CN111923012B - Automatic mobile navigation robot in unknown environment - Google Patents
Automatic mobile navigation robot in unknown environment Download PDFInfo
- Publication number
- CN111923012B CN111923012B CN202011008973.1A CN202011008973A CN111923012B CN 111923012 B CN111923012 B CN 111923012B CN 202011008973 A CN202011008973 A CN 202011008973A CN 111923012 B CN111923012 B CN 111923012B
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- robot
- drive
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- plate
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- 239000004575 stone Substances 0.000 claims abstract description 49
- 230000007306 turnover Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 53
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 26
- 238000004146 energy storage Methods 0.000 claims description 13
- 229910052742 iron Inorganic materials 0.000 claims description 13
- 230000002265 prevention Effects 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 7
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
An automatic mobile navigation robot in an unknown environment belongs to the technical field of robots; the stone prevention plate can enable stone blocks on the ground to stay on the surface of the stone prevention plate, and the movable plate at the top of the stone prevention plate can continuously reciprocate back and forth, so that the stone blocks on the surface of the stone prevention plate are pushed away from the stone prevention plate, and as the stone prevention plate is positioned on the right side of the driving wheel, the robot cannot fluctuate due to the stone blocks on the ground in the rightward moving process, and the situation that the robot is toppled and damaged due to the stone blocks is greatly avoided; the turnover bedplate can be extended to be a temporary workbench, the external mechanical arm is installed on the mechanical arm installation table, when the gravity center of the mechanical arm faces one side of the robot outer body, the balancing weight moves to the other side of the robot outer body on the sliding rail, stability of the robot outer body is improved, and the fetching weight of the mechanical arm is also improved.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to an automatic mobile navigation robot in an unknown environment.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings.
The existing navigation robot used in the unknown environment in the industrial production can only sense larger objects in the moving process, so that fluctuation can be generated due to contact of a driving wheel and small stones on the ground, the navigation robot can be toppled over when serious, the navigation robot is damaged, certain limitation exists, and the mechanical arm can topple over due to overweight of the objects when rotating.
Disclosure of Invention
The invention mainly solves the technical problems existing in the prior art and provides an automatic mobile navigation robot in an unknown environment.
The technical problems of the invention are mainly solved by the following technical proposal: the utility model provides an automatic mobile navigation robot under unknown environment, includes drive arrangement, robot outer body, drive wheel and electronic steering wheel, its characterized in that drive arrangement locates the inside right side of robot outer body, electronic steering wheel locates the left downside of robot outer body, drive arrangement's output shaft and the center department fixed connection of drive wheel, drive arrangement's right-hand pivot that is equipped with, be equipped with the conveyer belt between drive arrangement's output shaft and the pivot, be located on the robot outer body and in the both sides of pivot all are equipped with the baffle, the both ends and the baffle rotation of pivot are connected, be equipped with the anti-stone board between the baffle of both sides, the both sides and the baffle fixed connection of anti-stone board, the left end of pivot is equipped with first gear, the right-hand member of pivot is equipped with first gear, the downside of first gear is equipped with the second gear, the front and the baffle rotation of second gear are connected, the back of second gear is equipped with first locating hole, the downside of first drive wheel is equipped with the second drive wheel, be located the second drive wheel and is equipped with the second drive wheel, the second drive wheel is equipped with the second drive rod, the both sides are equipped with the second drive shaft and are located the both sides, the both sides are located by the screw rod is located by the second drive shaft, the both sides, the drive shaft is located the both sides of second drive shaft is connected with the second drive shaft, the drive shaft is located by the both sides, the screw rod is located by the both sides down the front side of the drive shaft, the two ends of the threaded rod are rotationally connected with the baffle, the threaded rod is provided with a bolt, the threaded rod is in threaded connection with the inner wall of the bolt, and the bottom of the bolt is fixedly connected with a movable plate.
Preferably, the shapes of the positioning iron block, the first positioning hole and the second positioning hole are hexagonal, and the inner walls of the first positioning hole and the second positioning hole are fixedly connected with magnets.
Preferably, limiting sleeves are sleeved on two sides of the middle of the transmission shaft, and the outer wall of each limiting sleeve is fixedly connected with the stone-preventing plate.
Preferably, the transmission shaft is rotationally connected with the first transmission plate and the second transmission plate, one side of the first transmission plate is fixedly connected with one end of the energy storage spring, and the other end of the energy storage spring is fixedly connected with the third transmission plate.
Preferably, the third transmission plate is in sliding connection with the stone-preventing plate, and the third transmission plate is arranged between the first transmission plate and the second transmission plate.
Preferably, the number of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs is two, and the two groups of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs are symmetrically arranged at two ends of the transmission shaft.
Preferably, the right side of the upper side of the robot outer body is provided with a turnover table plate, a rotating shaft is arranged between the left end part of the turnover table plate and the robot outer body, the right side of the inside of the robot outer body is provided with an electric cylinder, the middle part of the electric cylinder is rotationally connected with the robot outer body, and the front end of a piston rod of the electric cylinder is hinged with the lower side of the turnover table plate.
Preferably, both sides all are equipped with the spout around the upper side of the robot outer body, the bottom of spout be equipped with the inside communicating spout opening of the robot outer body, be equipped with the slider in the spout, the lower extreme at slider center is equipped with the connecting rod, be located the lower extreme of connecting rod and in the inside of the robot outer body is equipped with the counter weight storehouse, counter weight storehouse fixed connection is in the lower extreme of connecting rod, the inboard bottom in counter weight storehouse is equipped with the slide rail, the upside of slide rail is equipped with the balancing weight, the inside of balancing weight runs through and is equipped with a lead screw, both ends all with the inner wall swing joint in counter weight storehouse around the lead screw, the rear side in counter weight storehouse is equipped with step motor, step motor's output shaft is connected with the one end of lead screw, the upside of slider is equipped with the robotic arm mount pad.
Preferably, infrared detectors are arranged on the left side and the right side of the lower side face of the outer body of the robot.
The invention has the beneficial effects that:
in the process of driving the robot to walk by the driving wheel, the stone prevention plate can enable stone blocks on the ground to stay on the surface of the robot, and the movable plate at the top of the stone prevention plate can continuously reciprocate back and forth, so that the stone blocks on the surface of the stone prevention plate are pushed away from the stone prevention plate, and the stone prevention plate is positioned on the right side of the driving wheel, so that the robot cannot fluctuate due to the stone blocks on the ground in the rightward movement process, and the condition that the robot is toppled and damaged due to the stone blocks is greatly avoided; the positioning iron block is matched with the magnets in the first positioning hole and the second positioning hole to play an auxiliary role in fixing the position of the transmission shaft, so that the second gear and the second transmission wheel can drive the transmission shaft and the third gear to rotate through the positioning iron block, and further the movable plate can move to clean stone blocks on the surface of the stone-preventing plate; the overturning bedplate is pushed by the electric cylinder, so that the overturning bedplate can be extended into a temporary workbench; the external mechanical arm is arranged on the mechanical arm mounting table, when the gravity center of the mechanical arm faces one side of the outer body of the robot, the stepping motor drives the screw rod to rotate, so that the balancing weight moves to the other side of the outer body of the robot on the sliding rail, the stability of the outer body of the robot is improved, and the fetching weight of the mechanical arm is also improved; the electric steering wheel can realize steering, and the infrared detector can find a large obstacle in the forward direction when the vehicle walks.
Drawings
FIG. 1 is a schematic view of a construction of the present invention;
FIG. 2 is a schematic right-hand view of the stone guard plate of the present invention;
FIG. 3 is an enlarged schematic view of the portion A of FIG. 2;
FIG. 4 is an enlarged schematic view of the portion B of FIG. 2;
FIG. 5 is a schematic rear view of a second gear of the present invention;
FIG. 6 is a schematic elevational view of the second drive wheel of the present invention;
FIG. 7 is a schematic side view of the present invention;
fig. 8 is a state of use diagram of the present invention.
In the figure: 1. a driving device; 2. a driving wheel; 3. a conveyor belt; 4. a rotating shaft; 5. a baffle; 6. stone-proof plate; 7. a first driving wheel; 8. a first gear; 9. a second gear; 91. a first positioning hole; 10. a second driving wheel; 101. a second positioning hole; 11. positioning an iron block; 12. a transmission shaft; 121. a limit sleeve; 122. a first drive plate; 123. a second drive plate; 13. a third gear; 14. a fourth gear; 15. a threaded rod; 16. a bolt; 17. a movable plate; 18. an energy storage spring; 19. a third drive plate; 21. an electric steering wheel; 112. turning over the bedplate; 113. a rotation shaft; 114. an electric cylinder; 211. a chute; 212. a chute opening; 213. a slide block; 214. a connecting rod; 215. a counterweight bin; 216. a slide rail; 217. a screw rod; 218. a stepping motor; 219. a robotic arm mounting station; 220. balancing weight; 311. an infrared detector; 312. an existing controller; 313. and a mechanical arm.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples: the utility model provides an automatic mobile navigation robot under unknown environment, as shown in fig. 1-8, including drive arrangement, robot outer body, drive wheel and electric steering wheel, drive arrangement locates the inside right side of robot outer body, electric steering wheel locates the left downside of robot outer body, drive arrangement's output shaft and the center department fixed connection of drive wheel, drive arrangement's right side is equipped with the pivot, be equipped with the conveyer belt between drive arrangement's output shaft and the pivot, be located on the robot outer body and in the both sides of pivot all are equipped with the baffle, the both ends and the baffle rotation of pivot are connected, be equipped with the anti-stone board between the baffle of both sides, the both sides and the baffle fixed connection of anti-stone board, the left end of pivot is equipped with first gear, the right-hand member of pivot is equipped with first drive wheel, the downside of first gear is equipped with the second gear, the front and the baffle rotation of second gear are connected, the back of second gear is equipped with first location hole, the downside of first drive wheel is equipped with the conveyer belt, be equipped with the second drive wheel, the second drive wheel is equipped with the second drive wheel, the both sides are equipped with the screw rod is equipped with the both sides, the both sides are equipped with the drive shaft and the drive shaft is located down, the both sides are equipped with the screw rod is located by the both sides, the both sides of drive shaft is connected with the center positioning of drive shaft, the drive shaft is equipped with the screw rod is located by the both sides, the both sides of the front and is located down, the utility model discloses a robot, including threaded rod, screw rod, baffle, drive wheel, screw rod, screw inner wall, the bottom fixedly connected with fly leaf of bolt, at drive wheel drive robot walking in-process, prevent that the stone slab can make the stone on ground stop at its surface to prevent fly leaf at stone slab top can constantly make a round trip reciprocating motion, and then make the stone on preventing stone slab surface pushed away prevent stone slab, and because prevent stone slab to be located the drive wheel right side, so this robot can not produce undulant because of the stone on ground in-process that moves right, greatly avoided because the stone slab leads to the condition emergence that the robot emptys and damages.
The shape of location iron plate, first locating hole and second locating hole is the hexagon, first locating hole and second locating hole inner wall fixedly connected with magnet, and the fixed action that can play the transmission shaft position of fixed in the magnet cooperation of location iron plate and first locating hole and the inside of second locating hole to make second gear and second drive wheel drive transmission shaft and third gear through the location iron plate and rotate, and then realize the fly leaf removal clearance and prevent stone on stone plate surface.
And limiting sleeves are sleeved on two sides of the middle part of the transmission shaft, the outer wall of each limiting sleeve is fixedly connected with the stone-proof plate, and the transmission shaft is enabled to move more stably through the limiting sleeves.
The transmission shaft is rotationally connected with the first transmission plate and the second transmission plate, one side of the first transmission plate is fixedly connected with one end of the energy storage spring, and the other end of the energy storage spring is fixedly connected with the third transmission plate.
The third transmission plate is connected with the stone prevention plate in a sliding mode, and the third transmission plate is arranged between the first transmission plate and the second transmission plate.
The number of the first transmission plates, the second transmission plates, the third transmission plates and the energy storage springs is two, and the two groups of the first transmission plates, the second transmission plates, the third transmission plates and the energy storage springs are symmetrically arranged at two ends of the transmission shaft.
The robot is characterized in that a turnover table plate is arranged on the right side of the upper side face of the robot outer body, a rotating shaft is arranged between the left end portion of the turnover table plate and the robot outer body, an electric cylinder is arranged on the right side of the inside of the robot outer body, the middle portion of the electric cylinder is rotationally connected with the robot outer body, the front end of a piston rod of the electric cylinder is hinged with the lower side of the turnover table plate, the turnover table plate is pushed by the electric cylinder, and the turnover table plate can be stretched into a temporary workbench.
The robot comprises a robot outer body, wherein the upper side of the robot outer body is provided with a sliding groove, the front side and the rear side of the upper side of the robot outer body are respectively provided with a sliding groove opening communicated with the inside of the robot outer body, a sliding block is arranged in the sliding groove, the lower end of the center of the sliding block is provided with a connecting rod, the inside of the robot outer body is provided with a counterweight bin, the counterweight bin is fixedly connected with the lower end of the connecting rod, the bottom of the inner side of the counterweight bin is provided with a sliding rail, the upper side of the sliding rail is provided with a balancing weight, a screw rod penetrates through the inside of the balancing weight, the front end and the rear end of the screw rod are respectively movably connected with the inner wall of the counterweight bin, the rear side of the counterweight bin is provided with a stepping motor, an output shaft of the stepping motor is connected with one end of the screw rod, and the upper side of the sliding block is provided with a mechanical arm mounting table; the external mechanical arm is arranged on the mechanical arm mounting table, when the gravity center of the mechanical arm faces one side of the outer body of the robot, the stepping motor drives the screw rod to rotate, so that the balancing weight moves to the other side of the outer body of the robot on the sliding rail, stability of the outer body of the robot is improved, and the fetching weight of the mechanical arm is also improved.
Infrared detectors are arranged on the left side and the right side of the lower side of the outer body of the robot; the infrared detector enables the invention to find a large obstacle in the forward direction when walking.
The principle of the invention is as follows:
when the navigation robot works or is used, the driving device can enable the driving wheel to rotate clockwise, so that the whole navigation robot moves rightwards, stone blocks on the ground can be stopped on the surface of the stone prevention plate, in the rotation process of the driving wheel, the rotating shaft can rotate under the action of the conveying belt, the first gears and the first driving wheels at two ends of the rotating shaft rotate in the same direction as the rotating shaft, the second gears and the rotating shaft rotate reversely under the action of the first gears and the first driving wheels, and the second driving wheels rotate in the same direction as the rotating shaft, so that the rotation directions of the second gears and the second driving wheels are opposite.
When the positioning iron block is positioned in the first positioning hole, the second gear drives the transmission shaft to rotate through the positioning iron block, the third gear on the transmission shaft drives the fourth gear to rotate, the threaded rod rotates under the action of the fourth gear and drives the bolt to move, the bolt moves towards the second driving wheel, the movable plate moves in the same direction with the bolt under the action of the bolt, the movable plate pushes stone blocks on the surface of the stone-preventing plate away from the stone-preventing plate, when the bolt pushes the third transmission plate to move, the third transmission plate stretches the energy storage spring, the transmission shaft cannot move due to the action of the magnet in the positioning iron block and the first positioning hole, when the third transmission plate contacts with the second transmission plate and pushes the second transmission plate to move, the transmission shaft moves towards the second transmission wheel under the action of the second transmission plate, and the positioning iron block is meshed with the fourth gear under the action of the magnetic force of the magnet in the second positioning hole and the energy storage spring, and the third gear drives the fourth gear to rotate, and the threaded rod is fixedly connected with the fourth gear to rotate, and the threaded rod is reversely pushed by the second gear to move the stone-preventing plate. When the bolt pushes the third movable plate close to the second gear to move, the principle is the same as that above, the positioning iron block moves to the inside of the second gear, the third gear is meshed with the fourth gear, the rotation direction of the threaded rod is changed again, and the movement direction of the bolt and the movable plate is also changed. Under the continuous reciprocating motion, the stone blocks on the surface of the stone prevention plate can be pushed away from the stone prevention plate, so that the influence on the movement of the robot caused by excessive stone block accumulation is prevented.
An existing controller is arranged in the outer body of the robot, and controls an electric cylinder, a driving device, a stepping motor, an electric steering wheel and an infrared detector, and the overturning bedplate is pushed by the electric cylinder, so that the overturning bedplate can be expanded into a temporary workbench; the external mechanical arm is arranged on the mechanical arm mounting table, when the gravity center of the mechanical arm faces one side of the outer body of the robot, the stepping motor drives the screw rod to rotate, so that the balancing weight moves to the other side of the outer body of the robot on the sliding rail, the stability of the outer body of the robot is improved, and the fetching weight of the mechanical arm is also improved; the electric steering wheel can realize steering, and the infrared detector can find a large obstacle in the forward direction when the vehicle walks.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the invention is not limited to the above-described embodiments, but many variations are possible. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention should be considered to be within the scope of the present invention.
Claims (7)
1. The utility model provides an automatic mobile navigation robot under unknown environment, includes drive arrangement, robot outer body, drive wheel and electronic steering wheel, its characterized in that drive arrangement locates the inside right side of robot outer body, electronic steering wheel locates the left downside of robot outer body, drive arrangement's output shaft and the center department fixed connection of drive wheel, drive arrangement's right-hand pivot that is equipped with, be equipped with the conveyer belt between drive arrangement's output shaft and the pivot, be located on the robot outer body and in the both sides of pivot all are equipped with the baffle, the both ends and the baffle rotation of pivot are connected, be equipped with the anti-stone board between the baffle of both sides, the both sides and the baffle fixed connection of anti-stone board, the left end of pivot is equipped with first gear, the right-hand member of pivot is equipped with first gear, the downside of first gear is equipped with the second gear, the front and the baffle rotation of second gear are connected, the back of second gear is equipped with first locating hole, the downside of first drive wheel is equipped with the second drive wheel, be located the second drive wheel and is equipped with the second drive wheel, the second drive wheel is equipped with the second drive rod, the both sides are equipped with the second drive shaft and are located the both sides, the both sides are located by the screw rod is located by the second drive shaft, the both sides, the drive shaft is located the both sides of second drive shaft is connected with the second drive shaft, the drive shaft is located by the both sides, the screw rod is located by the both sides down the front side of the drive shaft, the two ends of the threaded rod are rotationally connected with the baffle, the threaded rod is provided with a bolt, the threaded rod is in threaded connection with the inner wall of the bolt, and the bottom of the bolt is fixedly connected with a movable plate;
the right side of the upper side surface of the robot outer body is provided with a turnover table board, a rotating shaft is arranged between the left end part of the turnover table board and the robot outer body, the right side of the inside of the robot outer body is provided with an electric cylinder, the middle part of the electric cylinder is rotationally connected with the robot outer body, and the front end of a piston rod of the electric cylinder is hinged with the lower side of the turnover table board;
the robot is characterized in that sliding grooves are formed in the front side and the rear side of the upper side of the robot outer body, sliding groove openings which are communicated with the inside of the robot outer body are formed in the bottoms of the sliding grooves, sliding blocks are arranged in the sliding grooves, connecting rods are arranged at the lower ends of the centers of the sliding blocks, counterweight bins are arranged in the inside of the robot outer body and fixedly connected to the lower ends of the connecting rods, sliding rails are arranged at the bottoms of the inner sides of the counterweight bins, balancing weights are arranged on the upper sides of the sliding rails, a screw rod penetrates through the inside of the balancing weights, the front end and the rear end of the screw rod are movably connected with the inner walls of the counterweight bins, stepping motors are arranged on the rear sides of the counterweight bins, output shafts of the stepping motors are connected with one ends of the screw rod, and mechanical arm mounting tables are arranged on the upper sides of the sliding blocks.
2. The robot of claim 1, wherein the positioning iron block, the first positioning hole and the second positioning hole are hexagonal, and the inner walls of the first positioning hole and the second positioning hole are fixedly connected with magnets.
3. The automatic mobile navigation robot under an unknown environment according to claim 1, wherein limiting sleeves are sleeved on two sides of the middle of the transmission shaft, and the outer wall of each limiting sleeve is fixedly connected with an anti-stone plate.
4. The robot of claim 1, wherein the drive shaft is rotatably connected to a first drive plate and a second drive plate, one side of the first drive plate is fixedly connected to one end of an energy storage spring, and the other end of the energy storage spring is fixedly connected to a third drive plate.
5. The robot of claim 4, wherein the third drive plate is slidably coupled to the stone guard plate, the third drive plate being disposed between the first drive plate and the second drive plate.
6. The robot of claim 4, wherein the first driving plate, the second driving plate, the third driving plate and the energy-storing spring are two in number, and the two groups of the first driving plate, the second driving plate, the third driving plate and the energy-storing spring are symmetrically arranged at two ends of the driving shaft.
7. The robot for automatically moving and navigating in an unknown environment according to claim 1, wherein infrared detectors are provided on both left and right sides of the underside of the outer body of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011008973.1A CN111923012B (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011008973.1A CN111923012B (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111923012A CN111923012A (en) | 2020-11-13 |
| CN111923012B true CN111923012B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011008973.1A Active CN111923012B (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
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| Country | Link |
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| CN (1) | CN111923012B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120103869A (en) * | 2011-03-11 | 2012-09-20 | 한양대학교 에리카산학협력단 | Steerable pipeline inspection robot |
| CN108575355A (en) * | 2018-05-03 | 2018-09-28 | 松桃德科农业发展有限公司 | A kind of automatic straw cutting robot of agricultural harvesting |
| CN109466402A (en) * | 2018-10-13 | 2019-03-15 | 广东嗨学云教育科技有限公司 | A kind of earthquake rescue robot with safeguard function |
| CN213005292U (en) * | 2020-09-23 | 2021-04-20 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481302B (en) * | 2018-06-14 | 2019-02-26 | 通彩智能科技集团有限公司 | A kind of Transport Robot Control System for Punch |
-
2020
- 2020-09-23 CN CN202011008973.1A patent/CN111923012B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120103869A (en) * | 2011-03-11 | 2012-09-20 | 한양대학교 에리카산학협력단 | Steerable pipeline inspection robot |
| CN108575355A (en) * | 2018-05-03 | 2018-09-28 | 松桃德科农业发展有限公司 | A kind of automatic straw cutting robot of agricultural harvesting |
| CN109466402A (en) * | 2018-10-13 | 2019-03-15 | 广东嗨学云教育科技有限公司 | A kind of earthquake rescue robot with safeguard function |
| CN213005292U (en) * | 2020-09-23 | 2021-04-20 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
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| Publication number | Publication date |
|---|---|
| CN111923012A (en) | 2020-11-13 |
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