mobile platform vehicle with automatic line patrolling and obstacle avoiding functions |
| CN107015565A (en) * | 2017-06-05 | 2017-08-04 | 福州大学 | A kind of AGV magnetic Combinated navigation method |
| CN108163045A (en) * | 2018-01-12 | 2018-06-15 | 深圳市功夫机器人有限公司 | A kind of steering wheel driving device |
| CN109606505A (en) * | 2018-11-16 | 2019-04-12 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people |
| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
| CN110955234A (en) * | 2018-09-25 | 2020-04-03 | 国网天津市电力公司客户服务中心 | Track robot inspection system for charging station and application method thereof |
| CN111198543A (en) * | 2018-11-16 | 2020-05-26 | 齐齐哈尔四达铁路设备有限责任公司 | Automatic guide control system for railway vehicle |
-
2007
- 2007-02-13 CN CNU2007200673187U patent/CN201021981Y/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541064A (en) * | 2012-03-27 | 2012-07-04 | 沈阳中兴电力通信有限公司 | Magnetic navigation routing inspection robot |
| CN102628836A (en) * | 2012-04-28 | 2012-08-08 | 中国石油天然气集团公司 | Method for detecting cracks of hot bends |
| CN102628836B (en) * | 2012-04-28 | 2014-07-23 | 中国石油天然气集团公司 | Method for detecting cracks of hot bends |
| CN103135548B (en) * | 2012-05-02 | 2016-08-03 | 广州市远能物流自动化设备科技有限公司 | A kind of unmanned floor truck and driving control system thereof |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN103728978A (en) * | 2013-12-23 | 2014-04-16 | 江苏清弘物联网股份有限公司 | Control device for sand table car model |
| CN103728978B (en) * | 2013-12-23 | 2017-02-15 | 江苏清弘物联网股份有限公司 | Control device for sand table car model |
| CN104298162A (en) * | 2014-09-29 | 2015-01-21 | 北华大学 | Robot control system for fire early warning of warehouse |
| CN106325267A (en) * | 2015-06-26 | 2017-01-11 | 北京卫星环境工程研究所 | Omnidirectional mobile platform vehicle with automatic line patrolling and obstacle avoiding functions |
| CN105679168A (en) * | 2015-12-04 | 2016-06-15 | 南京航空航天大学 | Teaching experimental platform simulating ramp vehicle dispatching |
| CN105501277A (en) * | 2015-12-21 | 2016-04-20 | 中南大学 | Electromagnetic navigation self-homing supermarket trolley and homing method thereof |
| CN105501277B (en) * | 2015-12-21 | 2019-02-26 | 中南大学 | A kind of playback supermarket trolleys and its method for homing certainly of electromagnetic navigation |
| CN105619410A (en) * | 2016-02-19 | 2016-06-01 | 威海奥睿博机器人制造有限公司 | Transferring robot and automatic transferring system |
| CN107015565A (en) * | 2017-06-05 | 2017-08-04 | 福州大学 | A kind of AGV magnetic Combinated navigation method |
| CN108163045A (en) * | 2018-01-12 | 2018-06-15 | 深圳市功夫机器人有限公司 | A kind of steering wheel driving device |
| CN108163045B (en) * | 2018-01-12 | 2024-02-09 | 深圳市功夫机器人有限公司 | Steering wheel driving device |
| CN110955234A (en) * | 2018-09-25 | 2020-04-03 | 国网天津市电力公司客户服务中心 | Track robot inspection system for charging station and application method thereof |
| CN109606505A (en) * | 2018-11-16 | 2019-04-12 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people |
| CN111198543A (en) * | 2018-11-16 | 2020-05-26 | 齐齐哈尔四达铁路设备有限责任公司 | Automatic guide control system for railway vehicle |
| CN110703784A (en) * | 2019-11-19 | 2020-01-17 | 国家电网有限公司 | Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot |
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