CN207292195U - The intelligent steering system of unmanned distribution trolley - Google Patents
The intelligent steering system of unmanned distribution trolley Download PDFInfo
- Publication number
- CN207292195U CN207292195U CN201721295955.XU CN201721295955U CN207292195U CN 207292195 U CN207292195 U CN 207292195U CN 201721295955 U CN201721295955 U CN 201721295955U CN 207292195 U CN207292195 U CN 207292195U
- Authority
- CN
- China
- Prior art keywords
- motor
- steering
- trolley
- steering motor
- distribution trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a kind of intelligent steering system of unmanned distribution trolley, is related to unmanned distribution trolley technical field, solve unmanned distribution trolley in face of complex working condition can not intelligent and safe turn to technical problem.The intelligent steering system includes obstacle detector, steering motor, trolley control system, motor driver, encoder, wireless signal transceiver and cloud computing system, wherein：The obstacle detector is electrically connected with the trolley control system；The trolley control system is electrically connected by the motor driver with the steering motor；The signal input port of the encoder is connected with the output shaft of the steering motor, and the signal output port of the encoder is electrically connected with the trolley control system；The trolley control system is connected by the wireless signal transceiver and cloud computing system communication.The intelligent and safe that the utility model is used for realization unmanned distribution trolley turns to.
Description
Technical field
Unmanned distribution trolley technical field is the utility model is related to, is turned more particularly, to a kind of intelligence of unmanned distribution trolley
To system.
Background technology
With making rapid progress for economic development, the continuous improvement of people's consuming capacity, the commercially available flourishing hair of logistics distribution
Exhibition.Remote centralized dispenses architectonical, and city dispatching, garden dispense, living area dispatching, generally require substantial amounts of manpower thing
Power, while timeliness is restricted with being continuously increased for dispensed amounts.To meet vast consumer groups to delivery service requirement
Raising, a kind of unmanned distribution trolley comes into being.
Applicants have discovered that at least there are following technical problem for the prior art：
When unmanned distribution trolley is especially dispensed when carrying out and being dispensed in region to residential block, it is more complicated to face operating mode,
Such as the crowd is dense barrier is various, narrow space be not easy it is current etc..In this case many unmanned distribution trolley can not be realized
Intelligent and safe, which turns to, completes dispatching task.
The content of the invention
The purpose of this utility model is to provide a kind of intelligent steering system of unmanned distribution trolley, to solve the prior art
Present in unmanned distribution trolley in face of complex working condition can not intelligent and safe turn to technical problem.It is provided by the utility model all
Many technique effects elaboration as detailed below that optimal technical scheme in more technical solutions can be generated.
To achieve the above object, the utility model provides following technical scheme：
The utility model provides a kind of intelligent steering system of unmanned distribution trolley, including obstacle detector, turns
To motor, trolley control system, motor driver, encoder, wireless signal transceiver and cloud computing system, wherein：
The obstacle detector is electrically connected with the trolley control system；
The trolley control system is electrically connected by the motor driver with the steering motor；
The signal input port of the encoder is connected with the output shaft of the steering motor, the signal of the encoder
Output port is electrically connected with the trolley control system；
The trolley control system is connected by the wireless signal transceiver and cloud computing system communication.
Alternatively, the trolley control system includes central processing unit, signal acquisition module, communication module, speed signal
Generator, direction signal generator and enable signal generator, wherein：
The speed signal generator, the direction signal generator and the enable signal generator with the electricity
Machine driver and the central processing unit are electrically connected；
The obstacle detector and the encoder are electrically connected with the signal acquisition module, the signal acquisition
Module is electrically connected with the communication module, and the communication module is electrically connected with the wireless signal transceiver；
The communication module is also electrically connected with the central processing unit.
Alternatively, the obstacle detector includes image identification system and ultrasonic ranging identifying system.
Alternatively, described image identifying system includes being evenly distributed on the image recognition camera of distribution trolley surrounding, institute
Stating ultrasonic ranging identifying system includes being evenly distributed on the ultrasonic distance-measuring sensor of distribution trolley surrounding, and described image is known
Other camera is at least 2 with the ultrasonic distance-measuring sensor.
Alternatively, the steering motor is rotating stepper motor, and the quantity of the stepper motor is at least 2.
Alternatively, the steering motor includes front-axle steering motor and rear axle steering motor, and the encoder includes front axle
Encoder and rear shaft encoder, the preceding shaft encoder are connected with the output shaft of the front-axle steering motor, and the rear axle is compiled
Code device be connected with the output shaft of the rear axle steering motor, the preceding shaft encoder and it is described afterwards shaft encoder with it is described small
Vehicle control is electrically connected, and the front-axle steering motor and the rear axle steering motor are electrically connected with the motor driver.
Alternatively, the front-axle steering motor is connected with the front-wheel of distribution trolley, the rear axle steering motor and dispatching
The trailing wheel of trolley is connected, and the front-axle steering motor and the rear axle steering motor are one.
Alternatively, further include transmission mechanism, the quantity of the transmission mechanism is two sets, two transmission mechanisms respectively with
Two front-wheels of distribution trolley and two trailing wheel connections, the front-axle steering motor pass through the transmission mechanism control distribution trolley
Two front-wheel steers, two rear-axle steerings that the rear axle steering motor passes through the transmission mechanism control distribution trolley.
Alternatively, the transmission mechanism includes drive link, steering link and inverted U support base, and the drive link includes
Drive connection end and rotation connection end, the drive connection end are fixedly connected with the inverted U support base top, the rotation
Connecting pin offers connecting hole, and the steering link is connected by the connecting hole with the drive rod rotation and the company of steering
Bar both ends respectively connect a drive link, and a wheel mounting hole is respectively arranged with two arms of the inverted U support base,
The inverted U support base is detachably fixed with wheel by the wheel mounting hole and is connected, the front-axle steering motor or described
Rear axle steering motor is fixedly connected with one in two inverted U support bases.
Alternatively, the front-axle steering motor and the rear axle steering motor are independently run, and pass through the trolley control
System processed realizes the synchronous rotary or asynchronous rotation between the front-axle steering motor and the rear axle steering motor, and then realizes
Synchronous steering or asynchronous steering between the front-wheel and the trailing wheel.
The utility model provides a kind of intelligent steering system of unmanned distribution trolley, including obstacle detector, turns
To motor, trolley control system, motor driver, encoder, wireless signal transceiver and cloud computing system, wherein：
Obstacle detector is electrically connected with trolley control system；
Trolley control system is electrically connected by motor driver with steering motor；
The signal input port of encoder is connected with the output shaft of steering motor, the signal output port of encoder with it is small
Vehicle control is electrically connected；
Trolley control system is connected by wireless signal transceiver and cloud computing system communication, relative to this reality of the prior art
With the new peripheral obstacle information using obstacle detector collection distribution trolley and the peripheral obstacle collected is believed
Breath is transferred to trolley control system, and peripheral obstacle information is sent to cloud meter by trolley control system by wireless signal transceiver
Then calculation system, cloud computing system are controlled according to the detection of obstacles information planning of distribution trolley safety traffic region by trolley
The safety traffic region that system is calculated according to cloud computing system independently determines turn around parameters, completes steering operation, avoids obstacle
Thing, turns to so as to fulfill intelligent and safe, you can to ensure the safety traffic of distribution trolley and can realize the reality to distribution trolley
When monitoring complete dispatching task, solving unmanned distribution trolley under complex working condition can not the technical problem that turns to of intelligent and safe.
Brief description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the intelligent steering system flow chart of unmanned distribution trolley；
Fig. 2 is the intelligent steering system particular flow sheet of unmanned distribution trolley；
Fig. 3 is the trolley control system structure flow chart of unmanned distribution trolley in the utility model；
Fig. 4 is the straight to traveling schematic diagram of the intelligent steering system of unmanned distribution trolley；
Fig. 5 is the cross running schematic diagram of the intelligent steering system of unmanned distribution trolley；
Fig. 6 is the oblique traveling schematic diagram of the intelligent steering system of unmanned distribution trolley；
Fig. 7 is the front-wheel independent steering schematic diagram of the intelligent steering system of unmanned distribution trolley；
Fig. 8 is unmanned distribution trolley and transmission mechanism schematic diagram.
1, drive link in figure；2nd, steering link；3rd, inverted U support base；4th, front-axle steering motor；5th, rear axle steering motor.
Embodiment
To make the purpose of this utility model, technical solution and advantage clearer, below by the technology of the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not before creative work is made
Obtained all other embodiment is put, belongs to the scope that the utility model is protected.
As shown in Figure 1, the utility model provides a kind of intelligent steering system of unmanned distribution trolley, including obstacle quality testing
Device, steering motor, trolley control system, motor driver, encoder, wireless signal transceiver and cloud computing system are surveyed,
Wherein：
Obstacle detector is electrically connected with trolley control system；
Trolley control system is electrically connected by motor driver with steering motor；
The signal input port of encoder is connected with the output shaft of steering motor, the signal output port of encoder with it is small
Vehicle control is electrically connected；
Trolley control system is connected by wireless signal transceiver and cloud computing system communication.The intelligence of the unmanned distribution trolley
Energy steering realizes system building based on above-mentioned automated steering control method, and obstacle detector is used for performing obstacle quality testing
Survey step and complete obstacle information collection, obstacle detector is electrically connected with trolley control system so that detection of obstacles fills
The obstacle information being collected into can be transferred to trolley control system by putting, trolley control system by wireless signal transceiver with
Cloud computing system communication connection so that trolley control system can be transmitted obstacle detector by wireless signal transceiver
The obstacle information to come over is transferred to cloud computing system in the form of wireless signal and calculates safety traffic region for cloud computing system,
Cloud computing system can also will drive safely area transmissions to trolley control system, then trolley control by wireless signal transceiver
System processed determines turn around parameters according to the safety traffic region received.
Trolley control system is electrically connected by motor driver with steering motor, and trolley control system drives with motor first
Device is electrically connected, and then motor driver is electrically connected with steering motor so that trolley control system can directly pass turn around parameters
Motor driver is defeated by, so that motor driver direct-driving motor rotates.
The signal input port of encoder is connected with the output shaft of steering motor so that the direction information bag of steering motor
Include steering direction and steering angle and encoder, the signal output port of encoder are transferred to by the signal input port of encoder
It is electrically connected with trolley control system so that the direction information that steering motor is transferred to encoder passes through the signal output part of encoder
Mouth feeds back to trolley control system so that trolley control system is compared according to the direction information of feedback with definite turn around parameters
Relatively turned to further to adjust turn around parameters so as to fulfill accurate, achieve the purpose that intelligent and safe turns to.
Optionally embodiment, as shown in figure 3, trolley control system include central processing unit, signal acquisition module,
Communication module, speed signal generator, direction signal generator and enable signal generator, wherein：
Central processing unit is used to determine turn around parameters, speed signal generator, direction signal generator and enable signal
Generator is electrically connected with motor driver and central processing unit at the same time, and central processing unit is used to determine turn around parameters so that in
Central processor can be transmitted turn around parameters by speed signal generator, direction signal generator and enable signal generator
Steering is performed to motor driver, speed signal generator is used for sending turning velocity signal, and direction signal generator is used for
Steering direction signal is sent, enable signal generator is used for sending startup, stop signal.
Obstacle detector and encoder are electrically connected with signal acquisition module, signal acquisition module and communication module electricity
Connection, communication module are electrically connected with wireless signal transceiver, and communication module is also electrically connected with central processing unit so that obstacle quality testing
The obstacle information that device is collected into is surveyed to transmit by signal acquisition module, communication module electrical connection and wireless signal transceiver
Safety traffic region is calculated to cloud computing system, the direction information that encoder collects can be by signal acquisition module with leading to
Module transfer is interrogated to central processing unit to correct turn around parameters.
Optionally embodiment, obstacle detector include image identification system and ultrasonic ranging identification system
System.Image identification system can collect the obstacle information in front of distribution trolley with the mode of image transmitting, and ultrasonic ranging is known
Other system can collect the obstacle information in front of distribution trolley with the mode of ultrasonic ranging.
Optionally embodiment, the image recognition that image identification system includes being evenly distributed on distribution trolley surrounding are taken the photograph
As head, ultrasonic ranging identifying system includes being evenly distributed on the ultrasonic distance-measuring sensor of distribution trolley surrounding, and image is known
Other camera is at least 2 with ultrasonic distance-measuring sensor, can so monitor and collect the comprehensive barrier of distribution trolley surrounding
Hinder thing information so as to ensure to drive safely.
Optionally embodiment, steering motor are rotating stepper motor, and the quantity of stepper motor is at least 2,
Since rotating stepper motor can select rotating stepper motor as distribution trolley with rotating and rotation precision height
Power output device so that distribution trolley can realize high-precision steering, ensure distribution trolley safety traffic.Stepping electricity
The quantity of machine is at least 2, after 2 stepper motors, a motor can be selected to control 2 front-wheels, another motor to control 2
Wheel, can also select 4 stepper motors, before a motor controls 1 wheel, or the one of motors of selection 3 control 2
Wheel or 2 trailing wheels, two other motor control remaining two wheel.
Optionally embodiment, as shown in Fig. 2, steering motor includes front-axle steering motor 4 and rear axle steering motor
5, encoder includes preceding shaft encoder and rear shaft encoder, and preceding shaft encoder is connected with the output shaft of front-axle steering motor 4, after
Shaft encoder is connected with the output shaft of rear axle steering motor 5, and preceding shaft encoder and rear shaft encoder are and trolley control system
It is electrically connected, front-axle steering motor 4 and rear axle steering motor 5 are electrically connected with motor driver, so realize front-axle steering motor 4
With the direction information of rear axle steering motor 5 can real-time Transmission completed to trolley control system to steering motor direction information
Monitoring and turn around parameters correction.
Optionally embodiment, front-axle steering motor 4 are connected with the front-wheel of distribution trolley, rear axle steering motor 5
It is connected with the trailing wheel of distribution trolley, and front-axle steering motor 4 and rear axle steering motor 5 are one so that front-axle steering electricity
Machine 4 can control 2 front-wheels at the same time, and rear axle steering motor 5 controls 2 trailing wheels to complete steering of the steering motor to wheel at the same time
Control.
Optionally embodiment, further includes transmission mechanism, the quantity of transmission mechanism is two sets, two transmission mechanisms point
It is not connected with two front-wheels of distribution trolley and two trailing wheels, front-axle steering motor 4 passes through transmission mechanism control distribution trolley
Two front-wheel steers, rear axle steering motor 5 are by two rear-axle steerings of transmission mechanism control distribution trolley, the transmission mechanism
Two sets are installed between two front-wheels and between two trailing wheels respectively so that front-axle steering motor 4 controls a front-wheel steer
When, another front-wheel also carries out identical steering so that two front-wheel steer states are identical, and rear axle steering motor 5 controls one
During rear-axle steering, another trailing wheel also carries out identical steering so that two rear-axle steering states are also identical.
Optionally embodiment, as shown in figure 8, transmission mechanism includes drive link 1, steering link 2 and inverted U branch
Seat 3 is supportted, drive link includes drive connection end and rotation connection end, and drive connection end is fixed with 1 top of inverted U support base to be connected
Connect, rotation connection end offers connecting hole, and steering link 2 is connected by the connecting hole with drive rod rotation and steering link 2
Both ends respectively connect a drive link 1, and a wheel mounting hole, inverted U branch are respectively arranged with two arms of inverted U support base 3
Support seat 3 is detachably fixed by wheel mounting hole with wheel to be connected, front-axle steering motor 4 or rear axle steering motor 5 and two institutes
One in inverted U support base 3 is stated to be fixedly connected.
The drive connection end of drive link 1 is fixedly connected with inverted U support base 3 in above-mentioned transmission mechanism, and rotation connection end is opened
Equipped with connecting hole, steering link 2 is connected by the connecting hole with drive rod rotation and 2 both ends of steering link respectively connect a biography
Lever 1, is respectively arranged with a wheel mounting hole on two arms of inverted U support base 3, inverted U support base 3 is fixed by wheel
Hole is detachably fixed with wheel and is connected, in front-axle steering motor 4 or rear axle steering motor 5 and two inverted U support bases 3
One is fixedly connected so that and two front-wheels of distribution trolley can be linked together by transmission mechanism, and before same
The driving of axle steer motor 4 is lower to be turned to unanimously, and similarly the two of distribution trolley trailing wheel can be linked together by transmission mechanism
The same driving of rear axle steering motor 5 is lower to be turned to unanimously.
Optionally embodiment, front-axle steering motor 4 and rear axle steering motor 5 are independently run, and pass through trolley
Control system realizes the synchronous rotary or asynchronous rotation between front-axle steering motor 4 and rear axle steering motor 5, and then realizes front-wheel
Synchronous steering or asynchronous steering, front-axle steering motor 4 and rear axle steering motor 5 between trailing wheel are independently run so that
The rotation of front-axle steering motor 4 and rear axle steering motor 5 can be individually separately controlled in trolley control system, turn so as to fulfill front axle
Synchronous rotation is identical realized to the rotation status (including steering direction and steering angle) between motor 4 and rear axle steering motor 5
Turn, and then realize that synchronous turn between front wheels and rear wheels can also be realized between front-axle steering motor 4 and rear axle steering motor 5
Steering state different (direction of rotation and rotation angle is any differ) realize asynchronous rotation, and then realize front wheels and rear wheels
Between asynchronous steering, as shown in figs. 4-7, synchronous between front wheels and rear wheels turns to or asynchronous steering can realize distribution trolley
Directly to traveling, cross running, oblique traveling and front-wheel independent steering.
The above, is only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art can readily occur in change in the technical scope that the utility model discloses
Or replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with the power
Subject to the protection domain that profit requires.
Claims (10)
- A kind of 1. intelligent steering system of unmanned distribution trolley, it is characterised in that including obstacle detector, steering motor, Trolley control system, motor driver, encoder, wireless signal transceiver and cloud computing system, wherein：The obstacle detector is electrically connected with the trolley control system；The trolley control system is electrically connected by the motor driver with the steering motor；The signal input port of the encoder is connected with the output shaft of the steering motor, the signal output of the encoder Port is electrically connected with the trolley control system；The trolley control system is connected by the wireless signal transceiver and cloud computing system communication.
- 2. the intelligent steering system of unmanned distribution trolley according to claim 1, it is characterised in that the trolley control system System includes central processing unit, signal acquisition module, communication module, speed signal generator, direction signal generator and enables Signal generator, wherein：The speed signal generator, the direction signal generator and the enable signal generator at the same time with the electricity Machine driver and the central processing unit are electrically connected；The obstacle detector and the encoder are electrically connected with the signal acquisition module, the signal acquisition module It is electrically connected with the communication module, the communication module is electrically connected with the wireless signal transceiver；The communication module is also electrically connected with the central processing unit.
- 3. the intelligent steering system of unmanned distribution trolley according to claim 1, it is characterised in that the detection of obstacles Device includes image identification system and ultrasonic ranging identifying system.
- 4. the intelligent steering system of unmanned distribution trolley according to claim 3, it is characterised in that described image identification system System includes the image recognition camera for being evenly distributed on distribution trolley surrounding, and the ultrasonic ranging identifying system includes uniformly dividing Cloth is in the ultrasonic distance-measuring sensor of distribution trolley surrounding, and described image identification camera and the ultrasonic distance-measuring sensor It is at least 2.
- 5. the intelligent steering system of unmanned distribution trolley according to claim 1, it is characterised in that the steering motor is Rotating stepper motor, the quantity of the stepper motor are at least 2.
- 6. the intelligent steering system of unmanned distribution trolley according to claim 1, it is characterised in that the steering motor bag Front-axle steering motor and rear axle steering motor are included, the encoder includes preceding shaft encoder and rear shaft encoder, and the front axle is compiled Code device is connected with the output shaft of the front-axle steering motor, the output shaft of the rear shaft encoder and the rear axle steering motor It is connected, the preceding shaft encoder and the rear shaft encoder are electrically connected with the trolley control system, the front-axle steering Motor and the rear axle steering motor are electrically connected with the motor driver.
- 7. the intelligent steering system of a kind of unmanned distribution trolley according to claim 6, it is characterised in that the front axle turns Be connected to motor with the front-wheel of distribution trolley, the rear axle steering motor is connected with the trailing wheel of distribution trolley, and it is described before Axle steer motor and the rear axle steering motor are one.
- 8. the intelligent steering system of a kind of unmanned distribution trolley according to claim 7, it is characterised in that further include transmission Mechanism, the quantity of the transmission mechanism are two sets, two transmission mechanisms respectively with two front-wheels of distribution trolley and two Trailing wheel connects, and the front-axle steering motor passes through two front-wheel steers of the transmission mechanism control distribution trolley, the rear axle Two rear-axle steerings that steering motor passes through the transmission mechanism control distribution trolley.
- A kind of 9. intelligent steering system of unmanned distribution trolley according to claim 8, it is characterised in that the driver Structure includes drive link, steering link and inverted U support base, and the drive link includes drive connection end and rotation connection end, The drive connection end is fixedly connected with the inverted U support base top, and the rotation connection end offers connecting hole, described turn It is connected to connecting rod by the connecting hole with the drive rod rotation and the steering link both ends respectively connects a transmission Bar, is respectively arranged with a wheel mounting hole on two arms of the inverted U support base, the inverted U support base passes through described Wheel mounting hole is detachably fixed with wheel to be connected, and is fallen described in the front-axle steering motor or the rear axle steering motor and two One in U-shaped support base is fixedly connected.
- A kind of 10. intelligent steering system of unmanned distribution trolley according to claim 8, it is characterised in that the front axle Steering motor and the rear axle steering motor are independently run, and the front-axle steering electricity is realized by the trolley control system Synchronous rotary or asynchronous rotation between machine and the rear axle steering motor, and then realize between the front-wheel and the trailing wheel Synchronous steering or asynchronous steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721295955.XU CN207292195U (en) | 2017-10-09 | 2017-10-09 | The intelligent steering system of unmanned distribution trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721295955.XU CN207292195U (en) | 2017-10-09 | 2017-10-09 | The intelligent steering system of unmanned distribution trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207292195U true CN207292195U (en) | 2018-05-01 |
Family
ID=62413647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721295955.XU Active CN207292195U (en) | 2017-10-09 | 2017-10-09 | The intelligent steering system of unmanned distribution trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207292195U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585221A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | The automated steering control method and intelligent steering system of unmanned distribution trolley |
| CN108876251A (en) * | 2018-07-05 | 2018-11-23 | 北京智行者科技有限公司 | Operational method is sent in a kind of logistics with charge free |
-
2017
- 2017-10-09 CN CN201721295955.XU patent/CN207292195U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585221A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | The automated steering control method and intelligent steering system of unmanned distribution trolley |
| CN108876251A (en) * | 2018-07-05 | 2018-11-23 | 北京智行者科技有限公司 | Operational method is sent in a kind of logistics with charge free |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107585221A (en) | The automated steering control method and intelligent steering system of unmanned distribution trolley | |
| CN205989678U (en) | A kind of unpiloted sweeper | |
| CN106702937A (en) | Sanitation vehicle with automatic sweeping function and automatic driving method thereof | |
| CN106740406A (en) | A kind of unmanned sprinkling truck and watering method | |
| CN110531764A (en) | A kind of driverless tractor control system and control method | |
| CN107719356A (en) | Pure electronic special-purpose vehicle Unmanned Systems and method | |
| CN207292195U (en) | The intelligent steering system of unmanned distribution trolley | |
| CN203063940U (en) | Pilotless automobile device | |
| CN110320908B (en) | AGV real-time simulation system | |
| CN107097241A (en) | A kind of service robot and its control method | |
| CN202085493U (en) | Tomato picking robot system | |
| CN206537207U (en) | A kind of unmanned sprinkling truck | |
| CN107041634A (en) | Intelligent four-wheel drive serving trolley | |
| CN104950887A (en) | Transportation device based on robot vision system and independent tracking system | |
| CN106708027A (en) | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle | |
| CN103425134A (en) | Satellite navigation automatic driving system of high-speed seedling transplanter and satellite navigation automatic driving method of high-speed seedling transplanter | |
| CN105774902A (en) | Automobile power steering control device with fault-tolerant function and control method | |
| CN206696701U (en) | Endless-track vehicle remote control and automated driving system based on internet | |
| CN109557922A (en) | A kind of intelligence tractor field obstruction-avoiding control system and method | |
| CN108873914A (en) | A kind of robot autonomous navigation system and method based on depth image data | |
| CN107422726A (en) | A kind of independent navigation intelligent variable spraying system and its control method applied to greenhouse | |
| CN105015544A (en) | Vehicle speed control system and method for full-automatic parking of electric car | |
| CN106774318A (en) | Multiple agent interactive environment is perceived and path planning kinematic system | |
| CN108279680A (en) | A kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity | |
| CN106845889A (en) | A kind of intelligent trackless self-aiming transport vehicle material transportation information management system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |