CN211468615U - On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm - Google Patents
On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm Download PDFInfo
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Abstract
The utility model provides a scene detection intelligent vehicle based on multi freedom bionic mechanical arm. The intelligent vehicle comprises a mobile platform and a multi-degree-of-freedom bionic mechanical arm, an intelligent vehicle control system arranged on the mobile platform comprises a core processor, a driving circuit module, a planet driving module, an obstacle avoidance module, an ultrasonic module, a mechanical arm module, LCD display and voice broadcast, and the intelligent vehicle control system further comprises a Bluetooth module, a GPS positioning module and a body state sensor, and is also provided with an omnibearing PC upper computer monitoring system, the body state sensor is used as a field environment monitoring sensor and is conveyed to the core processor through signal amplification and A/D conversion to be combined with the bionic mechanical arm control, and environment monitoring and field search and rescue coordination of the intelligent vehicle are carried out. The utility model discloses use the bluetooth to realize wireless remote control intelligent car, the GPS technique shows dolly geographical position, and bionical robotic arm of installation carries out remote monitoring and explores search and rescue work. The intelligent vehicle is suitable for being used as an intelligent vehicle for field detection.
Description
Technical Field
The utility model relates to an intelligent car in artificial intelligence field especially relates to intelligent car environmental monitoring and the cooperation of scene search and rescue.
Background
With the development and progress of social science and technology, the artificial intelligence technology is developed rapidly, particularly, the appearance of the intelligent vehicle brings great convenience to the life of people, and the unmanned vehicle has great research significance as the development direction of future intelligent vehicles. The intelligent vehicle is also called a wheel type mobile robot, autonomously operates in a complex environment according to a preset command without artificial interference, and autonomously judges and makes corresponding actions according to information detected by a sensor. The intelligent vehicle has wide application prospect, and can replace workers to finish the transportation of goods and the production under severe conditions in industrial production; the intelligent vehicle can replace soldiers to perform dangerous tasks such as detection and mine clearance in military affairs, and has an irreplaceable position in scientific research, particularly in the exploration of foreign stars.
Disclosure of Invention
In order to solve intelligent vehicle environmental monitoring and scene search and rescue coordination, the utility model provides a scene detection intelligent vehicle based on multi freedom bionic mechanical arm. This intelligence is through being based on artificial intelligence technique, adopt the mode that intelligent car moving platform carried on multi freedom bionic mechanical arm, possess keep away the barrier, the range finding, detect road conditions and automatic display function's basis, add bluetooth and GPS function, realize long-range manual remote control and location, combine long-range remote sensing control technique and sensor, the realization carries out remote monitoring and exploration search and rescue work to unknown environment and danger area, make the intelligent car have higher intelligence and application space, solve intelligent car environmental monitoring and scene search and rescue coordination's technical problem.
The utility model provides a scheme that technical problem adopted is:
the intelligent vehicle comprises a mobile platform and a multi-degree-of-freedom bionic mechanical arm, an intelligent vehicle control system arranged on the mobile platform comprises a core processor, a driving circuit module, a planet driving module, an obstacle avoidance module, an ultrasonic module, a mechanical arm module, LCD display and voice broadcast, and the intelligent vehicle control system further comprises a Bluetooth module, a GPS positioning module and a body state sensor, and is also provided with an omnibearing PC upper computer monitoring system, the body state sensor is used as a field environment monitoring sensor and is conveyed to the core processor through signal amplification and A/D conversion to be combined with the bionic mechanical arm control, and environment monitoring and field search and rescue coordination of the intelligent vehicle are carried out.
Preferably, the core processor is an STC11F32XE chip, which implements effective control of each module for setting a program of the main control unit, controls motor driving through high and low level output, and each sensor implements detection of analog signals, converts the analog signals into digital signals, transmits the digital signals to the single chip microcomputer for processing, and performs corresponding actions.
Preferably, the driving circuit module drives the circuit by using an L298N chip, and includes a high-voltage large-current full-bridge driver with two H-bridges for driving the dc motor and the stepping motor; the standard TTL logic level is adopted for control, and the device is controlled to work through a control end under the condition that the device is not influenced by an input signal; the planet driving module controls the driving wheel on the mobile platform to rotate to drive the driving belt to roll, so that the intelligent vehicle moves.
Preferably, keep away the barrier module and adopt LM393 infrared sensor module, through the change of receiving tube resistance, change the size of input voltage, adopt LM393 comparator to convert analog voltage signal into high-low digital level signal, pass through IO mouth with the signal and input the singlechip in, make corresponding action according to signal control drive circuit, accomplish and keep away the barrier function.
Preferably, the ultrasonic module adopts an ultrasonic ranging function, and waits for the output of a high level at the receiving port after the control port trig sends out a high level of more than 10 us.
Preferably, the LCD display adopts the LCD12864 as a display screen, and mainly displays data, including measured distance and GPS geographical location data.
Preferably, the voice broadcasting module can set voice content, performs voice alarm by changing the level of the voice triggering module, and is mainly applied to starting voice broadcasting and broadcasting road obstacles after the obstacles are encountered; the warning light module emits flickering light for alarming of magnetic field detection.
Preferably, the Bluetooth module adopts a Bluetooth technology, Bluetooth data exchange is carried out between the Bluetooth module and the core processor through a serial port, and the intelligent vehicle is remotely and wirelessly controlled.
Preferably, the GPS positioning module is used for installing a GPS signal receiving device on the intelligent vehicle, processing the GPS signal receiving device by the core processor, displaying the geographic coordinate and the altitude of the position of the intelligent vehicle by using a Liquid Crystal Display (LCD), and remotely monitoring the intelligent vehicle.
Preferably, the multi-degree-of-freedom bionic mechanical arm is provided with a mechanical system and a control system, the mechanical system comprises an executing mechanism and a transmission system, the executing mechanism comprises a mechanical arm and a mechanical hand, the mechanical arm mainly comprises a lifting shaft and a stretching shaft, the mechanical hand mainly comprises a rotating shaft, a tilting shaft and a grabbing shaft, the executing mechanism further comprises a lead screw, a gear and a clamping jaw, and the mechanical arm realizes the stretching and lifting actions of the mechanical hand; the manipulator realizes the horizontal rotation of the manipulator, the vertical inclination of the clamping jaw and the grabbing and loosening actions of the clamping jaw; the transmission system mainly comprises a stepping motor, a direct current motor, a stepping motor driver, an encoder and a light sensor.
Preferably, the arm lifting shaft, the arm stretching shaft, the manipulator rotating shaft and the clamping jaw tilting shaft are controlled by stepping motors and completed by corresponding stepping motor driver circuits; the grabbing shaft uses a direct current motor, the direct current motor is provided with a feedback device, a rotary encoder is adopted for position feedback, and when the object is grabbed and stops, a programmable logic controller is used for controlling a relay to perform forward rotation, reverse rotation and emergency stop control on the direct current motor of the grabbing shaft; and positioning the mechanical origin using a photoelectric sensor.
Preferably, the control system consists of a single chip microcomputer, a camera, a wireless data transmission module, a gyroscope module, a posture sensor, a wireless steering engine and a wireless signal receiver; data collected by a gyroscope module are sent to a single chip microcomputer for processing, the steering of an X-axis wireless steering engine, a Y-axis wireless steering engine and a Z-axis wireless steering engine is controlled by a PID algorithm, an upper computer sends a control instruction by using serial interruption, and the single chip microcomputer sends a PWM signal by using timing interruption to control the rotation of the wireless steering engine, so that the camera rotates 180 degrees in the horizontal direction; the camera sends the data of gathering to the PC terminal through wireless data transmission module, and the singlechip passes through the body state sensor control arm and manipulator concerted action.
The utility model has the advantages that the utility model adopts a plurality of virtual reality and vision sensing technologies to design the environment detection and search and rescue robot under complex conditions; adopt infrared technology to realize the automatic function of dodging the obstacle of dolly, adopt ultrasonic technology to realize the function of range finding, use the bluetooth to realize the function of wireless remote control intelligent vehicle, adopt GPS technique to show intelligent vehicle geographical position, install bionical robotic arm, through the PC host computer, bluetooth and the work of posture remote sensing controller control robotic arm steering wheel, the realization is clear away the information acquisition of obstacle and unknown environment and danger area, install LCD display module and audio alert module simultaneously, realize long-range manual remote control and location, combine long-range remote sensing control technique and sensor, the realization is carried out remote monitoring and is searched for and rescued work to unknown environment and danger area. The intelligent vehicle is suitable for being applied as an intelligent vehicle for field detection.
Drawings
FIG. 1 is a block diagram illustrating the structure of the present invention;
fig. 2 is a perspective view of the present invention.
In the figure, 1 is a core processor, 2 is a driving circuit module, 3 is a planet driving module, 4 is an obstacle avoidance module, 5 is a mechanical arm module, 6 is a Bluetooth module, 7 is a GPS positioning module, 8 is an LCD display, 9 is voice broadcast, 10 is an ultrasonic module, 11 is a field environment monitoring sensor, 12 is signal amplification and A/D conversion, 13 is a multi-degree-of-freedom bionic mechanical arm, 13.1 is a lifting shaft, 13.2 is an extension shaft, 13.3 is a tilting shaft, 13.4 is a rotating shaft, 13.5 is a grabbing shaft, 13.6 is a lead screw, 13.7 is a gear, 13.8 is a clamping jaw, 13.9 is a stepping motor, 13.10 is a direct current motor, 13.11 is a wireless steering engine, 13.12 is a photoelectric sensor, 14 is a moving platform, 14.1 is a driving belt, and 14.2 is a driving wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
According to the figure, the intelligent vehicle comprises a mobile platform 14 and a multi-degree-of-freedom bionic mechanical arm 13, an intelligent vehicle control system arranged on the mobile platform comprises a core processor 1, a driving circuit module 2, a planet driving module 3, an obstacle avoidance module 4, an ultrasonic module 10, a mechanical arm module 5, an LCD display 8 and a voice broadcast 9, and the intelligent vehicle control system further comprises a Bluetooth module 6, a GPS positioning module 7 and a body state sensor, meanwhile, an omnibearing PC upper computer monitoring system is arranged, the body state sensor is used as a field environment monitoring sensor 11, is subjected to signal amplification and A/D conversion 12 and is conveyed to the core processor to be combined with the control of the bionic mechanical arm, and environment monitoring and field search and rescue coordination of the intelligent vehicle are carried out.
The core processor is an STC11F32XE chip, effective control of each module is realized by setting a program of the main control unit, the motor drive is controlled by the output of high and low levels, and each sensor detects analog signals and converts the analog signals into digital signals to be transmitted to the single chip microcomputer for processing to make corresponding actions.
The driving circuit module adopts an L298N chip to drive the circuit, and a high-voltage large-current full-bridge driver with two H bridges is arranged in the driving circuit module and is used for driving a direct-current motor and a stepping motor; the standard TTL logic level is adopted for control, and the device is controlled to work through a control end under the condition that the device is not influenced by an input signal; the planet driving module controls a driving wheel 14.2 on the mobile platform to rotate to drive a driving belt 14.1 to roll, so that the intelligent vehicle moves.
Keep away barrier module and adopt LM393 infrared sensor module, through the change of receiving tube resistance, change input voltage's size, adopt LM393 comparator to convert analog voltage signal into high-low digital level signal, pass through the IO mouth with the signal and input in the singlechip, make corresponding action according to signal control drive circuit, accomplish and keep away the barrier function.
The ultrasonic module adopts an ultrasonic ranging function, and waits for the output of high level at the receiving port after the control port trig sends out the high level of more than 10 us.
The LCD display adopts an LCD12864 as a display screen and mainly displays data, including measured distance and GPS geographical position data.
The voice broadcasting module can set voice content, performs voice alarm by changing the level of the voice triggering module, and is mainly applied to starting voice broadcasting and broadcasting road obstacles after obstacles are encountered; the warning light module emits flickering light for alarming of magnetic field detection.
The Bluetooth module adopts a Bluetooth technology, Bluetooth data exchange is carried out between the Bluetooth module and the core processor through a serial port, and the intelligent vehicle is remotely and wirelessly controlled.
The GPS positioning module is used for installing a GPS signal receiving device on the intelligent vehicle, processing the signal by the core processor, displaying the geographic coordinate and the altitude of the position of the intelligent vehicle by using the Liquid Crystal Display (LCD), and remotely monitoring the intelligent vehicle.
The multi-degree-of-freedom bionic mechanical arm is provided with a mechanical system and a control system, the mechanical system comprises an executing mechanism and a transmission system, the executing mechanism comprises a mechanical arm and a mechanical arm, the mechanical arm mainly comprises a lifting shaft 13.1 and an extending shaft 13.2, the mechanical arm mainly comprises an inclined shaft 13.3, a rotating shaft 13.4 and a grabbing shaft 13.5, the executing mechanism further comprises a guide screw 13.6, a gear 13.7 and a clamping jaw 13.8, and the mechanical arm realizes the extending and lifting actions of the mechanical arm; the manipulator realizes the horizontal rotation of the manipulator, the vertical inclination of the clamping jaw and the grabbing and loosening actions of the clamping jaw; the transmission system mainly comprises a stepping motor, a direct current motor, a stepping motor driver, an encoder and a light sensor 13.12.
The arm lifting shaft, the arm stretching shaft, the manipulator rotating shaft and the clamping jaw tilting shaft are controlled by a stepping motor 13.9 and are completed by corresponding stepping motor driver circuits; the direct current motor 13.10 is used for the grabbing shaft, the direct current motor is provided with a feedback device, a rotary encoder is used for position feedback, and when the object is grabbed and stops, the programmable logic controller is used for controlling the relay to perform forward rotation, reverse rotation and emergency stop control on the direct current motor of the grabbing shaft; and positioning the mechanical origin using a photoelectric sensor.
The control system consists of a single chip microcomputer, a camera, a wireless data transmission module, a gyroscope module, a posture sensor, a wireless steering engine 13.11 and a wireless signal receiver; data collected by a gyroscope module are sent to a single chip microcomputer for processing, the steering of an X-axis wireless steering engine, a Y-axis wireless steering engine and a Z-axis wireless steering engine is controlled by a PID algorithm, an upper computer sends a control instruction by using serial interruption, and the single chip microcomputer sends a PWM signal by using timing interruption to control the rotation of the wireless steering engine, so that the camera rotates 180 degrees in the horizontal direction; the camera sends the data of gathering to the PC terminal through wireless data transmission module, and the singlechip passes through the body state sensor control arm and manipulator concerted action.
The working principle is as follows:
the core processing single chip microcomputer is an STC11F32XE chip and is provided with three timers which are respectively T0、T1And T2Two interrupt sources, a serial port, a 32-bit IO port and 8k memory. By pairsThe main control unit program is set to realize effective control of each module, the motor drive is controlled through the output of high and low levels, and each sensor detects analog signals, converts the analog signals into digital signals and transmits the digital signals to the single chip microcomputer for processing, so that corresponding actions are made.
The driving circuit module adopts an L298N chip to drive the circuit, the working voltage ratio is high, and the highest working voltage can reach 46V; the output current is large, the instantaneous peak current can reach 3A, and the continuous working current is 2A; the high-voltage large-current full-bridge driver with two H bridges is used for driving a direct-current motor and a stepping motor; and the standard TTL logic level is adopted for control, and the device is controlled to work by controlling the enabling end under the condition of not being influenced by an input signal.
The obstacle avoidance module adopts an LM393 infrared sensor module, when the transmitting tube irradiates in front and no obstacle exists in the front, the receiving tube cannot receive infrared light, and the resistance value of the receiving tube is extremely large; when an obstacle exists in front of the receiving tube, more infrared rays are reflected, and the resistance of the receiving tube is smaller; through the change of the resistance value of the receiving tube, the input voltage is changed, the LM393 comparator is adopted to convert the analog voltage signal into a high-low digital level signal, the signal is input into the single chip microcomputer through the IO port, and the driving circuit is controlled to make corresponding action according to the signal, so that the obstacle avoidance function is completed.
In the aspect of distance measurement technology, ultrasonic distance measurement is adopted, and after a control port trig sends out a high level of more than 10us, the high level output is waited at a receiving port. If high level output exists, the timer is started to time, when the receiving port is changed into low level, the value of the timer can be read, the distance measuring time is the time of the distance measuring, and the measured distance can be obtained according to a distance calculation formula. The value of the movement measurement can be achieved by such continuous periodic round trip measurement.
The LCD12864 is a commonly used graphic liquid crystal display module, which can display 128 dots in the horizontal direction and 64 dots in the vertical direction, and adopts two control modes of parallel or serial with an external CPU interface. The flexible interface mode and simple and convenient operation instruction of the module can form a full Chinese man-machine interaction graphical interface. Chinese characters and graphics of 8 × 4 rows and 16 × 16 lattices can be displayed.
The method comprises the steps that a Bluetooth technology is adopted to remotely and wirelessly control the intelligent vehicle, firstly, functions of all keys are set, upper computer software of a mobile phone is started, and after the mobile phone is successfully connected with Bluetooth, corresponding responses are made according to key commands received by a pressed key trolley, namely, the trolley is remotely controlled to move; the Bluetooth data is exchanged with the single chip microcomputer through a serial port, a GPS signal receiving device is installed on the trolley, the geographic coordinate and the altitude of the position of the trolley are displayed by the liquid crystal through the processing of the single chip microcomputer, and a foundation is laid for intelligent movement and remote monitoring of the intelligent vehicle.
The mechanical arm is subjected to modular design and is divided into a mechanical arm and a mechanical arm, and the mechanical arm realizes the extension and lifting actions of the arm; the manipulator realizes the horizontal rotation of the manipulator, the vertical inclination of the clamping jaw and the grabbing and loosening actions of the clamping jaw.
The control system of the mechanical arm is designed by taking the mechanical arm as a control object, and the physical state remote sensing controller of the mechanical arm is designed by self, so that the synchronous function of the mechanical arm and the human arm is realized, and the control flexibility and the intelligence of the mechanical arm are enhanced. And meanwhile, the stepping motors of the arm extension shaft and the arm lifting shaft are positioned and controlled in a semi-closed loop mode, and PID control is adopted on a control algorithm.
The direct current motor provided with the photoelectric encoder is used, the encoder performs position feedback on the grabbing stroke of the clamping jaw, and when the object is grabbed and stops, the programmable logic controller is used for controlling the relay to perform forward rotation, reverse rotation and emergency stop control on the direct current motor of the grabbing shaft.
The control system uses a programmable logic controller and selects the type of a wireless steering engine, a stepping motor and a driver thereof and the programmable logic controller in the multi-degree-of-freedom mechanical arm.
The method is characterized in that:
1. adopt infrared technology to realize the automation of dolly and keep away barrier function and can carry out the audio alert of road condition, adopt ultrasonic technology to realize the range finding function of dolly to use LCD to show the measuring distance, adopt bluetooth technique to use cell-phone PC host computer software control dolly, realize the remote control of dolly and robotic arm's controlling, the GPS module can show information such as dolly position and altitude.
2. A multi-degree-of-freedom bionic mechanical arm is developed, and the stretching, lifting, hand rotation, clamping jaw inclination and remote control of the grabbing operation of the multi-degree-of-freedom mechanical arm are realized by utilizing a self-made posture sensor. Aiming at the problems of accurate positioning of the tail end of the mechanical arm and inhibition of shaking of the mechanical arm with the characteristics of nonlinearity, strong coupling, high speed, high acceleration and the like, an improved active disturbance rejection control solution is provided, the contradiction between quick response and overshoot existing in the operation of the mechanical arm is solved, and the dynamic response performance of the system is improved.
3. Based on the detection vehicle, various electronic sensors are installed to realize the measurement of physical parameters of the detection space environment, and when the detection vehicle encounters a position with larger physical parameters, the trolley can realize automatic alarm. The multi-degree-of-freedom bionic mechanical arm which is designed in a matched mode and can be controlled remotely can finish complex and fine actions, and the functions of removing obstacles in the detection environment and collecting field specimens are achieved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.
Claims (4)
1. The utility model provides an intelligent car of field survey based on bionical robotic arm of multi freedom which characterized by: the intelligent vehicle comprises a mobile platform (14) and a multi-degree-of-freedom bionic mechanical arm (13) which is carried on the mobile platform, an intelligent vehicle control system which is arranged on the mobile platform comprises a core processor (1), a driving circuit module (2), a planet driving module (3), an obstacle avoidance module (4), an ultrasonic module (10), a mechanical arm module (5), an LCD display (8) and a voice broadcast (9), and further comprises a Bluetooth module (6), a GPS (global positioning system) module (7) and a posture sensor, and an omnibearing PC (personal computer) upper computer monitoring system is carried on the intelligent vehicle at the same time, and the posture sensor is used as a field environment monitoring sensor (11), is transmitted to the core processor through signal amplification and A/D (12) conversion and is combined with the bionic mechanical arm control, so that the environment monitoring and field search and rescue coordination of;
the core processor is an STC11F32XE chip;
the driving circuit module controls a driving wheel (14.2) on the mobile platform to rotate by adopting an L298N chip to drive a driving belt (14.1) to roll, so that the intelligent vehicle moves;
the obstacle avoidance module adopts an LM393 infrared sensor module;
the ultrasonic module adopts an ultrasonic ranging function;
the LCD adopts an LCD12864 as a display screen;
the voice broadcasting module is mainly applied to starting voice broadcasting and broadcasting road obstacles after obstacles are encountered; the warning lamp module emits flickering light for alarming of magnetic field detection;
the Bluetooth module adopts the Bluetooth technology to remotely and wirelessly control the intelligent vehicle;
the GPS positioning module is used for installing a GPS signal receiving device on the intelligent vehicle and remotely monitoring the intelligent vehicle.
2. The field detection intelligent vehicle based on the multi-degree-of-freedom bionic mechanical arm as claimed in claim 1, is characterized in that: the multi-degree-of-freedom bionic mechanical arm is provided with a mechanical system and a control system, the mechanical system comprises an executing mechanism and a transmission system, the executing mechanism comprises a mechanical arm and a mechanical arm, the mechanical arm mainly comprises a lifting shaft (13.1) and an extending shaft (13.2), the mechanical arm mainly comprises an inclined shaft (13.3), a rotating shaft (13.4) and a grabbing shaft (13.5), and the executing mechanism further comprises a guide screw (13.6), a gear (13.7) and a clamping jaw (13.8); the transmission system mainly comprises a stepping motor, a direct current motor, a stepping motor driver, an encoder and a light sensor (13.12).
3. The field detection intelligent vehicle based on the multi-degree-of-freedom bionic mechanical arm as claimed in claim 2, is characterized in that: the arm lifting shaft, the arm stretching shaft, the manipulator rotating shaft and the clamping jaw tilting shaft are controlled by a stepping motor (13.9); the grabbing shaft adopts a direct current motor (13.10) which is provided with a feedback device.
4. The field detection intelligent vehicle based on the multi-degree-of-freedom bionic mechanical arm as claimed in claim 2, is characterized in that: the control system is composed of a single chip microcomputer, a camera, a wireless data transmission module, a gyroscope module, a posture sensor, a wireless steering engine (13.11) and a wireless signal receiver.
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| CN201922400952.3U CN211468615U (en) | 2019-12-27 | 2019-12-27 | On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm |
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| CN201922400952.3U CN211468615U (en) | 2019-12-27 | 2019-12-27 | On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486166A (en) * | 2020-11-05 | 2021-03-12 | 上海电机学院 | Control system for intelligent detection vehicle |
| CN112946690A (en) * | 2021-02-03 | 2021-06-11 | 中国计量大学 | Bluetooth-based GPS mobile robot positioning system |
| WO2022190003A1 (en) * | 2021-03-09 | 2022-09-15 | Pannala Suma Gouri | Radar sensor-based bio-inspired autonomous mobile robot using ble location tracking for disaster rescue |
| CN115919357A (en) * | 2022-12-13 | 2023-04-07 | 广东工业大学 | Multifunctional high-precision posture detection equipment and detection method thereof |
-
2019
- 2019-12-27 CN CN201922400952.3U patent/CN211468615U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486166A (en) * | 2020-11-05 | 2021-03-12 | 上海电机学院 | Control system for intelligent detection vehicle |
| CN112946690A (en) * | 2021-02-03 | 2021-06-11 | 中国计量大学 | Bluetooth-based GPS mobile robot positioning system |
| WO2022190003A1 (en) * | 2021-03-09 | 2022-09-15 | Pannala Suma Gouri | Radar sensor-based bio-inspired autonomous mobile robot using ble location tracking for disaster rescue |
| CN115919357A (en) * | 2022-12-13 | 2023-04-07 | 广东工业大学 | Multifunctional high-precision posture detection equipment and detection method thereof |
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