CN208614791U - All directionally movable robot applied to intelligent repository - Google Patents
All directionally movable robot applied to intelligent repository Download PDFInfo
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- CN208614791U CN208614791U CN201820079668.3U CN201820079668U CN208614791U CN 208614791 U CN208614791 U CN 208614791U CN 201820079668 U CN201820079668 U CN 201820079668U CN 208614791 U CN208614791 U CN 208614791U
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- movable robot
- intelligent repository
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Abstract
The utility model discloses a kind of all directionally movable robots applied to intelligent repository, including mobile platform, traction mechanism, ultrasonic evadible system, vision module, remote maintaining module, there are also the auxiliary positioning mechanisms to match with mobile robot, realize that robot reaches the working condition and storage environment of target area and supervisory-controlled robot with traction mode Transport cargo rack automatically；And network management and maintenance robot can be passed through；In addition, be designed to the wheeled mobile platform of Mecanum, can all-around mobile, flexibility is high.
Description
Technical field
The utility model relates to robot architecture's design and technical field of robot control, more particularly to one kind to be applied to intelligence
The all directionally movable robot in energy warehouse.
Background technique
The logistics management activity of intelligent repository is controlled by electronic computer substantially, cargo (raw material, product etc.)
Management is furnished with robot, and headcount requires low, operational efficiency height.The utility model relates to all-around mobile refer to except front and back
Left and right directions translation is outer, can be with oblique walking, the move modes such as no-radius turning.
There is miscellaneous storage robot for the epoch of complying in succession both at home and abroad in the rapid development of Internet of Things industry.
(1) external aspect, Amazon etc. has been the troop, robot that storehouse management establishes oneself.But, in order to make
The automated warehouse system developed with this set by Kiva Systems needs to carry out target warehouse the transformation of specialization, and increases
Many indispensable infrastructure, it is at high cost, technological difficulties are big, it is difficult in maintenance, it is not appropriate for the introduction of most domestic enterprise.
(2) domestic aspect, there is presently no fairly perfect Storehouse management robot's application occur.Most of enterprise is come
It says, intelligent robot is introduced in many medium-and-large-sized warehouses not yet or the robot of introduction has a single function, and operates unfriendly；
Cargo matches the mode of goods and packaging, is still traditional " artificially with goods " mode, rather than intelligent goods dispatch, therefore the warehouse speed of service
It cannot break through for a long time.
(3), there is the pure sensor technology using AGV in domestic top logistics management enterprise, has certain limitation；
In addition, many AGV trolleies use lifting type structure, trolley needs to carry the overall quality of shelf, in starting, braking to motor
It will cause certain rigid shock, influence the service life of trolley, increase the loss of energy.
(4) it for most AGV trolley, when track of cruising is bend, needs wheel to generate differential and is turned with realizing,
And required turning radius is larger, and when numerous trolleies works in warehouse, the work of trolley is just by space, the limit of time
System.Develop all directionally movable robot, it is intended to greatly reduce walking about for warehouse employee, improve the operation of storehouse management cargo work
Speed.
(5) existing storage robot is only with the positioning method of electronic sensor, and the interference strength by environment is high, positioning
Precision is not high, is easy to break down at work.
It can be seen that problem above is to most domestic warehousing management operational efficiency, the robot localization of outfit is difficult,
The phenomenon that causing intelligent repository technology that cannot break through for a long time largely limits the various development of intelligent repository, special
It is not intelligent development.
Utility model content
Technical problem to be solved in the utility model is how to provide one kind to effectively improve the warehouse speed of service, movement
Flexibility and all directionally movable robot applied to intelligent repository for being conducive to develop intelligent warehouse.
In order to solve the above technical problems, technical solution adopted in the utility model is: a kind of applied to intelligent repository
All directionally movable robot, characterized by comprising: mobile platform, traction mechanism, ultrasonic evadible system, vision module, distant
Control maintenance module, AGV sensor module, RFID read-write module, drive module and control module, the traction mechanism are set to institute
It states on mobile platform, the drive module is controlled by the control module, and the drive module is for driving the traction mechanism
It is moved with the mobile platform；The ultrasonic evadible system is located on the mobile platform, the signal with the control module
Input terminal connection, for perceiving the mobile platform at a distance from barrier；The vision module is located on mobile platform, with institute
The signal input part connection for stating control module, for carrying out Image Acquisition to the environmental information around the mobile platform；It is described
Remote maintaining module is located on the mobile platform, connect with the signal input part of the control module, for receiving remote controler
The control command passed down controls the mobile platform movement；AGV sensor module is located on the mobile platform, with the control
The signal input part of molding block connects, for guiding the mobile platform to move；RFID read-write module is located at the mobile platform
On, it is connect with the signal input part of the control module, for reading the information of RFID label tag on ground.
A further technical solution lies in: the mobile platform includes vehicle body and two pairs of Mecanums on the downside of vehicle body
Wheel, the Mecanum wheel are connected to speed reducer by shaft coupling, and speed reducer connects stepper motor M, and the stepper motor M passes through
A, B phase line of extraction are connected to stepper motor driver U3；Described its signal port of stepper motor driver U3 and motion control
Block U1 connection, drives the Mecanum wheel to act by the stepper motor M；The vehicle body includes chassis, front and back side plate, a left side
Right side plate, big top plate and small top plate.
A further technical solution lies in: the traction mechanism includes electronic lifting bar, support plate and draws pillar, described
Electronic lifting bar is connected to power supply by relay A；The electronic lifting bar is set to the center on chassis；In the support plate
Position is entreated to connect electronic lifting bar；Four support pillars are connected below the end angle of the support plate, four support pillars are set to
Four positioning holes of big top plate, four support pillars are fixedly connected the bearing below location hole, the traction pillar setting
In the top of support plate, and diagonally opposing corner is distributed, and normally open end and common end and the arduino single-chip microcontroller U2 of the relay A is electrically connected
It connects.
A further technical solution lies in: the ultrasonic evadible system includes six ultrasonic sensors, the ultrasound
Its signal end of wave sensor is electrically connected with arduino single-chip microcontroller U2；The arduino single-chip microcontroller U2 and motion control card U1 passes through
Communication interface electrical connection；Six ultrasonic sensors are respectively arranged on front and back side plate and left side plate, and front and back side plate
Four ultrasonic sensors are symmetrically installed, left side plate central symmetry installs two ultrasonic sensors.
A further technical solution lies in: the vision module includes a digital camera, and the digital camera passes through
The connection of the small top plate of camera support bar and mobile platform；The digital camera is electrically connected by cable with router；It is described
Roller bearing built in the lower end of camera support bar is connected to a steering engine, and signal end and the arduino single-chip microcontroller U2 of the steering engine are electrically connected
It connects, control module controls the digital camera rotation by the steering engine.
A further technical solution lies in: the remote maintaining module includes a router, and the router, which is set to, to be taken the photograph
On the small top plate of the vehicle body of camera support rod front position, the router is electrically connected by cable with motion control card U1.
A further technical solution lies in: corner brace is set between the parallel bar of shelf, and diagonally opposing corner is distributed, funnel and angle
Code connection, AGV sensor module are installed on vehicle front, AGV sensor module and arduino monolithic mechatronics ,+5V power supply
It is electrically connected with the VCC terminals of arduino single-chip microcontroller, ground is electrically connected with the GND terminals of arduino single-chip microcontroller, RFID read-write
Module is installed on chassis center, and AGV magnetic wire is installed on warehouse corridor center, and RFID label tag is installed on two AGV magnetic conductances
At line crossing at right angle.
The beneficial effects of adopting the technical scheme are that the shifting that (1) is designed based on Mecanum wheel technology
Moving platform, flexibility is high, and the advantage with all-around mobile greatly reduces suitable for the Freight Transport Management in medium-and-large-sized warehouse
Warehouse employee's walks about, and effectively improves the efficiency of storage running；
(2) it is towed drive that design robot, which drives shelf, and four foot of shelf installs universal wheel, effectively prevents lifting type
Hardness damage motor, also effectively prevents lifting type and causes shelf gravity center instability to the rigid shock of shelf due to load excessive
And cargo the phenomenon that rocking；
(3) the positioning of design electronic sensor and mechanical structure position the mechanism combined, so that robot can rapidly, precisely
Ground is combined as a whole with shelf；
(4) ultrasonic evadible system is devised, and system stability is strong, all has the function of automatic obstacle-avoiding in four moving directions
Can, avoidance effect is good；
(5) two kinds of operating modes of wireless remote control and automatically walk are devised, and robot is walked on public road using automatic
Mode, robot enters the shelf parking stall delimited, robot in conjunction with shelf, by wireless control.Two kinds of operating modes
And deposit, robot can be made to be suitable for different storage environments, in conjunction with the effect of automatic obstacle-avoiding, realize the intelligence in warehouse to a certain extent
It can operation；
(6) vision module, the positioning combination feelings that can be monitored the environment in warehouse in real time, can monitor robot and shelf are provided with
Condition, the working condition of robot.
Detailed description of the invention
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the schematic perspective view of all-around mobile positioning system described in the utility model embodiment；
Fig. 2 is the schematic top plan view of all-around mobile positioning system described in the utility model embodiment；
Fig. 3 is the partial schematic diagram of all-around mobile positioning system described in the utility model embodiment；
Fig. 4 is the circuit connection diagram of all-around mobile positioning system described in the utility model embodiment.
1, digital camera；2, router；3, camera support bar；4, ultrasonic sensor；5, Mecanum wheel；6, vehicle
Body；7, electronic lifting bar；8, support plate；9, pillar is drawn；10, funnel；11, corner brace；12, shelf；13, steering engine；14, AGV is passed
Sensor module；15, RFID read-write module；U1, motion control card；U2, arduino single-chip microcontroller；U3, stepper motor driver；M,
Stepper motor；A, relay.
Specific embodiment
Below with reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that and described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Many details are explained in the following description in order to fully understand the utility model, but this is practical new
Type can also be implemented using other than the one described here other way, and those skilled in the art can be without prejudice to this reality
With doing similar popularization in the case where novel intension, therefore the utility model is not limited by the specific embodiments disclosed below.
As shown in Figures 1 to 4, the utility model discloses a kind of all directionally movable robot applied to intelligent repository,
Include: mobile platform, traction mechanism, ultrasonic evadible system, vision module, remote maintaining module, AGV sensor module 14,
RFID read-write module 15, drive module and control module, the traction mechanism are set on the mobile platform, the driving mould
Block is controlled by the control module, and the drive module is for driving the traction mechanism and the mobile platform to move；It is described
Ultrasonic evadible system is located on the mobile platform, connect with the signal input part of the control module, described for perceiving
Mobile platform is at a distance from barrier；The vision module is located on mobile platform, the signal input part with the control module
Connection, for carrying out Image Acquisition to the environmental information around the mobile platform；The remote maintaining module is located at the shifting
It on moving platform, is connect with the signal input part of the control module, the control command passed down for receiving remote controler, described in control
Mobile platform movement；AGV sensor module 14 is located on the mobile platform, connects with the signal input part of the control module
It connects, for guiding the mobile platform to move；RFID read-write module 15 is located on the mobile platform, with the control module
Signal input part connection, for reading the information of RFID label tag on ground.
Further, the mobile platform includes two pairs of Mecanum wheels 5 and vehicle body 6；The Mecanum wheel 5 passes through connection
Axis device is connected to speed reducer, further connects stepper motor M；The vehicle body 6 includes chassis, front and back side plate, left side plate, great Ding
Plate and small top plate, and enclosed by chassis, front and back side plate, left side plate, big top plate and small top plate；The stepper motor M
Stepper motor driver U3 is connected to by A, B phase line of extraction；Described its signal port of stepper motor driver U3 and movement
Control card U1 connection；
Further, the traction mechanism includes electronic lifting bar 7, support plate 8, traction pillar 9；The electronic lifting bar
7 are connected to power supply by relay A；The electronic lifting bar 7 is set to the center on chassis；The central location of the support plate 8
It is connected to electronic lifting bar 7；Four support pillars are connected to below the end angle of the support plate 8, further, four support columns
Son is set to four location holes of big top plate, correspondingly, four support pillars are fixedly connected the bearing below location hole；It is described
The top of support plate 8 is arranged in traction pillar 9, and diagonally opposing corner is distributed；The normally open end and common end of the relay A with
Arduino single-chip microcontroller U2 electrical connection；
The ultrasonic evadible system is made of six ultrasonic sensors 4 and an arduino single-chip microcontroller U2；The ultrasound
Its signal end of wave sensor 4 is electrically connected with arduino single-chip microcontroller U2；The arduino single-chip microcontroller U2 and motion control card U1 is logical
Cross communication interface electrical connection；Six ultrasonic sensors 4 are respectively arranged at front and back side plate and left side plate, and front and back side plate
Four ultrasonic sensors are symmetrically installed, left side plate central symmetry installs two ultrasonic sensors.
The vision module includes a digital camera 1；The digital camera 1 is connect with camera support bar 3；It is described
Digital camera 1 is electrically connected by cable with router 2；The camera support bar 3 is set to the small top plate in front of robot
Position；The built-in roller bearing of the camera support bar 3 is connected to a steering engine 13；Described its signal end of steering engine 13 and arduino are mono-
Piece machine U2 electrical connection；
The remote maintaining module includes a router 2；The router 2 be set to aluminium sheet vehicle body 6 small ceiling location,
The front position of camera support bar 3；The router 2 is electrically connected by cable with motion control card U1；
Corner brace 11 is set between the parallel bar of shelf 12, and diagonally opposing corner is distributed, and funnel 10 is connect with corner brace 11, funnel 10
It is adapted with traction pillar 9, when the traction pillar 9 is inserted into funnel 10, shelf movement can be driven by mobile platform,
AGV sensor module 14 is installed on the front of vehicle body 6, AGV sensor module 14 and arduino monolithic mechatronics ,+5V power supply with
The VCC terminals of arduino single-chip microcontroller are electrically connected, and ground is electrically connected with the GND terminals of arduino single-chip microcontroller, RFID read-write mould
Block 15 is installed on 6 chassis of vehicle body center, and AGV magnetic wire is installed on warehouse corridor center, and RFID label tag is installed on two AGV magnetic conductances
At line crossing at right angle.
The working principle of the movable positioning system is as follows:
Mecanum wheel circumferential distribution rotatable centre wheel, angled periphery wheel shaft a part wheel turn to
Power is converted to a wheel normal force, and direction and speed by respective wheel, these power are finally on any desired direction
A resultant force vector is generated, so that the mobile platform can move freely through on the direction of final resultant force vector, without changing
Become the direction of wheel itself.
Four Mecanum wheels are driven by stepper motor, and revolving speed is the same, by the steering difference of each Mecanum wheel,
It realizes the translation of robot in all directions, is not required to realize turning by generating differential.
PC control unit is made of PC machine and application program, and PC machine connects motion control card by router network.
PC machine is mainly responsible for the management of information flow and data flow, and reads data from motion control card, and will control after calculating
Motion control card is issued in instruction.The direction of driver, pulse signal foot are connected to motion control card, and driver receives movement control
The pulse signal that fabrication issues controls the operating of DC stepper motor by internal pwm circuit, and so composition one is comprehensive
Mobile control system.
It works the initial stage in system, control instruction is issued motion control card by PC machine, and then from the letter of motion control card
Number pin exports low level trigger relay, and the circuit for connecting electronic lifting bar is powered, and electronic lifting bar is executed back to drop and be moved.Machine
Device people identifies that magnetic wire moves along the rail by AGV sensor, and when moving to two straight magnetic wire infalls, RFID reception, which is read, to be handed over
The information of RFID card piece at fork, the target warehouse information judgement movement that robot is sended over according to sensor information and host computer
Direction, the as target warehouse location of arrival needed for robot when robot motion is to magnetic wire end；PC machine will control
Motion control card output high level trigger relay is issued in instruction, and the circuit for connecting electronic lifting bar is powered, and electronic lifting bar is held
Row ascending motion.Robot, from horn mouth insertion below funnel, passes through the gravity of shelf by the traction pillar above robot
Two traction pillars are directed to two funnel structure central pipe positions by effect and funnel structure；When traction pillar top with
When corner brace is concordant, relay, circuit power-off are responded from the signal pins of motion control card output low level, electronic lifting bar stops
Work, further, motion control card work toward stepper motor driver output pulse signal and direction signal, stepper motor,
Robot drives shelf, and target warehouse is mobile down.After reaching target warehouse, exported again from the signal pins of motion control card
High level trigger relay, the circuit for connecting electronic lifting bar are powered, and electronic lifting bar executes back drop and moves, above robot
Traction pillar leaves below funnel, and robot completes picking work.
By the programming to arduino single-chip microcontroller, realizes supersonic sounding, calculate the barrier on four direction in real time according to velocity of sound
Hinder object distance, when the distance measurement value on some direction be less than preset avoidance effective distance value (effective distance value is set as 20cm),
Arduino single-chip microcontroller will send avoidance instruction to motion control card by serial communication (TX, RX), by the correlation of motion control card
After procedure identification, motion control card will export corresponding pulse signal and direction signal, control the automatic avoiding obstacles of robot
Walking.
The built-in roller bearing of camera support bar is connected to a steering engine, its signal end of steering engine and arduino monolithic mechatronics,
By the programming to arduino single-chip microcontroller, realizes that reception instructs and then controls steering engine and drive camera rotation, monitor that machine is artificial
Make state, as the traction pillar above robot is properly positioned bell mouth.Referred to by host computer procedure by router transmission
Motion control card is enabled, then is sent and is instructed from serial ports (TX, RX) toward arduino single-chip microcontroller from motion control card, output pulse letter
Number control steering engine rotation, drive camera operation.
Suitable for a variety of environment, the robot dexterity is high, practical, especially suitable for medium-and-large-sized warehouse, flexible intelligence
The all directionally movable robot of energy can greatly reduce walking for warehouse employee effectively for the intensive work artificially transported goods
It is dynamic, it will be apparent that improve the efficiency of storage running, application is strong, has a good application prospect.
Claims (8)
1. a kind of all directionally movable robot applied to intelligent repository, characterized by comprising: mobile platform, traction mechanism,
Ultrasonic evadible system, vision module, remote maintaining module, AGV sensor module (14), RFID read-write module (15), driving
Module and control module, the traction mechanism are set on the mobile platform, and the drive module is controlled by the control mould
Block, the drive module is for driving the traction mechanism and the mobile platform to move；The ultrasonic evadible system is located at
It on the mobile platform, is connect with the signal input part of the control module, for perceiving the mobile platform and barrier
Distance；The vision module is located on mobile platform, connect with the signal input part of the control module, for the movement
Environmental information around platform carries out Image Acquisition；The remote maintaining module is located on the mobile platform, with the control
The signal input part of module connects, the control command passed down for receiving remote controler, controls the mobile platform movement；AGV is passed
Sensor module (14) is located on the mobile platform, connect with the signal input part of the control module, for guiding the shifting
Moving platform movement；RFID read-write module (15) is located on the mobile platform, connect with the signal input part of the control module,
For reading the information of RFID label tag on ground.
2. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: the mobile platform
Including vehicle body (6) and two pairs of Mecanum wheels (5) being located on the downside of vehicle body (6), the Mecanum wheel (5) is connected by shaft coupling
Speed reducer is connect, speed reducer connects stepper motor M, and the stepper motor M is connected to stepper motor by A, B phase line drawn and drives
Device U3；Described its signal port of stepper motor driver U3 is connect with motion control card U1, drives institute by the stepper motor M
State Mecanum wheel (5) movement.
3. being applied to all directionally movable robot of intelligent repository as claimed in claim 2, it is characterised in that: the vehicle body (6)
Including chassis, front and back side plate, left side plate, big top plate and small top plate.
4. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: the traction mechanism
Electricity is connected to by relay A including electronic lifting bar (7), support plate (8) and traction pillar (9), the electronic lifting bar (7)
Source；The electronic lifting bar (7) is set to the center on chassis；The central location of the support plate (8) connects electronic lifting bar
(7)；Four support pillars are connected below the end angle of the support plate (8), four support pillars are set to four of big top plate calmly
In the hole of position, four support pillars are fixedly connected the bearing below location hole, and the traction pillar (9) is arranged in support plate (8)
Top, and diagonally opposing corner be distributed, the normally open end and common end of the relay A is electrically connected with arduino single-chip microcontroller U2.
5. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: the ultrasonic wave is kept away
Barrier system includes six ultrasonic sensors (4), described its signal end of ultrasonic sensor (4) and arduino single-chip microcontroller U2 electricity
Connection；The arduino single-chip microcontroller U2 is electrically connected with motion control card U1 by communication interface；Six ultrasonic sensors
(4) it is respectively arranged on front and back side plate and left side plate, and front and back side plate is symmetrically installed four ultrasonic sensors, left side plate
Central symmetry installs two ultrasonic sensors.
6. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: the vision module
Including a digital camera (1), the digital camera (1) is connected by the small top plate of camera support bar (3) and mobile platform
It connects；The digital camera (1) is electrically connected by cable with router (2)；The built-in rolling in the lower end of the camera support bar (3)
Axis connection a steering engine (13), the signal end of the steering engine (13) be electrically connected with arduino single-chip microcontroller U2, control module passes through institute
It states steering engine (13) and controls the digital camera rotation.
7. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: the remote maintaining
Module includes a router (2), and the router (2) is set to the small top of the vehicle body (6) of camera support bar (3) front position
On plate, the router (2) is electrically connected by cable with motion control card U1.
8. being applied to all directionally movable robot of intelligent repository as described in claim 1, it is characterised in that: corner brace (11) setting
Between the parallel bar of shelf (12), and diagonally opposing corner is distributed, and funnel (10) is connect with corner brace (11), funnel (10) and traction pillar
(9) be adapted, when the traction pillar (9) be inserted into funnel (10) it is interior when, can pass through mobile platform drive shelf movement, AGV
Sensor module (14) is installed in front of vehicle body (6), AGV sensor module (14) and arduino monolithic mechatronics ,+5V electricity
Source is electrically connected with the VCC terminals of arduino single-chip microcontroller, and ground is electrically connected with the GND terminals of arduino single-chip microcontroller, and RFID is read
Writing module (15) is installed on vehicle body (6) chassis center, and AGV magnetic wire is installed on warehouse corridor center, and RFID label tag is installed on two
At AGV magnetic wire crossing at right angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820079668.3U CN208614791U (en) | 2018-01-18 | 2018-01-18 | All directionally movable robot applied to intelligent repository |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820079668.3U CN208614791U (en) | 2018-01-18 | 2018-01-18 | All directionally movable robot applied to intelligent repository |
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| Publication Number | Publication Date |
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| CN208614791U true CN208614791U (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820079668.3U Expired - Fee Related CN208614791U (en) | 2018-01-18 | 2018-01-18 | All directionally movable robot applied to intelligent repository |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177147A (en) * | 2018-01-18 | 2018-06-19 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN110271722A (en) * | 2019-06-28 | 2019-09-24 | 南京灵雀智能制造有限公司 | Workshop transfer robot and method for carrying |
| CN110868534A (en) * | 2019-10-22 | 2020-03-06 | 北京京东振世信息技术有限公司 | Control method and device |
| CN113800179A (en) * | 2021-10-11 | 2021-12-17 | 北京洛必德科技有限公司 | Quadruped robot and intelligent goods shelf |
-
2018
- 2018-01-18 CN CN201820079668.3U patent/CN208614791U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177147A (en) * | 2018-01-18 | 2018-06-19 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN108177147B (en) * | 2018-01-18 | 2019-10-11 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN110271722A (en) * | 2019-06-28 | 2019-09-24 | 南京灵雀智能制造有限公司 | Workshop transfer robot and method for carrying |
| CN110868534A (en) * | 2019-10-22 | 2020-03-06 | 北京京东振世信息技术有限公司 | Control method and device |
| CN110868534B (en) * | 2019-10-22 | 2021-09-03 | 北京京东振世信息技术有限公司 | Control method and device |
| CN113800179A (en) * | 2021-10-11 | 2021-12-17 | 北京洛必德科技有限公司 | Quadruped robot and intelligent goods shelf |
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