CN104057837A - Light electrically-driven unmanned ground platform - Google Patents
Light electrically-driven unmanned ground platform Download PDFInfo
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Abstract
一种轻型电驱动无人地面平台，所述平台采用混合动力电驱动结构和关节式独立铰接悬挂系统，所述独立铰接悬挂系统包括摆臂机构和驱动轮，每个驱动轮采用一个轮毂牵引电机及轮毂牵引电机控制器驱动和控制，每条摆臂采用单独的摆臂直流电机及摆臂电机控制器控制。该平台可采用的驱动模式多样，根据不同的路面状况，可6×6，6×4，6×2驱动模式运动，该平台设置了特有的摆臂机构，平台底盘离地高度增加，越野能力增强，通过对摆臂电机和步进电机的控制，可使平台在一定范围内调整平台的位姿，也可使摆臂旋转0～360°。
A light-duty electric-driven unmanned ground platform, the platform adopts a hybrid electric drive structure and an articulated independent articulated suspension system, and the independent articulated suspension system includes a swing arm mechanism and driving wheels, and each driving wheel adopts a hub traction motor And hub traction motor controller drive and control, each swing arm is controlled by a separate swing arm DC motor and swing arm motor controller. The platform can adopt a variety of driving modes. According to different road conditions, it can move in 6×6, 6×4, and 6×2 driving modes. Enhanced, through the control of the swing arm motor and stepper motor, the platform can adjust the pose of the platform within a certain range, and the swing arm can also be rotated from 0 to 360°.
Description
Technical field
The invention belongs to robot apparatus technical field, be specifically related to a kind of unmanned ground surface platform of light-duty electric drive with artificial intelligence.
Background technology
Along with scientific and technological sustainable development, under the common promotion of the new and high technologies such as new material technology, new energy technology, information and automatic technology, mankind's war is continued deeply, to have presented as the weaponry of future war material base the new trend developing rapidly to unmanned to information-based military change by mechanization.Unmanned weaponry can be with the cost of " people is not stinted ", to the region of " people unlikely ", complete the hot mission of " people can not ", its huge war usefulness makes demand and the research enthusiasm of each military power of the world to unmanned weaponry high, has emerged with the artificially diversified unmanned optimal in structure of outstanding representative of unmanned plane, unmanned submersible, ground machine.Unmanned ground surface platform is along with the progress of technology and the demand of ever-increasing minimizing personal casualty produce.Aspect Military Application, unmanned ground surface platform can complete the hot missions such as scouting, the removal of mines for people, can be used for protection, search, the discovery invader in military warehouse, also can be used for the ammunition portable of following of supplementing, camping knapsack and medical assembly that infantry teams and groups of ground force fight; Aspect civilian, unmanned ground surface platform can complete the work that mankind itself has been difficult for or can not complete, improve people's quality of life, reduce paying of manpower, not only in the industries such as industry, agricultural, medical treatment, service, be widely used, and be harmful to dangerous situation and well applied in urban safety, space exploration field etc.In view of man-machine combination advantage and the huge applications prospect in the fields such as military and civilian thereof of unmanned ground surface platform, the research of unmanned ground surface platform has actual application value just.
Unmanned ground surface platform is called again Unmanned Ground Vehicle, it is an important development direction of robot, refer to unpiloted, rely on self autonomous navigation or remote manipulation running, load various measuring instruments or armament systems, the automatic land vehicle of the various tasks such as investigation, attack of can independently carrying out.According to the weight of unmanned ground surface platform, can be divided into small-sized, light-duty, medium-sized, heavy, large-scale five kinds; Press the type of traveling gear, can be divided into wheeled, crawler type, wheel-track combined three kinds.In the field of study, the research direction of unmanned ground surface platform mainly comprises: Fusion, environmental modeling, navigator fix, path planning, radio communication, the research of the technology such as motion control.The research of above-mentioned theory is needed to the experiment porch of an opening, platform by experiment, realize checking to above-mentioned theory, so develop aly taking industry and Military Application as background, the unmanned ground surface platform that is easy to user's secondary development just seems particularly important.
The unmanned ground surface platform of electric drive adopts motor to drive platform to travel, and its gordian technique comprising has: navigator fix, keep away barrier, radio communication, platform motion control, static Trajectory Tracking Control, dynamic target tracking control, platform driving safety control etc.
Researchist of the present invention is to the analysis of investigating of domestic existing all kinds of unmanned ground surface platform and correlation technique thereof, find that at present domestic is mainly to concentrate on miniature mobile robot to the research of unmanned ground surface platform, mostly be applied to teaching and commerce services, the serial electric drive configuration that does not have a employing to drive with 6 wheel hub traction electric machines, collection Remote, path planning, static track following and dynamic target tracking are in the light-duty unmanned ground surface platform of one.
The patent " Intelligent autonomous wheel type mobile robot " (publication number: CN 1513645) of Institute of Automation Research of CAS's invention discloses a kind of wheeled autonomous mobile robot, as shown in Figure 1, it comprises: camera, for robot provides its extraneous information of place environment; Industrial computer, communicates with motor driving/controller, ultrasonic ring, infrared ring respectively by CAN bus.Robot of the present invention can carry out automatic obstacle avoiding according to sonac, infrared pickoff and vision sensor, utilize vision sensor to carry out dynamic target tracking, target signature identification.The principal character of this robot is that described kinematic mechanism profile is positive 16 prismatic, and described kinematic mechanism comprises: two servo drive wheels that are integrated with DC brushless motor and photo electric axis coder have been installed in the left and right sides, robot chassis; In the both sides, front and back on chassis, on the midperpendicalar of two drive wheel axis, a balance wheel is respectively installed; DC servo motor for leading is installed on balance wheel.In addition, this robot also has voice human-computer interaction function.Monitor staff can directly carry out voice control to robot by wireless Mike.Simultaneously, robot can carry out alternately, greet each other and introduce myself with people.But there is following defect in this mobile robot: 1, it does not possess hybrid power electric drive structure, the pure storage battery power supply of power acquisition, flying power is limited; 2, it can only low-speed motion, does not also possess the adjustment function of the cross-country ability in field and car body pose, and crossing ability is poor; 3, it belongs to miniature mobile robot, can only be used for teaching and commercial use, can not meet military affairs and technical application.
Summary of the invention
In order to solve the existing above-mentioned defect of intelligent mobile robot of the prior art, the present invention is intended to design the unmanned ground surface platform of a 6 × 6 light-duty electric drive, can travel at cross-country road, meets military affairs and industrial requirement.The present invention aims to provide a kind of for the 6x6 tandem hybrid electric drive system scheme evaluation experiment porch that technical study is built with many wheel independent electric drives.This platform not only can meet teaching and business application, also can meet military affairs and technical application.And turn to efficiency low for skid steer platform, and turn to the problem that power consumption is large, design a kind of oscillating arm mechanisms of capable of regulating platform stance, effectively promote the platform that turns to efficiency, conserve energy.
The invention provides the unmanned ground surface platform of a kind of light-duty electric drive, described platform adopts hybrid power electric drive structure, it comprises power drive system, traveling gear, control system, sensing system, and wireless communication system, it is characterized in that, the traveling gear of the unmanned ground surface platform of described electric drive adopts the independent hinged suspension of articulated type, the hinged suspension of described independence comprises oscillating arm mechanisms and drive wheel, each drive wheel adopts a wheel hub traction electric machine and wheel hub traction motor controller drive and control, every swing arm adopts independent swing arm DC machine and swing arm motor controller controls.
Described power drive system is serial electric drive configuration, generated electricity by the moving electrical generator of engine direct tape splicing, the alternating current that electrical generator produces is applied to respectively on wheel hub traction electric machine and swing arm electric machine controller after conversion, described traction electric machine drives platform motion by retarder, and described swing arm electric machine controller carries out action control to swing arm.
The oscillating arm mechanisms of the hinged suspension of described independence comprises spring 51, connecting rod A52, rotary connection axle A53, permanent seat A54, rotary connection axle B55, motor screw mandrel 56, DC machine 57, firm banking B58, gear A 60, stepping motor 61, swing arm 63, gear B 64, rotary connection axle C65, connecting rod B66, connecting rod C67, described DC machine 57 one end are fixed on vehicle frame 59 by firm banking B58, the other end connects with connecting rod C67 by motor leading screw 56, connecting rod C67 connects by rotation coupling spindle A53 with connecting rod A52, and be fixed on vehicle frame 59 by firm banking A54, connecting rod A52 and connecting rod B66 are connected by spring 51, connecting rod B66 is connected in swing arm 63 by rotation coupling spindle C65.Gear B 64 has also been installed in one end of the rotation coupling spindle C63 of described oscillating arm mechanisms, vehicle frame 59 inner sides in the unmanned ground surface platform of described electric drive are provided with stepping motor 61, and at the axle head of stepping motor 61, gear A 60 is installed, when gear A 60 engages with gear B 64, when rotary connection axle C65 and connecting rod B66 discharge, by the motion of control step motor 61, can make swing arm 63 rotate 0～360 °.
The hybrid power electric drive structure of described platform is 6 × 6 hybrid power electric drive structures, and the steering mode of described platform is skid steer.Adopt 6 wheel hub traction electric machine individual drive structures, take turns compared with individual drive structure with 4; Platform stability of motion improves, tractive force increases, and motion pitch angle reduces.
Described wheel hub traction electric machine is outer rotor AC permanent magnet synchronous motor, and described wheel hub traction electric machine is separately installed with magnetic clutch and Hall element.
Described control system comprises the general controller I of motion control that is responsible for described unmanned ground surface platform, and be responsible for described unmanned ground surface platform path planning, keep away the collection of barrier, static Trajectory Tracking Control, dynamic target tracking and platform status information, the controller II of Presentation Function.
The sensing system of described unmanned ground surface platform is made up of LMS291-S05 laser radar, GPS/ work NS, camera, acoustic pickup.Described wireless communication system comprises the data radio station for sending platform movement instruction, and in real time the visual information of platform, acoustic information, platform status information is sent to platform to accuse that the figure of terminal passes voice radio station by wireless link.
The unmanned ground surface platform of electric drive of the present invention is compared with existing unmanned ground surface platform, tool has the following advantages: 1, the unmanned ground surface platform of electric drive of the present invention adopts tandem hybrid electric drive system scheme and takes turns independent electric drive technology more, especially 6 take turns wheel hub motor individual drive structure, take turns compared with individual drive structure with 4, platform stability of motion improves, tractive force increases, and motion pitch angle reduces; And the adoptable drive pattern of this platform is various, according to different condition of road surfaces, can move by 6 × 6,6 × 4,6 × 2 drive patterns; 2, this unmanned ground surface platform is provided with distinctive oscillating arm mechanisms, platform chassis terrain clearance increases, cross country power strengthens, by the control to swing arm motor and stepping motor, can make platform adjust within the specific limits the pose of platform, also can make 0～360 ° of swing arm rotation, by adjusting swing arm, can improve the efficiency that turns to skid steer function platform, save energy, improve the ability of across obstacle; 3, this platform steer mode is various, can long-distance wireless remote control, autonomous cruise, people drive, and facilitates different purposes.
Brief description of the drawings
Fig. 1: the structural representation of the Intelligent autonomous wheel type mobile robot of prior art;
Fig. 2: the structure birds-eye view of the unmanned ground surface platform of light-duty electric drive of the present invention;
Fig. 3: the structure side view of the unmanned ground surface platform of light-duty electric drive of the present invention;
Fig. 4: the swing arm structure schematic diagram of the unmanned ground surface platform of light-duty electric drive of the present invention;
Fig. 5: the control system constructional drawing of the unmanned ground surface platform of light-duty electric drive of the present invention.
Reference numeral: 1-acoustic pickup, 2-figure passes voice radio station, 3-front car light, 4-magnetic clutch, 5-drive wheel, 6-wheel hub traction electric machine, 7-swing arm, 8-motor/generator controller, 9-S. A., 10-swing arm electric machine controller, 11-wheel hub traction motor controller, 12-swing arm DC machine, 13-spring, car light after 14-, 15-controller II, 16-220V/50Hz delivery port, 17-380V/50Hz delivery port, 18-handle interface, 19-rearview camera, 20-48V delivery port, 21-24V delivery port, 22-GPS aft antenna, 23-controller I, 24-GPS/INS, 25-electrokinetic cell, 26-power management case, 27-motor/generator group, 28-data radio station, antenna before 29-GPS, 30-radar, 31-forward sight camera,
Camera before camera, 46-swing arm, 47-drive wheel, 48-rotary laser radar aware platform, 49-after 41-pitching type laser radar aware platform, the front antenna of 42-GPS, 43-mission payload module, 44-GPS aft antenna, 45-;
51-spring, 52-connecting rod A, 53-rotary connection axle A, 54-firm banking A, 55-rotary connection axle B, 56-motor leading screw, 57-DC machine, 58-firm banking B, 59-vehicle frame, 60-gear A, 61-stepping motor, 62-drive wheel, 63-swing arm, 64-gear B, 65-rotary connection axle C, 66-connecting rod B, 67-connecting rod C.
Detailed description of the invention
As shown in Figure 2,3, as shown in Figure 5, the concrete structure of oscillating arm mechanisms as shown in Figure 4 for control system structure for the structure of the unmanned ground surface platform of light-duty electric drive of the present invention.The unmanned ground surface platform of described electric drive adopts hybrid power electric drive structure, and it comprises power drive system, traveling gear, control system, sensing system and wireless communication system.In the present embodiment, described platform conventionally adopts 6 × 6 hybrid power electric drive structures, and steering mode is skid steer, can 360 ° of zero turn radius, also radius turns to arbitrarily, adopt the independent hinged suspension of articulated type, adopt-individual wheel hub traction electric machine of each wheel drives, and every swing arm adopts independent DC MOTOR CONTROL, capable of regulating platform stance, whole platform signalling methods adopts RS232 and CAN bus, adopts modular design, is easy to dismounting, maintenance.This platform has three kinds of steer mode, remote control mode, and manipulation personnel are by accusing terminal, remote real_time control platform moves; Autonomous cruise pattern, operating personal is set path of motion and attitude, and platform completes this task automatically; Vehicle-mounted handle steer mode, on platform, reserved handle socket, in the time inserting handle, can realize people and drive.Manipulation personnel are by accusing the control of terminal, remote-controlled start and stop oil machine group, the switch of remote control control car light, the powering on of remote control control various device; Also can control platform and realize the switching of different driving pattern (6 × 6,6 × 4,6 × 2), meet the demand of different road surfaces operating mode, when one or two electrical faults, platform still can drive and travel; Platform can be powered and quietly be travelled, investigates by electrokinetic cell, also can jointly be travelled for electric drive platform by motor/generator and electrokinetic cell, meets the large demand of field cross-country road tractive force; In addition this platform also has abundant power supply interface, can externally provide AC220V, AC380V, and DC48V, DC24V, the power supply of the different systems such as DC12V, can meet power supply and the guarantee of common apparatus.
For structure and the control system structure of more detailed this platform of explanation, illustrate respectively from following module below.
Power drive system
This platform drive system adopts tandem 6 × 6 electric drive structures that are simply easy to realization, send three plase alternating current by the moving electrical generator of engine direct tape splicing, three plase alternating current becomes galvanic current after power management case, and be power battery pack charging simultaneously, DC bus-bar voltage becomes three plase alternating current through inversion on the one hand and is applied on six wheel hub traction electric machines, traction electric machine is connected with retarder, moves by retarder deceleration rear drive platform; Be applied directly on the other hand on swing arm electric machine controller, the polarity of voltage that is applied to swing arm motor by swing arm motor controller controls switches, and completes the action control of swing arm.
Oscillating arm mechanisms
Oscillating arm mechanisms adopts the combined structure of DC machine (57) and spring (51), concrete structure as shown in Figure 4, DC machine (57) one end is fixed on vehicle frame (59) by firm banking B (58), the other end connects with connecting rod C (67) by motor leading screw (56), connecting rod C (67) connects by rotation coupling spindle A (53) with connecting rod A (52), and be fixed on vehicle frame (59) by firm banking A (54), connecting rod A (52) and connecting rod B (66) are connected by spring (51), connecting rod B (66) is connected to swing arm (63) by rotation coupling spindle C (65).In the time that DC machine quits work, motor is in locking state, and spring (51) plays the effect of suspension, and while ensureing platform by uneven road surface, drive wheel (62) remains that with concavo-convex road surface good contacting makes the motion of platform pulsation-free; In the time that DC machine (57) is passed through positive voltage, DC machine leading screw (56) starts to stretch out, now swing arm (63) is shunk, until arrive the position needing, power-off, DC machine (57) is automatically locked, and swing arm (63) returns to the effect of suspension; In the time that DC machine (57) is passed through negative voltage, DC machine leading screw (56) starts to shrink, until arrive the position needing, power-off, DC machine is automatically locked, and swing arm (63) returns to the effect of suspension.Excessive in order to prevent from adjusting, in swing arm (63), increase limit switch, when limit switch is done the used time, DC machine (57) power-off, be automatically locked.For the ease of platform feature expansion and the larger obstacle of leap, also design the another one action of swing arm, as shown in Figure 4, gear B (64) has been installed in rotation coupling spindle C (65) one end, in platform vehicle frame (59) inner side, stepping motor (61) is installed, and at stepping motor (61) axle head, gear A (60) is installed, when gear A (60) engages with gear B (64), when rotary connection axle C (65) discharges with connecting rod B (66), by the motion of control step motor (61), can make 0～360 ° of swing arm (63) rotation.Every swing arm (63) of platform can be independent adjustment, by the coordination adjustment of six swing arms (63), can change the pose of platform.For instance, when platform one side-sway arm shrinks, when opposite side swing arm is stretched out, can change the angle of roll of platform, use this oscillating arm mechanisms, will greatly increase the efficiency that turns to skid steer function platform, improve the cross country power of platform.
Controller I
Controller I is general controller, DC48V power supply, adopt DSP (digital signal processor) to build, general controller is mainly responsible for the motion control of platform, it receives the control command (as information such as oil machine group on off control, video switch, car light control, swing arm motor positive and inverse switching controls, Fan Control, sudden stop orders) of motion command, mode of motion and other mobile units of accusing terminal by serial ports, control the motion of platform, as remote control mode, autonomous cruise pattern, vehicle-mounted handle master mode; General controller has two-way CAN interface, the information interaction with controller I is realized on one tunnel, the information interaction of one tunnel realization and drive motor controller, DC motor controller, motor/generator group controller, mission payload module etc. is the maincenter part of whole platform electric-control system.General controller is also reserved with multi-channel A/D Sampling Interface and multichannel I/O mouth, is the later Function Extension spare interface of platform.
Controller II
Controller II adopts industrial control computer, DC24V power supply, the main path planning of being responsible for platform, keep away the function such as collection, demonstration of barrier, static Trajectory Tracking Control, dynamic target tracking and platform status information, this industrial computer You Si road serial ports, a road CAN mouth, three road USB mouths.Serial ports 1 receives GPS/INS data, completes navigation, the location of platform, the measurement of platform stance etc.If platform longitudinal velocity, cross velocity, sky are to information such as speed, platform pitch angle, the angle of roll, yaw angles; Serial ports 2,3 receives the data of laser radar, completes scanning, the identification of platform front obstacle, keeps away barrier information is provided for platform.Two-way USB mouth is distinguished the vision signal of receiving platform forward sight and rearview camera, and completes the switching of two-path video signal, ensures to accuse terminal You Yi road video demonstration all the time.Controller II analyzes the various input data by sensory perceptual systems such as vision, laser radar, GPS/INS in real time, by the data fusion of multisensor, obtains reflecting the information of pose, state of kinematic motion and the front road conditions of platform.Serial ports 4 connects wireless data transmission module, in real time for accusing that terminal sends platform status information (platform speed, platform towards, electrokinetic cell electric weight, the information such as platform geographic coordinates, electrical fault code); CAN communication interface is connected with controller I, realizes the information interaction (track following data, battery electric quantity etc.) of controller I and controller II.
Platform CAN bus system
Whole platform has two CAN bus network, CAN bus network I and CAN bus network II, CAN bus network I adopts baud rate 500Kbps, complete the information interaction of controller I and controller II, the flow of information in CAN bus network I comprises related data, the status data of traction electric machine etc. of accusing terminal various command, path planning and the tracking of sending.CAN bus network II adopts the conventional baud rate 250Kbps of electronlmobil, completes the information interaction of general controller and six traction motor controllers, the control of swing arm DC machine, the control of motor/generator group controller.
Traction electric machine and controller
Traction electric machine is selected outer rotor AC permanent magnet synchronous motor, Hall element and magnetic clutch have been installed, Hall element is connected with electric machine controller respectively with magnetic clutch, AC permanent magnet synchronous motor adopts rotor flux-orientation vector control strategy, electric machine controller adopts moment of torsion closed loop control, adopt MOSFET power device, electric machine controller is provided with digital speed-control interface (CAN mouth) and simulation speed governing interface, electric machine controller can Real-time Collection motor status data and DC bus-bar voltage, as electric machine phase current, rotating speed, temperature, electrical fault code is as over current of motor, encoder fault, magnetic clutch fault, CAN line goes offline or short trouble etc., and can send to general controller by the mode of CAN bus, realize the real-time monitoring to motor status.
Sensing system
Platform sensing system is by two LMS291-S05 laser radars, a GPS/INS, two cameras, an acoustic pickup composition, because selected laser radar is single line laser radar, three-dimensional environment perception that can not implementation platform front obstacle, at this, adopt a pitching type laser radar aware platform and a rotary laser radar aware platform, pitching type laser radar is arranged on position directly over platform headstock, rotary laser radar is arranged on platform headstock dead ahead middle position, there is the radar scanning of stepping motor driving laser, can complete the three-dimensional environment perception of obstacle by the fusion of two Laser Radar Scanning data, the built-in MEMS gyro of GPS/INS, mems accelerometer, two GPS and miles counter interface, positioning precision are Centimeter Level, mainly complete navigation locating function and the platform pose measurement function of platform, platform is provided with two cameras, one is arranged on headstock, one is arranged on the tailstock, camera adopts 180 ° of wide-angles, infrared night vision, high definition, camera, in the time of the installation of camera, adopt a principle: camera is arranged on the axis of platform front and back, from video, can see that a fraction of position in headstock both sides and tailstock both sides is as the criterion, the object of installing is like this in platform motion process, can estimate the environmental information in headstock dead ahead and tailstock dead aft, platform can real-time judge in the time of remote driving and the distance of obstacle, acoustic pickup is used for monitoring platform ambient sound information, the audio detection function of implementation platform.
Wireless communication system
For implementation platform with manipulation personnel information realtime interactive, for platform construction wireless communication system, wireless communication system mainly comprises: data radio station, figure pass voice radio station.Send the movement instruction of platform by data radio station, realize the motion control to platform, as advance, retreat, the order such as turning, zero turn radius, pass voice radio station by figure, platform can send to the visual information of platform, platform status information platform to accuse terminal by wireless link in real time, also can bidirectional transmission audio-frequency information, for manipulation personnel's action provides guide, realize good man-machine interaction.
Power supply
Platform DC bus-bar voltage adopts 8 6V, the electrokinetic cell that capacity the is 250Ah 48VDC obtaining that connects provides, 48V DC bus-bar voltage becomes 24V/12V voltage by DC/DC changer, the operating voltage of industrial computer and laser radar is 24V, and GPS/INS, camera, image transmitting radio station, voice transfer radio station, data transmission radio station operating voltage are 12V.
The control of platform driving safety
For the unpiloted feature of platform, the safety movement of platform is designed, mainly comprise following some: each traction electric machine is provided with magnetic clutch, can the braking during standstill of implementation platform and the braking of the emergency state; In the time of radio communication et out of order, platform stops rapidly, and in the time of CAN network et out of order, platform stops rapidly.
Known by foregoing description, the unmanned ground surface platform of electric drive of the present invention adopts 6 to take turns wheel hub motor individual drive structure, takes turns compared with individual drive structure with 4; Platform stability of motion improves, tractive force increases, and motion pitch angle reduces; And the adoptable drive pattern of this platform is various, according to different condition of road surfaces, can move by 6 × 6,6 × 4,6 × 2 drive patterns; This platform is provided with distinctive oscillating arm mechanisms, and platform chassis terrain clearance increases, and cross country power strengthens, and by the control to swing arm motor and stepping motor, can make platform adjust within the specific limits the pose of platform, also can make 0～360 ° of swing arm rotation.By adjusting swing arm, can improve the efficiency that turns to skid steer function platform, save energy, improve the ability of across obstacle; This platform steer mode is various, can long-distance wireless remote control, autonomous cruise, people drive, and facilitates different purposes.
Although the present invention is described with reference to multiple embodiment; but the present invention is not limited to above-described embodiment; the various obvious modifications and variations of carrying out are to be understood that those skilled in the art can carry out the suitable new embodiment that is combined to form to the parts that relate in above-described embodiment, within all should fall into protection scope of the present invention on the basis that does not depart from the principle of the invention.
Claims (9)
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| CN201310092103.0A CN104057837A (en) | 2013-03-22 | 2013-03-22 | Light electrically-driven unmanned ground platform |
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| CN105699985A (en) * | 2016-03-23 | 2016-06-22 | 北京信息科技大学 | Single-line laser radar device |
| CN106655435A (en) * | 2016-12-12 | 2017-05-10 | 成都育芽科技有限公司 | Robot wireless charging apparatus |
| CN107659329A (en) * | 2017-09-30 | 2018-02-02 | 浙江广和电器有限公司产品研发中心 | A kind of electrical remote control vehicle with monitoring function |
| CN108128351A (en) * | 2018-02-02 | 2018-06-08 | 河北农业大学 | GPS navigation type electric multifunctional chassis |
| CN108215692A (en) * | 2017-11-29 | 2018-06-29 | 香港中文大学（深圳） | The method of the suspension of automatic guide vehicle and determining suspension parameter |
| CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
| CN110770053A (en) * | 2018-12-21 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Vehicle and lifting device thereof |
| CN110940997A (en) * | 2019-11-20 | 2020-03-31 | 北京踏歌智行科技有限公司 | Laser radar system for unmanned vehicle |
| CN115503828A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
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| CN105699985A (en) * | 2016-03-23 | 2016-06-22 | 北京信息科技大学 | Single-line laser radar device |
| CN106655435A (en) * | 2016-12-12 | 2017-05-10 | 成都育芽科技有限公司 | Robot wireless charging apparatus |
| CN107659329A (en) * | 2017-09-30 | 2018-02-02 | 浙江广和电器有限公司产品研发中心 | A kind of electrical remote control vehicle with monitoring function |
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| CN110770053B (en) * | 2018-12-21 | 2021-10-15 | 深圳市大疆创新科技有限公司 | Vehicle and lifting device thereof |
| CN110940997A (en) * | 2019-11-20 | 2020-03-31 | 北京踏歌智行科技有限公司 | Laser radar system for unmanned vehicle |
| CN115503828A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
| CN116255864A (en) * | 2023-03-29 | 2023-06-13 | 湖北航天技术研究院总体设计所 | A deformable unmanned combat platform |
| CN116255864B (en) * | 2023-03-29 | 2025-06-06 | 湖北航天技术研究院总体设计所 | A deformable unmanned combat platform |
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