CN109732592A - A kind of unmanned carrying Study of Intelligent Robot Control system - Google Patents
A kind of unmanned carrying Study of Intelligent Robot Control system Download PDFInfo
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Abstract
Technical solution of the present invention includes a kind of unmanned carrying Study of Intelligent Robot Control system, for realizing: central processing unit, signal for receiving the transmission of external environment sensor executes task according to preset behavior pattern, and executes corresponding task according to the assignment instructions that external command receiver is sent back to；External environment sensor for acquiring external environmental information, and returns to central processing unit；Driver, the order-driven robot for being sent according to central processing unit execute respective action；Wireless communication module communicates to connect for establishing with mobile device and/or computer, and Content of Communication is sent to central processing unit；External command receiver, for connecing assignment instructions and being sent to central processing unit.The invention has the benefit that the acquisition of multi information may be implemented, it is also able to achieve the interaction and control of man-machine information, facilitates artificial control, the cargo for being efficiently completed specified region carries operation, reduces the working strength of people.
Description
Technical field
The present invention relates to a kind of unmanned carrying Study of Intelligent Robot Control systems, belong to robot control field.
Background technique
With the fast lifting of social productive forces, article processing efficiency is improved, the fast development that logistics also obtains,
It is carried out in corresponding cargo handling process in people, a large amount of cargo makes porter very tired, will also make corresponding
Working efficiency reduce, and some handling processes are operated back and forth in specified region；How specified region is completed
Cargo carries operation, reduces the working strength of people, becomes problem to be solved., with the rise of " online shopping " in recent years, I
State's e-commerce industry has welcome development at full speed, and therefore, requirement of the e-commerce to logistics also constantly improves.Logistics from
Dynamicization, intelligence will be the key that electric business industry developments.Currently, many logistics companies still use manual handling mode, still
Such mode not only needs to put into many manpowers, at high cost, and low efficiency, it is easy to malfunction, accuracy rate is low, intelligent
It is low, it is difficult to meet the requirement of present electric business, while as modern industrial technology continues to develop, the components completed by manpower in the past
Or the handling work of finished product gradually is replaced completing by transfer robot, improves the production efficiency of enterprise.In automatic metaplasia
In producing line loading and unloading operation, especially in the adverse circumstances such as poisonous and harmful, inflammable and explosive, transfer robot has been obtained widely
Using.Automatic transporting machine people will not only accurately identify the object being handled upside down, and also accurately control contact of the manipulator with object
Power prevents from damaging object to be shipped.To control system, more stringent requirements are proposed for this kind of application.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide a kind of unmanned carrying Study of Intelligent Robot Control system, packet
Central processing unit is included, the signal for receiving the transmission of external environment sensor executes task according to preset behavior pattern, with
And corresponding task is executed according to the assignment instructions that external command receiver is sent back to；External environment sensor, for acquiring external rings
Border information, and return to central processing unit；Driver, the order-driven robot for being sent according to central processing unit is held
Row respective action；Wireless communication module communicates to connect for establishing with mobile device and/or computer, and Content of Communication is sent out
Give central processing unit；External command receiver, for connecing assignment instructions and being sent to central processing unit.
Technical solution used by the present invention solves the problems, such as it is: a kind of unmanned carrying Study of Intelligent Robot Control system,
It is characterized in that, comprising: central processing unit, for receiving the signal of external environment sensor transmission according to preset behavior pattern
Execution task, and corresponding task is executed according to the assignment instructions that external command receiver is sent back to；External environment sensor, is used for
External environmental information is acquired, and returns to central processing unit, wherein external environmental information includes, and robot is to environmental objects
Pressure, robot are at a distance from environmental objects and external environment illumination information；Driver, for being sent out according to central processing unit
The order-driven robot that send executes respective action, wherein respective action include but is not limited to mobile, driving robotic arm, turn to
And suspend mode；Wireless communication module communicates to connect for establishing with mobile device and/or computer, and Content of Communication is sent to
Central processing unit；External command receiver, for connecing assignment instructions and being sent to central processing unit.
Further, the external environment sensor further include: pressure sensor, for measuring mechanical arm and handled thing
Pressure between body, the dynamics of detection crawl object；Laser sensor, for the scanning range of certain radius and certain angle
Exploring laser light is sent to surrounding, for robot measurement at a distance from a certain range of external environment object；Light sensor,
For acquiring the Lighting information of external environment.
Further, the external environment sensor further includes ground transaucer, robot bottom is mounted on, for doing ground
Face environment measuring.
It further, further include assignment instructions memory, for multiple tasks instruction list, robot operation to be stored in advance
When installation storage task list execute corresponding task, wherein central processing unit is used to read the assignment instructions list stored and holds
Row decoding solution read operation sends corresponding driving instruction to driver according to task definition.
Further, the central processing unit further include: analogy signal processing unit, for collected simulation to be believed
Number amount converted for central processing unit analysis handle；Digital signal processing unit is used for collected digital signal amount
It is converted and is handled for central processing unit analysis.
Further, further includes: two-dimensional code generation module, for generating unique two dimensional code with the binding of robot information
Information is supplied to mobile terminal and is scanned, and binding information is sent back to radio communication mold by network after mobile scanning terminal
Block, and return to central processing unit；Display module, for the two-dimensional barcode information that two-dimensional code display generation module generates, for moving
Dynamic terminal scanning.
Further, the two-dimensional code generation module further include: DM code generation module, for generating the two dimension of DM standard
Code；QR code generation module, for generating the two dimensional code of QR standard.
Further, further includes: position alignment sensor is positioned for establishing coordinate system in robot movable region
The position of robot obtains the location information of robot, and the information of acquisition is sent to central processing unit, central processing list
Member by reading the task list that stores in assignment instructions memory, obtain the preparatory driving path of robot in this subtask with
And behavior act corrects robot driving path by the location information of acquisition in real time.
Further, the external environment sensor further includes sonic sensor, is visited for sending sound wave to ambient enviroment
It surveys, the spread speed information of the time and sound wave that are returned according to sound wave are sent to central processing unit and are handled, referred to
Determine the obstacle information in range.
It further, further include human-computer interaction interface module, for creating the task items and selection of editor robot
The task list stored in assignment instructions memory, wherein task items include the time of robot work, working region, behavior
Movement and behavior path.
The beneficial effects of the present invention are: it is high-efficient, accuracy rate is high and intelligence is high, the acquisition of multi information may be implemented,
It is able to achieve the interaction and control of man-machine information, facilitates artificial control, the cargo for being efficiently completed specified region carries operation, drop
The low working strength of people.
Detailed description of the invention
Fig. 1 show the system structure diagram of preferred embodiment according to the present invention；
Fig. 2 show the laser radar scanning schematic diagram of preferred embodiment according to the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in open are only the mutual alignment pass relative to each component part of the disclosure in attached drawing
For system.The "an" of used singular, " described " and "the" are also intended to including most forms in the disclosure, are removed
Non- context clearly expresses other meaning.In addition, unless otherwise defined, all technical and scientific terms used herein
It is identical as the normally understood meaning of those skilled in the art.Term used in the description is intended merely to describe herein
Specific embodiment is not intended to be limiting of the invention.Term as used herein "and/or" includes one or more relevant
The arbitrary combination of listed item.
It will be appreciated that though various elements, but this may be described using term first, second, third, etc. in the disclosure
A little elements should not necessarily be limited by these terms.These terms are only used to for same type of element being distinguished from each other out.For example, not departing from
In the case where disclosure range, first element can also be referred to as second element, and similarly, second element can also be referred to as
One element.The use of provided in this article any and all example or exemplary language (" such as ", " such as ") is intended merely to more
Illustrate the embodiment of the present invention well, and unless the context requires otherwise, otherwise the scope of the present invention will not be applied and be limited.
Referring to Fig.1, Transport Robot Control System for Punch is by central processing unit, external environment sensor, driver, channel radio
Believe that module, external command receiver are constituted.System uses the CXl030 embedded controller of BECKHOFF as master controller, interior
Set Windows CE operating system.TwinCAT PLC is a kind of real-time multi-task PLC software of BECKHOFF, is supported
The whole 5 kinds of programming languages of IEC61131-3, can at most set 16 PLC tasks, this system only uses the two of one of Soft- PLC
A task.Controller has RS232, EtherCAT interface, also the bus interface of expansible other forms.
Referring to Fig. 2, according to the laser radar scanning schematic diagram of present pre-ferred embodiments, sensing system selects rotoScan
The shape of ROD4PLUS laser radar detection target object and position.The fan-shaped region of the type radar detection about 190.Between scan line
Every 0=0.36, detection range is about 50m.The every 20ms run-down of laser radar, the data packet scanned contain angle value and
Distance value, by EtherCAT bus transfer to master controller.Laser radar can only detect in front of robot at certain altitude
Object, the case where ground can not be detected, therefore the four direction all around on transfer robot chassis respectively arranges one group of photoelectricity
Sensor is detected as ground environment.It is 5V that photoelectric sensor, which exports high level, after relay is converted to the switching signal of 24V
It is connected to digital quantity input module.Due to being machined and assembling the error of generation, robot is when open loop situations straight line is walked
Anticipated orientation, position alignment sensor, the magnetic component incuded simultaneously by x-axis in Magnetic Sensor and y-axis, the side of calculating can be deviateed
The transverse and longitudinal coordinate position of parallactic angle degree and robot in self-built coordinate, the direction calibration as robot.
Pressure sensor can respectively install one group of pressure-strain piece on the inside of four fingers of mechanical arm manipulator, be used for
The dynamics of detection crawl object, will not damage object while guaranteeing to grab steady object.
Driver can install four omni-directional wheels for device people chassis, and four AM3121 DC servo motors subtract through speed reducer
It is directly connect with wheel after speed.The lifting of robot arm and the opening and closing of manipulator are driven by AM3111 DC servo motor respectively
It is dynamic.The EL7201 of driving motor is a kind of modular servo-driver, and speed ring and position ring all use PI controller, motor
Fast response time can be stablized quick-recovery fastly when meeting load disturbance.For the synchronous belt of lifting and the servo motor of control manipulator
It all works in mode position, therefore the height of robot arm lifting and the dynamics of manipulator can reach relatively satisfactory control
Precision.
Robot is mainly the driving of direct current generator, and direct current generator is primarily used to the driving force as wheel, also controls
The raising and lowering of mechanical arm, steering engine mainly control manipulator and grab cargo.By human-computer interaction interface, information inspection is carried out
It is arranged with function.
Wireless communication module closely then uses 433MHz frequency range wireless data terminal DTD433, far then selects the transparent biography of GPRS
Transmission of data terminal D TP_S09F.So-called " close ", most of factories and miness can be covered by referring within 3 kilometers；It is so-called " remote ", refer to communication away from
From more than 3 kilometers, or even different geographical and country variant are crossed over, China Mobile network has covered the whole world fortunately, so
Distance is not problem.DTP_S09F can satisfy the requirement of most wireless test and controls in conjunction with DTD433 distance.
Radio communication system between more PLC
Wireless MODBUS communication scheme explanation between more Siemens S7_200, have specification and PLC host and
The program of slave.
Wireless N:N communication scheme between more Mitsubishi PLCs converges river PLC as Mitsubishi PLC scheme.
MODBUS between two Delta PLC wirelessly communicates routine, program source code and specification.
The connection application of wireless plc data terminal and wireless MODBUS detection and control terminal
4DI/4DO wireless switching amount terminal D TD433H and 4AI/4AO wireless simulation amount terminal within PLC and 3 kilometer
DTD433F carries out MODBUS protocol wireless communication, realizes wireless MODBUS transmission.
The radio communication system of touch screen and PLC
The wireless communication of Siemens 200PLC and wireless plc data terminal and Shenzhen step section touch screen；
Prestige synthetic fibre touch screen is communicated with the wireless PPI of S7-200；
The wireless communication of the Kunlun on-state touch screen MCGS and PLC；
Autoface touch screen is communicated with the wireless MODBUS of SIEMENS PLC；
Aobvious control touch screen wirelessly communicates example；
Touchscreen configuration program is run, can be using MODBUS agreement, Siemens's PPI agreement, Mitsubishi's N:N agreement, macro PLC forever
Agreement, Delta PLC agreement etc..
The radio communication system of configuration software and PLC
KingView software is communicated with wireless PPI, MODBUS of SIEMENS PLC；
The wireless communication of ForceControl configuration software and SIEMENS PLC.
Command reception module, by taking SIEMENS PLC S7-300 series as an example, programming software STEP7V5.5SP2 is therein
Instruction set-reset flip-floop and rest-set flip-flop are described as follows:
1.SR trigger
This instruction is to reset preferential D-flip flop.There are two input S and R, an output Q for it.We are indicated with 0 and 1
The low and high level of signal.Here is several situations occurred in program:
(1) when S=0, R=0, Q remains unchanged (0 or 1)；
(2) when S=0, R=1, Q=0；
(3) when S=1, R=0, Q=1；
(4) when S=1, R=1, Q=0；
2.RS trigger
This instruction is preset priority D-flip flop.It is same, and there are two input S and R, an output Q.We are with 0 and 1
Indicate the low and high level of signal.Here is several situations occurred in program:
(1) when S=0, R=0, Q remains unchanged (0 or 1)；
(2) when S=0, R=1, Q=0；
(3) when S=1, R=0, Q=1；
(4) when S=1, R=1, Q=1；
Digital signal processing unit and analogy signal processing unit, analog signal refer to the physical quantity institute table with consecutive variations
The information reached, such as temperature, humidity, pressure, length, electric current, voltage, analog signal is usually known as continuous letter again by we
Number, it can have unlimited multiple and different value within the regular hour.And digital signal refers in value it is discrete
, discontinuous signal.
Various physical quantitys in actual production life, the image photographed such as camera, the sound under recorder record, workshop control
Pressure that room processed is recorded, flow velocity, revolving speed, humidity etc. are all analog signals.Digital signal is on the basis of analog signal
It is formed through over-sampling, quantization and coding.Specifically, sampling is exactly the analog signal input by between reasonable time
Quantify to be to indicate the value at the sampled each moment measured with binary code system every the sample value for obtaining each moment, coding
Be then t metaplasia at binary number be arranged together to form sequential pulse sequence.
During analog signal transmission, information signal is first converted into the fluctuating electrical signal of almost " striking resemblances " (therefore
Cry " simulation "), then transferred out by wired or wireless mode, after electric signal is received, restored by receiving device
At information signal.
Since last 100 years, either wired connected phone, or the radio and television of wireless transmission, in long time all
It is to transmit signal with analog signal.Ordinarily analog signal with original signal on waveform almost " striking resemblances ", it appears that
Should reach good communication effect, however true on the contrary, the past be frequently run onto when we make a phone call do not hear, noise it is big
The phenomenon that；The symphony that broadcasting station is broadcasted, sound always has biggish shortcoming compared with listening to the band playing at the scene；TV figure
As it is upper also when have snow flashing.This is because signal will be by many processing and transfer, these equipment in transmission process
Inevitably to generate some noises and interference；In addition, when being wire transmission, it is dry that the electrical equipment near route will also generate electromagnetism
It disturbs；If it is Wireless transceiver, then more open to the outside world, aerial various interference are at all irresistible.These interference are easy to cause
Distorted signals also brings along some noises.These distortions and additional noise, can also accumulate with the increase of the distance of transmission
Get up, seriously affects communication quality.To this, people have thought thousand and one way.It is anti-interference one is taking various measures to, such as improve
The quality of information processing equipment reduces it to the greatest extent and generates noise；For another example to transmission line plus shielding；For another example using carrier being frequency modulated come
Instead of modulated subcarrier technique etc..But these methods all cannot fundamentally solve the problems, such as interference.Another method is to try to remove
Noise in signal recovers the signal of distortion, still, for analog signal, due to can not be from the letter being distorted
Number accurately deduce original distortionless signal out, therefore this method is difficult effectively, some even the more is done the more poor.
Continuous signal mainly opposite with discrete digital signal.Analog signal is distributed in each angle of nature
It falls, such as the variation of temperature, and digital signal is the artificial discontinuous signal in amplitude value abstracted.Electrically
Analog signal is primarily referred to as all continuous electric signal of amplitude and phase, this signal can be modeled circuit and carry out various operations, such as
Amplification is added, be multiplied etc..Analog signal refers to the information indicated with the physical quantity of consecutive variations, the amplitude of signal, or frequency
Rate or phase make consecutive variations, the voice signal of broadcast, the picture signal etc. of TV at any time.
Digitized signal processing effect is exactly that analog quantity is digitized in simple terms, is processed into the sequence of 0 and 1 composition.It
The advantages of mainly equipment is flexibly, fast and undistorted (this distortion refers to for accurate, strong antijamming capability, remote transmission speed
In transmission), analog signal signal decaying in remote transmission is big, and poor anti jamming capability will say disadvantage as thinkable
Only the relationship in analog-to-digital conversion because of sample rate will appear distortion, but sample rate is higher and higher with advances in technology, this
Disadvantage is also more and more unobvious.
In broad terms, Digital Signal Processing is that research analyzes signal with digital method, converts, filters, detecting, adjusting
A special kind of skill subject of system, demodulation and fast algorithm.But many people think that: Digital Signal Processing mainly studies related number
Filtering technique, discrete transform fast algorithm and spectral analysis method.With digital circuit and systems technology and computer technology
Development, Digital Signal Processing are also correspondingly made available development, and application field is very extensive.
Application digital control, in terms of motion control mainly has disk drive control, engine control, laser printer control
System, spray drawing machine control, motor control, electric power system control, robot control, high accuracy servo system control, numerically-controlled machine tool etc..
Application towards low-power consumption, handheld device, wireless terminal mainly has: mobile phone, PDA, GPS, data radio station etc.
It should be appreciated that the embodiment of the present invention can be by computer hardware, the combination of hardware and software or by depositing
The computer instruction in non-transitory computer-readable memory is stored up to be effected or carried out.Standard volume can be used in the method
Journey technology-includes that the non-transitory computer-readable storage media configured with computer program is realized in computer program,
In configured in this way storage medium computer is operated in a manner of specific and is predefined --- according in a particular embodiment
The method and attached drawing of description.Each program can with the programming language of level process or object-oriented come realize with department of computer science
System communication.However, if desired, the program can be realized with compilation or machine language.Under any circumstance, which can be volume
The language translated or explained.In addition, the program can be run on the specific integrated circuit of programming for this purpose.
In addition, the operation of process described herein can be performed in any suitable order, unless herein in addition instruction or
Otherwise significantly with contradicted by context.Process described herein (or modification and/or combination thereof) can be held being configured with
It executes, and is can be used as jointly on the one or more processors under the control of one or more computer systems of row instruction
The code (for example, executable instruction, one or more computer program or one or more application) of execution, by hardware or its group
It closes to realize.The computer program includes the multiple instruction that can be performed by one or more processors.
Further, the method can be realized in being operably coupled to suitable any kind of computing platform, wrap
Include but be not limited to PC, mini-computer, main frame, work station, network or distributed computing environment, individual or integrated
Computer platform or communicated with charged particle tool or other imaging devices etc..Each aspect of the present invention can be to deposit
The machine readable code on non-transitory storage medium or equipment is stored up to realize no matter be moveable or be integrated to calculating
Platform, such as hard disk, optical reading and/or write-in storage medium, RAM, ROM, so that it can be read by programmable calculator, when
Storage medium or equipment can be used for configuration and operation computer to execute process described herein when being read by computer.This
Outside, machine readable code, or part thereof can be transmitted by wired or wireless network.When such media include combining microprocessor
Or other data processors realize steps described above instruction or program when, invention as described herein including these and other not
The non-transitory computer-readable storage media of same type.When methods and techniques according to the present invention programming, the present invention
It further include computer itself.
Computer program can be applied to input data to execute function as described herein, to convert input data with life
At storing to the output data of nonvolatile memory.Output information can also be applied to one or more output equipments as shown
Device.In the preferred embodiment of the invention, the data of conversion indicate physics and tangible object, including the object generated on display
Reason and the particular visual of physical objects are described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should be included within the scope of the present invention.Its technical solution within the scope of the present invention
And/or embodiment can have a variety of different modifications and variations.
Claims (10)
1. a kind of unmanned carrying Study of Intelligent Robot Control system characterized by comprising
Central processing unit, the signal for receiving the transmission of external environment sensor execute task according to preset behavior pattern,
And corresponding task is executed according to the assignment instructions that external command receiver is sent back to；
External environment sensor for acquiring external environmental information, and returns to central processing unit, wherein external environmental information
Including, robot to the pressure of environmental objects, robot at a distance from environmental objects and external environment illumination information；
Driver, the order-driven robot for being sent according to central processing unit execute respective action, wherein respective action
It including but not limited to moves, drive robotic arm, steering and suspend mode；
Wireless communication module communicates to connect for establishing with mobile device and/or computer, and Content of Communication is sent to center
Processing unit；
External command receiver, for connecing assignment instructions and being sent to central processing unit.
2. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that the external environment passes
Sensor further include:
Pressure sensor, the pressure for measuring mechanical arm and being handled upside down between object, the dynamics of detection crawl object；
Laser sensor, for sending exploring laser light to surrounding with the scanning range of certain radius and certain angle, for measuring
Robot is at a distance from a certain range of external environment object；
Light sensor, for acquiring the Lighting information of external environment.
3. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that the external environment passes
Sensor further includes ground transaucer, is mounted on robot bottom, for doing ground environment detection.
4. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that further include assignment instructions
Memory, for multiple tasks instruction list to be stored in advance, the task list of installation storage executes corresponding appoint when robot is run
Business, wherein central processing unit be used for reads storage assignment instructions list and execute decoding solve read operation, according to task definition to
Driver sends corresponding driving instruction.
5. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that the central processing list
Member further include:
Analogy signal processing unit is handled for converting collected analog signal amount for central processing unit analysis；
Digital signal processing unit is handled for converting collected digital signal amount for central processing unit analysis.
6. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that further include:
Two-dimensional code generation module is supplied to mobile terminal for generating unique two-dimensional barcode information with the binding of robot information
It is scanned, binding information is sent back into wireless communication module by network after mobile scanning terminal, and return to central processing
Unit；
Display module, for the two-dimensional barcode information that two-dimensional code display generation module generates, for mobile scanning terminal.
7. unmanned carrying Study of Intelligent Robot Control system according to claim 6, which is characterized in that the two dimensional code generates
Module further include:
DM code generation module, for generating the two dimensional code of DM standard；
QR code generation module, for generating the two dimensional code of QR standard.
8. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that further include:
Position alignment sensor, for establishing coordinate system in robot movable region, the position of positioning robot obtains machine
The location information of people, and the information of acquisition is sent to central processing unit, central processing unit is deposited by reading assignment instructions
The task list stored in reservoir obtains the preparatory driving path and behavior act of robot in this subtask, passes through acquisition
Location information, robot driving path is corrected in real time.
9. unmanned carrying Study of Intelligent Robot Control system according to claim 1, which is characterized in that the external environment passes
Sensor further includes sonic sensor, for sending acoustic detection to ambient enviroment, the time returned according to sound wave and sound wave
Spread speed information is sent to central processing unit and is handled, and obtains the obstacle information in specified range.
10. according to benefit require 1 described in unmanned carrying Study of Intelligent Robot Control system, which is characterized in that further include human-computer interaction
Interface module, for creating the task items of editor robot and selecting the task list stored in assignment instructions memory,
Wherein task items include time, working region, behavior act and the behavior path of robot work.
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| CN110216645A (en) * | 2019-05-24 | 2019-09-10 | 山西安信恒创机器人技术有限公司 | A kind of intelligent Service humanoid robot |
| CN110687905A (en) * | 2019-09-11 | 2020-01-14 | 珠海市众创芯慧科技有限公司 | Unmanned intelligent vehicle based on integration of multiple sensing technologies |
| CN110744569A (en) * | 2019-11-21 | 2020-02-04 | 苏州溪能环保科技有限公司 | Service robot with identity recognition function and control method thereof |
| WO2022000348A1 (en) * | 2020-06-30 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Method for controlling mobile platform, and terminal device and storage medium |
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