CN108008354A - One kind grab bucket ultrasonic positioning system - Google Patents
One kind grab bucket ultrasonic positioning system Download PDFInfo
- Publication number
- CN108008354A CN108008354A CN201711420167.3A CN201711420167A CN108008354A CN 108008354 A CN108008354 A CN 108008354A CN 201711420167 A CN201711420167 A CN 201711420167A CN 108008354 A CN108008354 A CN 108008354A
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- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 33
- 239000013078 crystal Substances 0.000 claims description 13
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses one kind grab bucket ultrasonic positioning system, the grab bucket ultrasonic positioning system includes Synchronization Component, at least three ultrasonic receivers, ultrasonic transmitter and location Calculation device；The ultrasonic transmitter is installed in grab bucket to be positioned, for sending ultrasonic signal under the triggering of the Synchronization Component；Each ultrasonic receiver fixed setting, electric signal is converted to for receiving the ultrasonic signal, and by the ultrasonic signal；The location Calculation device is used for the propagation time of the electrical signal detection ultrasonic signal sent according to Synchronization Component and ultrasonic receiver, and according to the installation site of each ultrasonic receiver and the position coordinates of the propagation time calculating grab bucket to be positioned measured.It is an advantage of the invention that without mechanical equipment, there is no the regular maintenance works such as abrasion, oiling；The error of the introducings such as rail-free skidding, thus also without corresponding calibrating installation.
Description
Technical field
The invention belongs to machinery equipment field, and in particular to one kind grab bucket ultrasonic positioning system.
Background technology
Traditional grab bucket is usually suspended in below crane；Grab bucket is determined in the ranging of generally use encoder in the prior art
Position is；In position fixing process, by the X-coordinate of cart systematic encoder detection grab bucket, by the Y of cart system encoder detection grab bucket
Mark, the Z coordinate of grab bucket is provided by hoisting system.The signal detected need to be sent to cart by trolley and be sent again to ground.
There are problems with for the positioning method：1. encoder can produce mechanical wear in use, so as to cause to survey
Measure error；2. the measurement result of encoder is needed by cable transmission to ground, but cart, trolley are moving parts, even
The cable connect on the moving part easily snaps off, failure rate do 3. carts, trolley in the process of running there are track skid showing
As, and encoder can not detect displacement caused by errant skidding, so as to cause measurement error.
The content of the invention
According to the deficiencies of the prior art described above, It is an object of the present invention to provide one kind grab bucket ultrasonic positioning system,
The mode that the alignment system is positioned by using ultrasonic wave, improves the precision and reliability of alignment system.
The object of the invention is realized and completed by following technical scheme：
One kind grab bucket ultrasonic positioning system, the grab bucket ultrasonic positioning system include Synchronization Component, at least three ultrasonic waves
Receiver, ultrasonic transmitter and location Calculation device；The ultrasonic transmitter be installed on grab bucket to be positioned on, for
Ultrasonic signal is sent under the triggering of the Synchronization Component；Each ultrasonic receiver fixed setting, it is described super for receiving
Acoustic signals, and the ultrasonic signal is converted into electric signal, and the electric signal is sent to the location Calculation device；
The location Calculation device is used to be used to start timing under the triggering of the Synchronization Component according to the Synchronization Component, and according to
The electric signal that each ultrasonic receiver is sent measures ultrasonic wave from the ultrasonic transmitter to each described respectively
Propagation time between ultrasonic receiver, and according to the installation site of each ultrasonic receiver and the propagation measured
Time calculates the position coordinates of the grab bucket to be positioned.
The Synchronization Component includes synchronizing signal transmitting module and some synchronous trigger modules；The synchronizing signal transmitting
Module is used for each synchronous trigger module transmitting synchronizing signal；The ultrasonic transmitter and the location Calculation device
It is respectively connected with the synchronous trigger module.
The synchronization trigger module includes synchronous signal receiver module, spare crystal oscillator timing module and trigger signal generation
Module；The synchronous signal receiver module and the spare crystal oscillator timing module connect the trigger signal generation module；Institute
The output terminal for stating trigger signal generation module connects the ultrasonic transmitter or the location Calculation device；Each synchronization is touched
Send out the spare crystal oscillator timing module time synchronisation of module.
The synchronizing signal transmitting module includes clocked flip control circuit and some infrared flash devices；It is described infrared
Line flasher connects the clocked flip control circuit；The synchronous signal receiver module is photoelectric sensor.
The synchronizing signal transmitting module includes the clocked flip control circuit interconnected and wireless pulse signals hair
Emitter；The synchronous signal receiver module is wireless pulse signals receiver.
When the number of the grab bucket to be positioned is more than a period of time, the ultrasonic transmitter of each grab bucket to be positioned
Using different tranmitting frequencies.
The ultrasonic receiver surround and is distributed in around the operation area of the grab bucket to be positioned；To be positioned grabbed described
If being additionally provided with dry temperature sensor around the operation area of bucket, the location Calculation device is according to the inspection of the temperature sensor
Result is surveyed to be corrected the position coordinates of the grab bucket to be positioned.
The location Calculation device includes calculating module and timer.
It is an advantage of the invention that without mechanical equipment, there is no the regular maintenance works such as abrasion, oiling；Rail-free skids
Deng the error of introducing, thus also without corresponding calibrating installation；A set of receiver and arithmetic unit, can be that more grab buckets carry
For positioning, the coordinate of each grab bucket is transmitted with same passage, Centralized Monitoring is hung easy to rubbish；Installed on existing equipment, engineering
Measure small.
Brief description of the drawings
Fig. 1 is the side view of grab bucket ultrasonic positioning system in the embodiment of the present invention 1；
Fig. 2 is the structure diagram of grab bucket ultrasonic positioning system in the embodiment of the present invention 1；
Fig. 3 is the structure diagram of synchronizing signal transmitting module in the embodiment of the present invention 1；
Fig. 4 is the structure diagram of location Calculation device and synchronous trigger module in the present invention；
Fig. 5 is the side view of grab bucket ultrasonic positioning system in the embodiment of the present invention 2.
Embodiment
The feature of the present invention and other correlated characteristics are described in further detail by embodiment below in conjunction with attached drawing, with
Easy to the understanding of technical staff of the same trade：
Such as Fig. 1-5, mark 1-18 is respectively in figure：1, garbage crane 2, garbage pool 3, Synchronization Component 4, the ultrasonic wave to be positioned of grabbing bucket
Receiver 5, ultrasonic transmitter 6, location Calculation device 7, synchronizing signal transmitting module 8, synchronous trigger module 9, clocked flip
Control circuit 10, infrared flash device 11, synchronous signal receiver module 12, trigger signal generation module 13, spare crystal oscillator timing
Module 14, timer 16, temperature sensor 17, wireless pulse signals transmitter 18, calculating module 19.
Embodiment 1：As shown in Figure 1, 2, the present embodiment is used for more particularly to a kind of grab bucket ultrasonic positioning system, the system
Position the position of grab bucket；In the present embodiment, two grab buckets 1 to be positioned are suspended in the top of garbage pool 3, rubbish by garbage crane 2
Rubbish pond 3 and its superjacent air space are the operation area of grab bucket 1 to be positioned；Garbage pool long 100m, wide 25m；The alignment system includes same
Walk the ultrasonic transmitter 6 of ultrasonic receiver 5, two of component 4, four and location Calculation device 7；Two ultrasonic transmitters
6 are separately mounted in two grab buckets 1 to be positioned, for sending ultrasonic signal under the triggering of Synchronization Component 4；Four ultrasonic waves
Receiver 5 is fixedly mounted on the earth's surface on 3 periphery of garbage pool, the ultrasonic wave model sent for receiving ultrasonic transmitter 6, and will
Ultrasonic signal is converted to electric signal, and electric signal is sent to location Calculation device 7；Location Calculation device 7 is used in synchronization
Start timing under the triggering of component 4, and ultrasonic wave is measured from ultrasonic wave according to the electric signal that each ultrasonic receiver 5 is sent respectively
Transmitter 6 arrives the propagation time between each ultrasonic receiver 5, and location Calculation device 7 is according to the peace of each ultrasonic receiver 5
Holding position and the propagation time measured calculate the position coordinates of grab bucket 1 to be positioned.
As shown in Figure 1, 2, Synchronization Component 4 can make ultrasonic transmitter 6 and location Calculation device 7 same in the present embodiment
Step opens operation, so that location Calculation device 7 measures ultrasonic signal from ultrasonic transmitter 6 to the biography of ultrasonic receiver 5
Between sowing time；Synchronization Component 4 includes synchronizing signal transmitting module 8 and two synchronous trigger modules 9；Synchronizing signal transmitting module 8
For launching synchronizing signal to each synchronous trigger module 9；Location Calculation device 7 and ultrasonic transmitter 6 are respectively connected with one
Synchronous trigger module 9；After each synchronization trigger module 9 receives synchronizing signal, while to each location Calculation device 7 and ultrasonic wave
Transmitter 6 exports trigger signal.
As shown in Figure 1,3, in the present embodiment, synchronizing signal is infrared pulse signal；Synchronizing signal transmitting module 8 includes
Clocked flip control circuit 10 and five infrared flash devices 11；Infrared flash device 11 connects clocked flip control circuit
10；Clocked flip control circuit 10 controls each infrared flash device 11 to be simultaneously emitted by synchronizing signal at predetermined time intervals；Five red
Outside line flasher 11 is scattered installed in the workshop ceiling bottom of the top of garbage pool 3, by setting multiple infrared flash devices 11 can
To prevent the barriers such as crane crossbeam from blocking synchronous trigger module 9, effectively ensuring synchronous trigger module 9 can at least receive
The synchronizing signal sent to an infrared flash device 11；In the present embodiment, synchronizing signal is with light velocity propagation, synchronizing signal
Propagation time can be neglected.
As shown in Figure 2,4, synchronous trigger module 9 includes synchronous signal receiver module 12 and trigger signal generation module
13；In the present embodiment, synchronous signal receiver module 12 is photoelectric sensor；Synchronous signal receiver module 12 connects trigger signal
Generate module 13；The output terminal connection ultrasonic transmitter 6 or location Calculation device 7 of trigger signal generation module 13；Work as synchronization
After signal receiving module 12 detects synchronizing signal, control trigger signal generation module 13 exports trigger signal.
As shown in Fig. 1,4, when the air visibility of the top of garbage pool 3 is poor, synchronous 9 nothing of trigger module may result in
Method receives synchronizing signal；In order to solve this problem, spare crystal oscillator timing module 14 is provided with synchronous trigger module 9, it is standby
Trigger signal generation module 13 is connected with crystal oscillator timing module 14；Spare crystal oscillator timing module 14 uses High Precision Crystal Oscillator, can be with
Ensure spare 14 time synchronisation of crystal oscillator timing module in each synchronous trigger module 9；When synchronous 9 long-time of trigger module can not connect
When receiving synchronizing signal, each synchronization trigger module 9 is triggered according to the chronometric data synchronism output of spare crystal oscillator timing module 14 to be believed
Number.
As shown in Fig. 1,4, location Calculation device 7 includes calculating module 19 and timer 16；When timer 16 receives
After trigger signal, timer 16 starts timing；When location Calculation device 7 receives the telecommunications that some ultrasonic receiver 5 sends
Number when, the chronometric data for calculating module 19 and recording timer 16 of location Calculation device 7, and regards ultrasonic wave by the chronometric data
Signal is from ultrasonic transmitter 6 to the propagation time of the ultrasonic receiver 16.
As shown in Fig. 1,4, the top of garbage pool 3 is provided with two grab buckets 1 to be positioned and ultrasonic wave transmitting in the present embodiment
Device 6, ultrasonic signal twice can be received in ultrasonic receiver 5 during timing；In order to distinguish two ultrasonic wave transmittings
The ultrasonic signal that device 6 is sent, two ultrasonic receivers 5 use different tranmitting frequencies.
As shown in Figure 1, 2, since the spread speed of ultrasonic wave is known quantity, location Calculation device 7 can be believed according to ultrasonic wave
Number transmission time calculate the distance between each ultrasonic receiver 5 and ultrasonic transmitter 6 data；In location Calculation device 7
In be stored with the position coordinates of each ultrasonic receiver 5；Location Calculation device 7 can be sat according to the position of each ultrasonic receiver 5
Be marked with and range data calculate it is to be positioned grab bucket 1 position coordinates.
As shown in Figure 1, 2, location Calculation device 7 is connected by cable with each ultrasonic receiver 5, location Calculation device 7
And ultrasonic receiver 5 is fixed equipment, can reliably be communicated by cable therebetween；Location Calculation device 7 can
Using PLC, microcontroller or industrial personal computer；The position coordinates of the grab bucket to be positioned 1 calculated can be sent to control by location Calculation device 7
Control equipment or supervision equipment.
As shown in Figure 1, 2, since the spread speed of ultrasonic wave is affected by temperature larger, carried out using fixed spread speed
Calculating can cause larger error；In order to which error is modified caused by temperature, around the operation area of grab bucket 1 to be positioned
If it is additionally provided with dry temperature sensor 17；Temperature sensor 17, which is necessarily placed at, is able to detect that ultrasonic signal propagation path
The position of mean temperature；The position can be drawn by detecting the profiling temperatures in garbage pool 3；Location Calculation device 7 connects
Temperature sensor 17, location Calculation device 7 can be according to propagation of the temperature data that temperature sensor 17 detects to ultrasonic wave speed
Degree is modified, so as to be corrected to the position coordinates of grab bucket 1 to be positioned.
As shown in Figures 1 to 4, the method for work of the grab bucket ultrasonic positioning system of the present embodiment comprises the following steps：
1）The synchronizing signal transmitting module 8 of Synchronization Component 4 launched a synchronizing signal every one second；Ultrasonic transmitter 6 receives
Ultrasonic signal is sent after to synchronizing signal, at the same time the timer 16 inside location Calculation device 7 starts timing；Work as positioning
After computing device 7 receives ultrasonic signal, location Calculation device 7 records chronometric data, and as ultrasonic signal
Propagation time.
2）, can be according to the ultrasound of each ultrasonic receiver 5 after location Calculation device 7 measures the propagation time of ultrasonic signal
The spread speed of ripple signal transmission time and ultrasonic signal is calculated between each ultrasonic receiver 5 and ultrasonic transmitter 6
Range data；The position coordinates of each ultrasonic receiver 5 is stored with location Calculation device 7；Location Calculation device 7 can root
The position coordinates of grab bucket 1 to be positioned is calculated according to the position coordinates and range data of each ultrasonic receiver 5.
When the area of garbage pool 3 is excessive, the quantity of ultrasonic receiver 5 can be more than four；But use excessive surpass
The testing result of acoustic receiver 5 is calculated higher to the performance requirement of location Calculation device 7；In order to ensure result of calculation
Real-time, the transmission power of ultrasonic transmitter 6 should not be too big, and transmitting range also should not be too remote, general to consider having for 40-50m
Imitate distance；When the number of ultrasonic receiver 5 of ultrasonic signal can be received more than three, various ways pair can be used
The testing result of ultrasonic transmitter 6 is screened.
Location Calculation device 7 carry out calculating process in, can from multiple ultrasonic receivers 5 selected distance it is to be positioned
Grab bucket propagation time of ultrasonic signal of 1 three closest ultrasonic receivers 5 is calculated；Pass through three ultrasonic waves
The transit-time of ultrasonic of receiver 5, it can be deduced that the position coordinates of two grab buckets 1 to be positioned（Three circles are intersecting two
A intersection point）, location Calculation device 7 need from the two position coordinateses exclude an error coordinates.
In screening process, when having one in two position coordinateses positioned at the outside of the operation area of grab bucket 1 to be positioned,
This position coordinates can be excluded, and the position coordinates using another position coordinates as grab bucket 1 to be positioned；When two position coordinateses
, can be according to be positioned since the track of grab bucket 1 to be positioned is there are continuity when being respectively positioned in the operation area of grab bucket 1 to be positioned
The movement locus of grab bucket 1, the direction of motion determine the position coordinates of grab bucket 1 to be positioned.
In location Calculation device 7 carries out calculating process, four ultrasounds can also be chosen from multiple ultrasonic receivers 5
The transit-time of ultrasonic of ripple receiver 5 is calculated；In calculating process, location Calculation device 7 is super from four in four times
Three are chosen in the transit-time of ultrasonic of acoustic receiver 5 to be calculated；It can show that four calculate knot by calculating
Fruit, when four error calculateds are larger, it is possible to determine that alignment system breaks down.
In location Calculation device 7 carries out calculating process, four installations can also be chosen from multiple ultrasonic receivers 5
The transit-time of ultrasonic of the non-coplanar ultrasonic receiver 5 in position is calculated；When four ultrasonic waves of selection receive
When the installation site of device 5 is non-coplanar, location Calculation device 7 can calculate unique position coordinates.
The advantageous effects of the present embodiment are：Without mechanical equipment, there is no abrasion, the regular maintenance work such as oiling；
The error of the introducings such as rail-free skidding, thus also without corresponding calibrating installation；A set of receiver and arithmetic unit, Ke Yiwei
More grab buckets provide positioning, and the coordinate of each grab bucket is transmitted with same passage, Centralized Monitoring is hung easy to rubbish；On existing equipment
Installation, quantities are small.
Embodiment 2：As shown in Figure 4,5, the main distinction of the present embodiment and embodiment 1 is in synchronizing signal in this present embodiment
For wireless pulse signal；In the present embodiment, synchronizing signal transmitting module 8 includes the clocked flip control circuit 10 interconnected
And wireless pulse signals transmitter 18；Wireless pulse signals transmitter 18 can be issued in the control of clocked flip control circuit 10
Go out synchronizing signal；In order to be adapted with synchronizing signal transmitting module 8, the synchronous signal receiver module 12 in synchronous trigger module 9
For wireless pulse signals receiver.
Claims (8)
1. one kind grab bucket ultrasonic positioning system, it is characterised in that the grab bucket ultrasonic positioning system includes Synchronization Component, extremely
Few three ultrasonic receivers, ultrasonic transmitter and location Calculation device；The ultrasonic transmitter is installed on to be positioned
In grab bucket, for sending ultrasonic signal under the triggering of the Synchronization Component；Each ultrasonic receiver fixed setting, is used
In the reception ultrasonic signal, and the ultrasonic signal is converted into electric signal, and the electric signal is sent to described
Location Calculation device；The location Calculation device is used to be used to open under the triggering of the Synchronization Component according to the Synchronization Component
Beginning timing, and ultrasonic wave is measured according to the electric signal that each ultrasonic receiver is sent respectively and is launched from the ultrasonic wave
Device to the propagation time between each ultrasonic receiver, and according to the installation site of each ultrasonic receiver and
The propagation time measured calculates the position coordinates of the grab bucket to be positioned.
2. a kind of grab bucket ultrasonic positioning system according to claim 1, it is characterised in that the Synchronization Component includes same
Walk signal emission module and some synchronous trigger modules；The synchronizing signal transmitting module is used for each synchronous trigger mode
Block launches synchronizing signal；The ultrasonic transmitter and the location Calculation device are respectively connected with the synchronous trigger module.
A kind of 3. grab bucket ultrasonic positioning system according to claim 2, it is characterised in that the synchronization trigger module bag
Include synchronous signal receiver module, spare crystal oscillator timing module and trigger signal generation module；The synchronous signal receiver module
And the spare crystal oscillator timing module connects the trigger signal generation module；The output terminal of the trigger signal generation module
Connect the ultrasonic transmitter or the location Calculation device；The spare crystal oscillator timing module of each synchronous trigger module is same
Walk timing.
4. a kind of grab bucket ultrasonic positioning system according to claim 3, it is characterised in that the synchronizing signal launches mould
Block includes clocked flip control circuit and some infrared flash devices；The infrared flash device connects the clocked flip control
Circuit processed；The synchronous signal receiver module is photoelectric sensor.
5. a kind of grab bucket ultrasonic positioning system according to claim 3, it is characterised in that the synchronizing signal launches mould
Block includes clocked flip control circuit and the wireless pulse signals transmitter interconnected；The synchronous signal receiver module is
Wireless pulse signals receiver.
6. a kind of grab bucket ultrasonic positioning system according to claim 1, it is characterised in that when the grab bucket to be positioned
Number is more than for the moment, and the ultrasonic transmitter of each grab bucket to be positioned uses different tranmitting frequencies.
A kind of 7. grab bucket ultrasonic positioning system according to claim 1, it is characterised in that the ultrasonic receiver ring
Around being distributed in around the operation area of the grab bucket to be positioned；If it is additionally provided with around the operation area of the grab bucket to be positioned
Dry temperature sensor, position of the location Calculation device according to the testing result of the temperature sensor to the grab bucket to be positioned
Coordinate is put to be corrected.
A kind of 8. grab bucket ultrasonic positioning system according to claim 1, it is characterised in that the location Calculation device bag
Include and calculate module and timer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420167.3A CN108008354A (en) | 2017-12-25 | 2017-12-25 | One kind grab bucket ultrasonic positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420167.3A CN108008354A (en) | 2017-12-25 | 2017-12-25 | One kind grab bucket ultrasonic positioning system |
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| Publication Number | Publication Date |
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| CN108008354A true CN108008354A (en) | 2018-05-08 |
Family
ID=62061124
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| CN201711420167.3A Pending CN108008354A (en) | 2017-12-25 | 2017-12-25 | One kind grab bucket ultrasonic positioning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110045332A (en) * | 2019-03-14 | 2019-07-23 | 合肥磐石自动化科技有限公司 | A kind of vibraphone is played music the percussion localization method of robot |
| CN112363113A (en) * | 2020-11-09 | 2021-02-12 | 黄河三角洲建设工程有限公司 | Novel ship model trajectory tracking system and method |
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| CN112363113A (en) * | 2020-11-09 | 2021-02-12 | 黄河三角洲建设工程有限公司 | Novel ship model trajectory tracking system and method |
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