CN113848930B - Autonomous navigation mobile robot based on multi-sensor fusion - Google Patents
Autonomous navigation mobile robot based on multi-sensor fusion Download PDFInfo
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- CN113848930B CN113848930B CN202111176609.0A CN202111176609A CN113848930B CN 113848930 B CN113848930 B CN 113848930B CN 202111176609 A CN202111176609 A CN 202111176609A CN 113848930 B CN113848930 B CN 113848930B
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- 230000004927 fusion Effects 0.000 title claims abstract description 12
- 230000000670 limiting effect Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 abstract description 30
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 29
- 230000008569 process Effects 0.000 description 25
- 230000009471 action Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention relates to the technical field of robot travelling mechanisms and discloses an autonomous navigation mobile robot based on multi-sensor fusion, which comprises a shell, wherein a circular through hole is formed in the top of the shell, a main shaft bearing is fixedly sleeved in the circular through hole, a driving shaft is fixedly sleeved in the main shaft bearing, the main shaft bearing is meshed with an inner ring gear through a synchronous gear in an initial state, the main shaft bearing can be meshed with the synchronous gear and a driving gear at the same time, when a power machine I drives a guiding device to rotate through the driving shaft, the synchronous gear and the driving gear can be synchronously rotated, and the synchronous gear and the driving gear can synchronously rotate towards the same direction, so that the running direction of the robot is changed.
Description
Technical Field
The invention relates to the technical field of robot travelling mechanisms, in particular to an autonomous navigation mobile robot based on multi-sensor fusion.
Background
Along with the development of society and the progress of science and technology, more and more intelligent robots enter into daily production activities of people, thereby saving most of manual labor, wherein a part of robots are commonly used in daily logistics operation and are positioned and navigated through a reference base station installed indoors, the most important component in the type of robots is a travelling mechanism, the most important component in the type of robots is a main component which enables the robots to move, the traditional moving component always has only one driving wheel, the driving wheel integrates power equipment and steering equipment, and the robot with the travelling mechanism has the advantages of simple structure, low cost, convenience in use and the like, and is also a robot travelling mechanism with the widest application scope at present.
However, the running mechanism for the robot has the advantages, but certain limitations still exist in daily use, for example, when the robot collides with an obstacle, and the space on two sides cannot provide enough turning radius, so that the front wheel is difficult to be driven out of the obstacle by a turning and turning method, and the current guide wheel drives out of the obstacle by rotating for one hundred eighty degrees, so that the problem that the rear wheel yaw easily occurs to cause the robot to collide with the obstacle again at the rear is solved.
Disclosure of Invention
Aiming at the defects of the prior autonomous navigation mobile robot based on multi-sensor fusion in the use process, the invention provides the autonomous navigation mobile robot based on multi-sensor fusion, which has the advantage that a single rotating structure can drive a plurality of guide wheels to simultaneously steer, and solves the problems that the traditional equipment guiding mechanism is too complex and the steering radius is too large to reverse.
The invention provides the following technical scheme: the utility model provides an autonomous navigation mobile robot based on multisensor fuses, includes the shell, circular through-hole and the inside fixed sleeve of this circular through-hole have been seted up at the top of shell have been cup jointed main shaft bearing, main shaft bearing's inside fixed sleeve has the drive shaft, fixed mounting has power machine I in the position that the shell top is located the drive shaft top, the one end of power machine I output shaft and the top fixed connection of drive shaft, drive shaft bottom just is located the inside fixed mounting of shell and has had guider, set up bearing hole I on the position that shell inner chamber bottom is close to one side, the quantity of bearing hole I is two and bearing hole I's inside fixed sleeve has limit bearing I, limit bearing I's inside fixed sleeve has installed switching-over device in the position that the bottom of shell inner chamber is located between the bearing hole I, limit bearing II's inside fixed sleeve has cup jointed limit bearing II, drive arrangement has been cup jointed to drive belt and reversing device activity, set up guiding device on the position that shell inner chamber bottom is close to one side has offered on the position that shell inner chamber bottom is close to the position, guiding device has cup jointed with the inside adjusting device, the guide sleeve has been installed through adjusting device and the guide sleeve mutually, reversing device and the inside adjusting device has cup jointed mutually.
Preferably, the guiding device comprises a guiding gear, a guiding groove is formed in the position, close to the outer side, of the bottom of the guiding gear, an inner ring gear is formed in the inner side surface of the guiding groove, the reversing device is meshed with the inner ring gear at the same time, and an outer ring gear is formed in the outer side surface of the guiding groove.
Preferably, the reversing device comprises a reversing shaft, the reversing shaft is fixedly sleeved in the limiting bearing I, a reversing driving wheel is fixedly arranged at the top of the reversing shaft and movably sleeved with a driving belt, and a driving gear is fixedly arranged at the top of the reversing driving wheel and meshed with the inner ring gear.
Preferably, the driving device comprises a driving shaft which is movably sleeved in the limit bearing II, a direction-changing driving wheel is fixedly arranged at the top of the driving shaft and movably sleeved with a driving belt, and a driving wheel is fixedly arranged at the bottom of the driving shaft.
Preferably, the adjusting device comprises an adjusting shaft, a limiting slide plate is fixedly arranged at a position, close to the bottom, of the outer surface of the adjusting shaft and matched with the adjusting groove, a driven wheel is fixedly arranged at the bottom of the adjusting shaft, an adjusting bearing is fixedly sleeved at a position, close to the top, of the outer surface of the adjusting shaft, an adjusting sleeve is fixedly sleeved at the outer surface of the adjusting bearing, adjusting seats are fixedly arranged on two sides of the outer surface of the adjusting sleeve, an adjusting screw rod is movably sleeved at the inner part of the adjusting seat, which is provided with a threaded hole and is positioned at the center, one end of the adjusting screw rod is fixedly provided with a power machine II, the power machine II is fixedly arranged at the bottom of the inner cavity of the shell, and a synchronous gear is fixedly arranged at the top of the adjusting shaft.
Preferably, the synchronizing gear is engaged with the phase in an initial state.
The invention has the following beneficial effects:
1. according to the invention, the synchronous gear is meshed with the inner annular gear in an initial state, so that the inner annular gear can be meshed with the synchronous gear and the driving gear at the same time, and when the power machine I drives the guiding device to rotate through the driving shaft, the synchronous gear and the driving gear are driven to synchronously rotate, so that the synchronous gear and the driving gear synchronously rotate towards the same direction, and the running direction of the robot is changed.
2. The guiding device can drive the driving gear and the synchronous gear to synchronously rotate in the process of rotating, and the rotation directions and the rotation angles of the driving gear and the synchronous gear are the same, so that the device can directly change the advancing direction, the problem that the original equipment is difficult to turn when the original equipment is impacted by an obstacle if the original equipment is impacted by the front wheel is avoided, the flexibility of the device is improved, meanwhile, the guiding device can directly realize the reversing function by driving the driving gear and the synchronous gear to rotate by one hundred eighty degrees, and the problem of deviation cannot occur to the adjusting device in the reversing process due to the limiting effect of the inner ring gear on the driving gear and the synchronous gear, so that the running in the reversing process of the device is balanced and does not yaw, and the stability of the device in the running process is improved.
3. According to the invention, the power machine II is fixedly arranged at one end of the adjusting screw rod and is fixedly arranged at the bottom of the inner cavity of the shell, the adjusting screw rod is driven to rotate by the power machine II, and the adjusting sleeve is driven to horizontally move under the action of threaded fit, so that the synchronous gear is separated from contact with the inner ring gear and is matched with the outer ring gear in the moving process, at the moment, when the guiding device rotates, the synchronous gear and the driving gear still rotate in a stepping way, but the rotating directions of the synchronous gear and the driving gear are opposite at the moment, so that the adjusting device can synchronously rotate in the normal turning process of the device, the driven wheel can face the tangential direction of the turning radius in the normal turning process, the problem that the turning radius is increased due to the fact that only the front wheel rotates in the turning process of the traditional equipment is avoided, and the stability of the device in the turning process is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the structure of the present invention;
FIG. 3 is a schematic diagram of a structural actuator of the present invention;
FIG. 4 is a schematic cross-sectional view of a structural actuator of the present invention;
FIG. 5 is a schematic view of the internal structure of the present invention;
FIG. 6 is a schematic top view of the internal structure of the present invention;
FIG. 7 is a schematic view of a cross-section in the direction B of FIG. 6, which is a structural diagram of the present invention;
FIG. 8 is an enlarged schematic view of FIG. 7 at C of the structure of the present invention;
FIG. 9 is a schematic view of the A-direction cross-section of FIG. 6 showing the structure of the present invention.
In the figure: 1. a housing; 2. a spindle bearing; 3. a drive shaft; 4. a power machine I; 5. a guide device; 51. a guide gear; 52. a guide groove; 53. an inner ring gear; 54. an outer ring gear; 6. bearing hole I; 7. limiting bearing I; 8. a reversing device; 81. a reversing shaft; 82. reversing driving wheels; 83. a drive gear; 9. bearing hole II; 10. a limit bearing II; 11. a driving device; 111. a drive shaft; 112. a direction-changing driving wheel; 113. a driving wheel; 12. a transmission belt; 13. an adjustment aperture; 14. an adjustment tank; 15. an adjusting device; 151. an adjusting shaft; 152. a limit sliding plate; 153. driven wheel; 154. adjusting a bearing; 155. an adjustment sleeve; 156. an adjusting seat; 157. adjusting a screw rod; 158. a power machine II; 159. a synchronizing gear; 16. sleeving a connecting rod; 17. and a guide sleeve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, an autonomous navigation mobile robot based on multi-sensor fusion comprises a housing 1, a circular through hole is formed in the top of the housing 1, a main shaft bearing 2 is fixedly sleeved in the circular through hole, a driving shaft 3 is fixedly sleeved in the main shaft bearing 2, a power machine I4 is fixedly installed at the position above the driving shaft 3 at the top of the housing 1, one end of an output shaft of the power machine I4 is fixedly connected with the top of the driving shaft 3, a guiding device 5 is fixedly installed at the bottom of the driving shaft 3 and is positioned in the interior of the housing 1, a bearing hole I6 is formed in the position, close to one side, of the bottom of an inner cavity of the housing 1, two bearing holes I6 are respectively formed in the two positions, the inner parts of the bearing holes I6 are fixedly sleeved with a limiting bearing I7, a reversing device 8 is fixedly sleeved in the inner part of the limiting bearing I7, a limiting bearing II 10 is fixedly sleeved in the bottom of an inner cavity of the housing 1, a driving device 11 is fixedly installed in the position, a driving device 12 is movably sleeved on the top of the driving device 11, a driving belt 12 is movably sleeved with the driving device 8, a guiding device 13 is movably sleeved in the inner cavity 13, the inner cavity 13 is fixedly sleeved with the inner cavity 13, which is positioned in the inner cavity 13 and is positioned in the middle of the inner cavity 13 and is fixedly sleeved with a connecting rod 16, and is fixedly sleeved with an adjusting sleeve 15, the outer surface is fixedly arranged in the position, and is fixedly sleeved with an adjusting sleeve 15, and is meshed with the inner surface of the adjusting device 13, and is fixedly sleeved with the inner cavity 13, and is fixedly sleeved with an adjusting sleeve, and the inner cavity 13, and the position is connected with the adjusting device is provided with the adjusting device is 15.
Referring to fig. 2-3, the guiding device 5 includes a guiding gear 51, a guiding groove 52 is formed at a position near the outer side of the bottom of the guiding gear 51, an inner ring gear 53 is formed on the inner side surface of the guiding groove 52, the reversing device 8 is meshed with the inner ring gear 53, and an outer ring gear 54 is formed on the outer side surface of the guiding groove 52.
Referring to fig. 1-9, the reversing device 8 includes a reversing shaft 81, the reversing shaft 81 is fixedly sleeved in the limiting bearing i 7, the reversing driving wheel 82 is fixedly mounted at the top of the reversing shaft 81 and movably sleeved with the driving belt 12, the driving gear 83 is fixedly mounted at the top of the reversing driving wheel 82 and meshed with the inner ring gear 53, the driving gear 83 and the synchronizing gear 159 are meshed with the inner ring gear 53, so that the guiding device 5 can drive the driving gear 83 and the synchronizing gear 159 to synchronously rotate in the rotating process, and the rotation directions and rotation angles of the driving gear 83 and the synchronizing gear 159 are the same, so that the device can directly change the travelling direction, the problem that the original equipment is difficult to turn when the original equipment is impacted by an obstacle in the guiding process by a front wheel is avoided, the flexibility of the device is improved, meanwhile, the guiding device 5 can directly realize the reversing function by driving the driving gear 83 and the synchronizing gear 159 by one hundred eighty degrees, and the yaw of the device is not balanced in the reversing process due to the limiting effect of the inner ring gear 53 on the driving gear 83 and the synchronizing gear 159.
Referring to fig. 1-5, the driving device 11 includes a driving shaft 111, the driving shaft 111 is movably sleeved in the limit bearing ii 10, a direction-changing driving wheel 112 is fixedly mounted on the top of the driving shaft 111, the direction-changing driving wheel 112 is movably sleeved with the driving belt 12, and a driving wheel 113 is fixedly mounted on the bottom of the driving shaft 111.
Referring to fig. 1-8, the adjusting device 15 includes an adjusting shaft 151, a limit sliding plate 152 is fixedly installed on the position of the outer surface of the adjusting shaft 151 near the bottom, the limit sliding plate 152 is matched with the adjusting groove 14, a driven wheel 153 is fixedly installed on the bottom of the adjusting shaft 151, an adjusting bearing 154 is fixedly sleeved on the position of the outer surface of the adjusting shaft 151 near the top, an adjusting sleeve 155 is fixedly sleeved on the outer surface of the adjusting bearing 154, adjusting seats 156 are fixedly installed on two sides of the outer surface of the adjusting sleeve 155, a threaded hole is formed on one side of the adjusting seat 156 and is movably sleeved inside the threaded hole, an adjusting screw 157 is movably sleeved on the inner side of the adjusting seat 156, a power machine ii 158 is fixedly installed at one end of the adjusting screw 157, the power machine ii 158 is fixedly installed at the bottom of the inner cavity of the housing 1, the adjusting screw 157 is driven to rotate by the power machine ii 158, the adjusting sleeve 155 is driven to move horizontally under the action of the threaded fit, so that the synchronous gear 159 and the inner ring gear 53 are separated from contact, the synchronous gear 159 and the driving gear 83 still rotate in the same step when the guiding device 5 rotates, the rotating directions of the synchronous gear 159 and the driving gear 83 are opposite, the adjusting device 15 can synchronously rotate in the normal turning process of the device, the driven wheel 153 can face the tangential direction of the turning radius in the normal turning process, the problem that the turning radius is increased due to the fact that only the front wheel rotates to cause a larger rotating speed difference of the rear wheel in the turning process of the traditional device is avoided, the stability of the device in the turning process is improved, and the synchronous gear 159 is fixedly arranged at the top of the adjusting shaft 151.
Referring to fig. 1-5 and 8, the synchronous gear 159 is meshed with the inner ring gear 53 in an initial state, so that the inner ring gear 53 can be simultaneously meshed with the synchronous gear 159 and the driving gear 83, when the power machine i 4 drives the guiding device 5 to rotate through the driving shaft 3, the synchronous gear 159 and the driving gear 83 are driven to synchronously rotate, so that the synchronous gear 159 and the driving gear 83 synchronously rotate towards the same direction, and the running direction of the robot is changed.
The application method of the invention is as follows:
in the use process, the inner ring gear 53 can be meshed with the synchronous gear 159 and the driving gear 83 at the same time, when the power machine I4 drives the guiding device 5 to rotate through the driving shaft 3, the synchronous gear 159 and the driving gear 83 are driven to synchronously rotate, so that the synchronous gear 159 and the driving gear 83 synchronously rotate towards the same direction, the running direction of the robot is changed, the guiding device 5 drives the driving gear 83 and the synchronous gear 159 to synchronously rotate in the running process, the rotation directions and the rotation angles of the driving gear 83 and the synchronous gear 159 are the same, the running direction of the device can be directly changed, meanwhile, the guiding device 5 can directly realize the reversing function by driving the driving gear 83 and the synchronous gear 159 to rotate for one hundred eighty degrees, and because the limiting effect of the inner ring gear 53 to the driving gear 83 and the synchronizing gear 159, the problem of deviation of the adjusting device 15 can not occur in the reversing process, the power machine II 158 drives the adjusting screw 157 to rotate, and drives the adjusting sleeve 155 to horizontally move under the action of the threaded fit, so that the synchronizing gear 159 and the inner ring gear 53 are separated from contact, and are mutually matched with the outer ring gear 54 in the moving process, when the guiding device 5 rotates, the synchronizing gear 159 and the driving gear 83 still rotate with the same step, but the rotating directions of the synchronizing gear 159 and the driving gear 83 are opposite at the moment, so that the adjusting device 15 can synchronously rotate in the normal turning process of the device, and the driven wheel 153 can face the tangential direction of the turning radius in the normal turning process.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. Autonomous navigation mobile robot based on multisensor fuses, including shell (1), its characterized in that: the utility model discloses a reversing gear, including shell (1), bearing hole I (6) have been seted up on the inside fixed sleeve of circular through-hole and this circular through-hole of top of shell (1), the inside fixed sleeve of main shaft bearing (2) has drive shaft (3), fixed mounting has power machine I (4) in the position that shell (1) top is located drive shaft (3) top, the one end of power machine I (4) output shaft and the top fixed connection of drive shaft (3), drive shaft (3) bottom just is located the inside fixed mounting of shell (1) have guider (5), bearing hole I (6) have been seted up on the position that shell (1) inner chamber bottom is close to one side, the quantity of bearing hole I (6) is two and the inside fixed sleeve of bearing hole I (6) has spacing bearing I (7), the inside fixed sleeve of spacing bearing I (7) has installed reversing gear (8), the bottom of shell (1) inner chamber is located the position between bearing hole I (6) and has been seted up bearing hole II (9), the inside fixed sleeve of bearing hole II (9) has installed in advance and has cup jointed spacing bearing II (10), the inside fixed sleeve of bearing hole I (6) has been installed in advance (12) and has cup jointed with the movable belt (12) of movable belt (12), the novel steering device is characterized in that an adjusting hole (13) is formed in the position, close to the other side, of the bottom of the inner cavity of the outer shell (1), an adjusting groove (14) is formed in the position, close to the middle, of the inner wall of the adjusting hole (13), an adjusting device (15) is movably mounted in the adjusting hole (13) through the adjusting groove (14), the adjusting device (15) and the reversing device (8) are meshed with the guiding device (5), a connecting rod (16) is fixedly mounted at the bottom of the inner cavity of the outer shell (1) and located between the reversing device (8) and the driving device (11), and a guiding sleeve (17) is movably sleeved on the outer surface of the connecting rod (16) and is in contact with the driving belt (12).
2. An autonomous navigational mobile robot based on multi-sensor fusion according to claim 1, characterized by: the guiding device (5) comprises a guiding gear (51), a guiding groove (52) is formed in the position, close to the outer side, of the bottom of the guiding gear (51), an inner ring gear (53) is formed in the inner side surface of the guiding groove (52), the reversing device (8) is meshed with the inner ring gear (53) at the same time, and an outer ring gear (54) is formed in the outer side surface of the guiding groove (52).
3. An autonomous navigational mobile robot based on multi-sensor fusion according to claim 2, characterized by: the reversing device (8) comprises a reversing shaft (81), the reversing shaft (81) is fixedly sleeved in the limiting bearing I (7), a reversing driving wheel (82) is fixedly mounted at the top of the reversing shaft (81) and movably sleeved with the driving belt (12), and a driving gear (83) is fixedly mounted at the top of the reversing driving wheel (82) and meshed with the inner ring gear (53).
4. An autonomous navigational mobile robot based on multi-sensor fusion according to claim 1, characterized by: the driving device (11) comprises a driving shaft (111), the driving shaft (111) is movably sleeved in the limiting bearing II (10), a direction-changing driving wheel (112) is fixedly arranged at the top of the driving shaft (111), the direction-changing driving wheel (112) is movably sleeved with the driving belt (12), and a driving wheel (113) is fixedly arranged at the bottom of the driving shaft (111).
5. An autonomous navigational mobile robot based on multi-sensor fusion according to claim 3, characterized by: the adjusting device (15) comprises an adjusting shaft (151), a limiting sliding plate (152) is fixedly installed at the position, close to the bottom, of the outer surface of the adjusting shaft (151) and is matched with an adjusting groove (14), a driven wheel (153) is fixedly installed at the bottom of the adjusting shaft (151), an adjusting bearing (154) is fixedly sleeved at the position, close to the top, of the outer surface of the adjusting shaft (151), an adjusting sleeve (155) is fixedly sleeved on the outer surface of the adjusting bearing (154), adjusting seats (156) are fixedly installed on two sides of the outer surface of the adjusting sleeve (155), threaded holes are formed in the positions, located at the center, of one side of each adjusting seat (156), an adjusting screw (157) is movably sleeved in the inner portion of each threaded hole, one end of each adjusting screw (157) is fixedly provided with a power machine II (158) and the bottom of an inner cavity of the outer shell (1), and a synchronizing gear (159) is fixedly installed at the top of the adjusting shaft (151).
6. An autonomous navigational mobile robot based on multisensor fusion according to claim 5, said synchromesh gear (159) being in engagement with the inner ring gear (53) in an initial state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111176609.0A CN113848930B (en) | 2021-10-09 | 2021-10-09 | Autonomous navigation mobile robot based on multi-sensor fusion |
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| CN202111176609.0A CN113848930B (en) | 2021-10-09 | 2021-10-09 | Autonomous navigation mobile robot based on multi-sensor fusion |
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| CN212123279U (en) * | 2020-08-25 | 2020-12-11 | 重庆电子工程职业学院 | Mobile robot with autonomous navigation function |
| CN113341948A (en) * | 2021-05-08 | 2021-09-03 | 南京墨问科技有限公司 | Hexagonal omnidirectional mobile robot capable of autonomous navigation and positioning |
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