CN211911502U - TOF module testing tool for sweeping robot - Google Patents
TOF module testing tool for sweeping robot Download PDFInfo
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- CN211911502U CN211911502U CN202020006945.5U CN202020006945U CN211911502U CN 211911502 U CN211911502 U CN 211911502U CN 202020006945 U CN202020006945 U CN 202020006945U CN 211911502 U CN211911502 U CN 211911502U
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- 238000010408 sweeping Methods 0.000 title claims abstract description 136
- 238000012360 testing method Methods 0.000 title claims abstract description 60
- 230000000087 stabilizing effect Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to a TOF module test fixture for sweeping floor robot belongs to the robot technical field of sweeping the floor for solve the present great problem of data deviation that the data that the robot obtained when testing TOF module and TOF module obtained in the in-service use of sweeping the floor. The utility model discloses a TOF module test fixture for sweeping floor robot, including assembly part and connecting piece, the assembly part is equipped with the assembly area that is used for assembling the TOF module, and the connecting piece can be installed on the robot of sweeping floor, and the TOF module is located the side of the robot of sweeping floor after installing the assembly area. The utility model discloses an assembly part, connecting piece can be fixed a position the TOF module in the dead ahead of robot sweeping the floor, let the testing environment of TOF module more accord with the service environment of TOF module for the data that the TOF module was acquireed more press close to its data that acquire in the actual service environment, thereby improve the accuracy of data.
Description
Technical Field
The utility model relates to a robot technical field sweeps floor, especially relates to a TOF module test fixture for sweeping floor robot.
Background
At present, most sweeping robots are based on contact navigation of collision sensors, work paths of the sweeping robots are converted after collision occurs, cleaning coverage rate is low, and financial loss and danger are easily caused if the sweeping robots collide with fragile objects. Therefore, positioning and mapping are very important contents in the cleaning process of the sweeping robot.
The TOF (Time-Of-Flight) technique is an outstanding one Of many three-dimensional optical measurement techniques, and its basic principle is that light emitted from an active light source is reflected by an object to be measured and then captured by TOF equipment, and then the TOF equipment calculates the distance between the object to be measured according to the Time or phase difference between the light emitted from the active light source and the captured light, so as to generate depth information. The TOF module is a two-way ranging module, and its working principle is to continuously emit optical pulse signals to a target, and to receive the optical pulse signals reflected by the target, to measure the distance of the target by detecting the round-trip flight time of the optical pulse signals, and to output target distance data. The TOF module is regarded as the 3D module of making a video recording of a mainstream, receives more and more attention.
The TOF module is applied to the sweeping robot, so that the sweeping robot can avoid obstacles in the working process, the cleaning coverage rate of the sweeping robot is improved, and unnecessary collision is avoided.
When the robot of sweeping the floor that has the TOF module in the design, need through testing different kinds of TOF modules, confirm which kind of TOF module is applicable to the robot of sweeping the floor that is designing. Currently, when testing the TOF module, the TOF module is generally mounted on the top of a sweeping robot, so that front image data of the sweeping robot in the traveling process is acquired on the top of the sweeping robot. However, since the test position (the top of the sweeping robot) and the actual use position (the side wall of the sweeping robot) of the TOF module are deviated, the data obtained in the test process and the data obtained in the actual use process are also greatly deviated, which affects the use effect of the TOF module on the sweeping robot.
SUMMERY OF THE UTILITY MODEL
In view of the foregoing analysis, the utility model aims to provide a TOF module test fixture for sweeping floor robot for solve the great problem of data deviation that the data that the robot obtained when testing the TOF module and TOF module in-service use in the current of sweeping floor obtained.
The purpose of the utility model is mainly realized through the following technical scheme:
the utility model provides a TOF module test fixture for robot of sweeping floor, including assembly part and connecting piece, the assembly part is equipped with the assembly area that is used for assembling the TOF module, and the connecting piece can be installed on the robot of sweeping floor, and the TOF module is installed and is located the side of the robot of sweeping floor behind the assembly area.
Furthermore, the assembly part is positioned at one end of the connecting piece, and the connecting piece is detachably connected with the top of the sweeping robot;
the assembly part is located one side of the lateral wall of the sweeping robot and is parallel to the lateral wall of the sweeping robot.
Further, the fitting is disposed perpendicular to the connector.
Further, the distance between the assembling area and the side wall of the sweeping robot is larger than the thickness of the TOF module.
Further, the connecting piece passes through the regulating part and can dismantle to be fixed the top of robot of sweeping the floor, and the regulating part can adjust the connecting piece and sweep the distance between the robot.
Furthermore, the connecting piece is an L-shaped bracket and comprises a plane plate and a vertical plate which are vertical to each other;
the plane plate is detachably connected with the top of the sweeping robot;
the vertical plate is positioned on one side of the plane plate far away from the sweeping robot.
Furthermore, the assembly part is an L-shaped stand and comprises an assembly plate and a stabilizing plate which are perpendicular to each other;
the bottom of the assembling plate is provided with the assembling area;
the stabilizing plate is detachably connected with the vertical plate, and the position of the stabilizing plate on the vertical plate is adjustable.
Furthermore, a plurality of assembly parts are arranged on the connecting piece.
Furthermore, be equipped with two on the connecting piece the assembly part, two assembly parts are located the both ends of connecting piece respectively, and the assembly area of two assembly parts sets up relatively.
Further, the length of the connecting piece is larger than the diameter of the sweeping robot.
Compared with the prior art, the utility model discloses can realize one of following beneficial effect at least:
(1) the TOF module can be positioned right in front of the sweeping robot through the assembly part and the connecting part, so that the test environment of the TOF module is more consistent with the use environment of the TOF module, the data acquired by the TOF module is closer to the data acquired in the actual use environment, and the accuracy of the data is improved;
(2) the distance between the connecting piece and the sweeping robot is adjustable, so that the TOF module data at different heights can be tested, and the measured data are more comprehensive;
(3) the distance between the assembly area and the sweeping robot is larger than the thickness of the TOF module, so that the TOF module is prevented from colliding with the sweeping robot during testing, and the accuracy of the measured data is ensured;
(4) through respectively setting up an assembly part at the connecting piece both ends, can respectively assemble a TOF module in the dead ahead of robot and dead behind, can accurately obtain the dead ahead image data and the dead behind image data of robot of sweeping the floor simultaneously to furthest's the image data around the robot that obtains sweeping the floor more does benefit to the processing of later stage to image data.
The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.
Fig. 1 is a structural diagram of a TOF module inspection tool according to a first embodiment;
fig. 2 is a structural diagram of a TOF module of the TOF module detecting tool according to the first embodiment;
FIG. 3 is a diagram illustrating a TOF module inspecting tool according to a second embodiment;
FIG. 4 is a structural diagram of a TOF module of the TOF module detecting tool according to the second embodiment;
fig. 5 is a structural diagram of the TOF module detecting tool of the second embodiment, in which a TOF module is installed on the sweeping robot.
Reference numerals:
1-a fitting; 11-an assembly area; 111-a semicircular portion; 112-an extension; 12-a mounting plate; 13-a stabilizing plate; 2-a connector; 21-a planar plate; 22-a vertical plate; a 3-TOF module; 31-a detector;
4-sweeping robot.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of the invention, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
The utility model discloses usual working face can be plane or curved surface, can incline, also can the level. For convenience of explanation, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and thus "high and low" and "up and down" are defined.
Example one
The embodiment provides a TOF module test fixture (hereinafter referred to as test fixture) for a robot sweeping, as shown in fig. 1-2, the TOF module 3 for testing the robot sweeping is installed on the robot sweeping, the TOF module comprises an assembly part 1 and a connecting part 2, the assembly part 1 is connected with the connecting part 2, the assembly part 1 is provided with an assembly area 11 for assembling the TOF module 3, the connecting part 2 can be installed on the robot sweeping, and the TOF module 3 is installed on the assembly area 11 and then positioned on the side surface of the robot sweeping (the side surface refers to the outer side of the side wall of the robot sweeping).
Compared with the prior art, the TOF module test fixture for sweeping the floor robot that this embodiment provided can make TOF module 3 be located the side of the robot of sweeping the floor, when the robot of sweeping the floor only need set up a TOF module, only need set up a test fixture during the test, and the fitting area 11 of test fixture is located the dead ahead of the robot lateral wall of sweeping the floor (dead ahead indicates the place ahead along the robot direction of advance of sweeping the floor), let test environment more accord with TOF module 3's in-service environment, and then make the data that TOF module 3 surveyed more press close to its data that obtain in actual service environment, improve the accuracy that detects data.
The assembly part 1 is located the one end of connecting piece 2, and connecting piece 2 can be dismantled with the top of robot of sweeping the floor and be connected, and the assembly part 1 is located one side of the lateral wall of robot of sweeping the floor, and is parallel with the lateral wall of robot of sweeping the floor, makes the fitting area 11 parallel with the lateral wall of robot of sweeping the floor, and then guarantees that TOF module 3 assembles behind the fitting area 11 and is parallel with the lateral wall of robot of sweeping the floor to the data that makes TOF module 3 survey more press close to its data that obtain in actual service environment.
The top end face of the sweeping robot is generally perpendicular to the side walls, so the fitting 1 is arranged perpendicular to the connecting piece 2.
For convenient assembly dismantlement TOF module 3, TOF module 3 takes place to rock the collision robot of sweeping the floor when avoiding the test simultaneously, and the distance between the lateral wall of assembly area 11 and the robot of sweeping the floor is greater than TOF module 3's thickness.
Connecting piece 2 can be dismantled through the regulating part and fix at the robot top of sweeping the floor, and the regulating part can adjust connecting piece 2 and sweep the floor the distance between the robot, realize adjusting the distance of fitting area 11 and the robot top terminal surface of sweeping the floor, and then realize adjusting TOF module 3 and the distance of the top terminal surface of the robot of sweeping the floor, make TOF module 3 can test to be located the not co-altitude data in robot side of sweeping the floor, be convenient for find TOF module 3 most suitable assembly position.
It should be noted that the assembly member 1 and the connecting member 2 may be detachably connected or may be integrally formed. The detachable connection mode is adopted, the use is more flexible and convenient, the maintenance and the replacement of parts are also convenient, the integrated forming is adopted, and the assembly is simpler and more convenient.
When the distance between the connecting piece 2 and the top of the sweeping robot is too large, the stability of the whole test tool on the sweeping robot can be influenced, and then the test of the TOF module 3 installed on the test tool is influenced, so that the obtained data is not true and stable enough.
In order to adjust the height of TOF module on the lateral wall of the robot of sweeping the floor, can guarantee the stability of test fixture on the robot of sweeping the floor again, assembly part 1 and connecting piece 2 adopt detachable connected mode, and the position of assembly part 1 on connecting piece 2 is adjustable, and then can adjust the height of assembly area 11, specifically, assembly part 1 and connecting piece 2 are connected through height-adjustable and detachable modes such as slide rail and stopper, slotted hole and bolt.
In order to accurately adjust the distance between the assembly area 11 and the top end face of the sweeping robot, namely, the height of the TOF module 3 on the sweeping robot, scales are arranged on the assembly part 1, so that a user can accurately adjust the position of the TOF module 3.
In this embodiment, the connecting member 2 is an L-shaped bracket, and includes a planar plate 21 and a vertical plate 22 perpendicular to each other, which are equal in length. The connecting piece 2 is detachably connected with the top of the sweeping robot through a plane plate 21. Specifically, the plane plate 21 is parallel to the top end face of the sweeping robot, the vertical plate 22 is located on one side of the plane plate 21 away from the sweeping robot, the plane plate 21 is assembled on the top of the sweeping robot through studs and screws, and the height between the plane plate 21 and the sweeping robot can be adjusted through the studs with different heights.
It should be noted that, the mounting position of the connecting plate 2 is located in the radial direction (diameter direction) of the sweeping robot, and the length of the connecting plate 2 is smaller than the radius of the sweeping robot, so as to prevent the detection tools from interfering with each other when the sweeping robot needs to detect a plurality of TOF modules at different positions at the same time.
In this embodiment, the assembly member 1 is an L-shaped stand, and includes an assembly plate 12 and a stabilizing plate 13 perpendicular to each other, the lengths of the two are equal, and an assembly area 11 for assembling the TOF module 3 is opened at the bottom of the assembly plate 12. The assembly part 1 is located at one end of the connecting part 2, the assembly part 1 and the connecting part 2 are perpendicular, specifically, the vertical plate 22 and the plane plate 21 are perpendicular to the assembly plate 12, the plane plate 21 is perpendicular to the stabilizing plate 13, end faces of the vertical plate 22 and the plane plate 21 are in contact with an inner wall face (a face close to the sweeping robot) of the assembly plate 12, the assembly part 1 is detachably connected with the vertical plate 22 of the connecting part 2 through the stabilizing plate 13, and the position of the stabilizing plate 13 on the vertical plate 22 is adjustable, that is, the position of the assembly part 1 and the position of the connecting part 2 are adjustable.
In this embodiment, two rows of through holes are formed in the corresponding positions of the stabilizing plate 13 and the vertical plate 22 in the vertical direction (the direction perpendicular to the top end surface of the floor-sweeping robot), the position of the assembly member 1 on the connecting member 2 is adjusted by the two rows of through holes, bolts and nuts, and at least four bolts and nuts are used to penetrate through the through holes in a matrix to detachably connect the stabilizing plate 13 and the vertical plate 22 in order to ensure the stability of the testing tool. Furthermore, a long circular hole extending along the vertical direction is formed in the vertical plate 22, a through hole matched with the long circular hole is formed in the stabilizing plate 13, the position of the stabilizing plate 13 on the vertical plate 22 is adjusted through a bolt, a nut and the long circular hole, and the position of the assembly part 1 on the connecting piece 2 is adjusted; furthermore, the positions of the assembly parts 1 on the connecting pieces 2 can be adjusted by exchanging the oblong holes and the through holes on the vertical plate 22 and the stabilizing plate 13.
In order to accurately control the position of the stabilizing plate 13 on the vertical plate 22, the outer side wall (the side far away from the connecting piece 2) of the stabilizing plate 13 and/or the assembling plate 12 is provided with a scale from bottom to top along the vertical direction, the zero scale is flush with the center of the assembling area 11 (the center of the assembling area 11 is flush with the center of the TOF module detector 31), and the accurate distance from the TOF module 3 to the plane plate 21 (namely the top end surface of the sweeping robot) can be read.
In order to ensure that the TOF module 3 is positioned at different heights on the side surface of the sweeping robot in the test, the height of the vertical plate 22 and the length of the assembly part 1 are more than or equal to the height of the side wall of the sweeping robot.
In order to improve the stability of test fixture, be equipped with the damping layer on connecting piece 2 and the contact surface of robot of sweeping the floor, reduce the influence that the robot vibrations of sweeping the floor brought the test of TOF module. In the embodiment, the damping layer is laid on the bottom surface of the flat plate 21, that is, the damping layer is located between the flat plate 21 and the top of the sweeping robot.
In order to further improve the stability of the testing tool, in the embodiment, a reinforcing rib is provided between the flat plate 21 and the vertical plate 22, and a reinforcing rib is provided between the assembling plate 12 and the stabilizing plate 13 to form a stable triangular support structure.
In practical application, according to the number of TOF modules required to be installed by the designed sweeping robot, the same number of test tools are installed on the sweeping robot for testing, and the installation position of each test tool corresponds to the designed TOF module position one by one.
Compared with the prior art, the TOF module test fixture for the sweeping robot of the embodiment has one of the following beneficial effects:
(1) the TOF module can be positioned right in front of the sweeping robot through the assembly part and the connecting part, so that the test environment of the TOF module is more consistent with the actual use environment of the TOF module, the data acquired by the TOF module is closer to the data acquired by the TOF module in the actual use environment, and the accuracy of the data is improved;
(2) the distance between the connecting piece and the sweeping robot is adjustable, so that the TOF module data at different heights can be tested, and the measured data are more comprehensive;
(3) the distance between the assembly area and the sweeping robot is larger than the thickness of the TOF module, so that the TOF module is prevented from colliding with the sweeping robot during testing, and the accuracy of measured data is guaranteed.
Example two
The present embodiment provides a TOF module testing tool for a sweeping robot, as shown in fig. 3 to 5, compared with the testing tool provided in the first embodiment, the difference lies in that: a plurality of fittings 1 are provided on the connector 2.
In this embodiment, the both ends of connecting piece 2 are equipped with two assembly parts 1, and the assembly regions 11 of two assembly parts 1 set up relatively, install the test fixture 4 back of sweeping the floor, two assembly regions 11 are located respectively and sweep the right ahead of 4 lateral walls of robot and right back (the right ahead, the right back indicates along sweeping the preceding direction of robot 4, the rear), the TOF module 3 of assembling on the test fixture promptly is located respectively and sweeps the right ahead of robot and right back, in the test process, the TOF module 3 that is located right ahead can acquire the place ahead image data of the robot of sweeping the floor, the TOF module 3 that is located right back can acquire the rear image data of the robot of sweeping the floor.
Specifically, the length of the connecting piece 2 is greater than the diameter of the sweeping robot 4, and the distance from the assembling area 11 to the side wall of the sweeping robot 4 is greater than the thickness of the TOF module 3.
In this embodiment, the connecting member 2 is a linear L-shaped bracket, the structure of which is substantially the same as that of the connecting member 2 in the first embodiment, the connecting member 2 is located in the radial direction of the sweeping robot 4, and the center of the connecting member 2 is located on the central axis of the sweeping robot 4, that is, the distance between the assembling members 1 at the two ends of the connecting member 2 and the side wall of the sweeping robot 4 is the same.
In this embodiment, the structure of the assembly 1 is substantially the same as that of the assembly 1 of the first embodiment.
It should be noted that, in this embodiment, the assembly areas 11 of the two assembly parts 1 are centrosymmetric, that is, the opening directions of the two assembly areas 11 are opposite, a central connection line of the two assembly areas 11 is parallel to the planar plate 21, and the central connection line intersects with the central axis of the sweeping robot 4, so as to ensure that the two assembly areas 11 can be located right in front of and right behind the side wall of the sweeping robot 4, respectively.
Compared with the prior art, the beneficial effect that is used for TOF module test fixture of robot of sweeping floor that this embodiment provided not only includes the beneficial effect that mentions in the embodiment one, still has following beneficial effect:
the TOF modules can be respectively assembled in the front and the back of the sweeping robot through the testing tool, and the front image data and the back image data of the sweeping robot can be simultaneously and accurately obtained, so that the surrounding image data of the sweeping robot can be acquired to the maximum extent, and the processing of the image data in the later period is facilitated.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides a TOF module test fixture for sweeping floor robot, a serial communication port, including assembly part (1) and connecting piece (2), assembly part (1) is equipped with assembly area (11) that are used for assembling TOF module (3), and connecting piece (2) can be installed on the robot of sweeping floor, and TOF module (3) are installed and are located the side of the robot of sweeping floor behind assembly area (11).
2. The TOF module testing tool for the sweeping robot according to claim 1, wherein the assembly part (1) is located at one end of a connecting part (2), and the connecting part (2) is detachably connected with the top of the sweeping robot;
the assembly part (1) is positioned on one side of the side wall of the sweeping robot and is parallel to the side wall of the sweeping robot.
3. The TOF module testing tool for the sweeping robot according to claim 2, wherein the assembly part (1) is arranged perpendicular to the connecting part (2).
4. The TOF module testing tool for the sweeping robot according to claim 1, wherein the distance between the assembling area (11) and the side wall of the sweeping robot is larger than the thickness of the TOF module (3).
5. The TOF module testing tool for the sweeping robot according to claim 1, wherein the connecting piece (2) is detachably fixed on the top of the sweeping robot through an adjusting piece, and the adjusting piece can adjust the distance between the connecting piece (2) and the sweeping robot.
6. The TOF module testing tool for the sweeping robot according to claim 1, wherein the connecting piece (2) is an L-shaped bracket and comprises a plane plate (21) and a vertical plate (22) which are perpendicular to each other;
the plane plate (21) is detachably connected with the top of the sweeping robot;
the vertical plate (22) is positioned on one side of the plane plate (21) far away from the sweeping robot.
7. The TOF module testing tool for the sweeping robot according to claim 6, wherein the assembly part (1) is an L-shaped stand and comprises an assembly plate (12) and a stabilizing plate (13) which are perpendicular to each other;
the bottom of the assembling plate (12) is provided with the assembling area (11);
the stabilizing plate (13) is detachably connected with the vertical plate (22), and the position of the stabilizing plate (13) on the vertical plate (22) is adjustable.
8. The TOF module testing tool for the sweeping robot according to any one of claims 1-7, wherein a plurality of assembling parts (1) are arranged on the connecting piece (2).
9. The TOF module testing tool for the sweeping robot according to claim 8, wherein two assembly parts (1) are arranged on the connecting part (2), the two assembly parts (1) are respectively located at two ends of the connecting part (2), and the assembly areas (11) of the two assembly parts (1) are oppositely arranged.
10. The TOF module testing tool for the sweeping robot of claim 9, wherein the length of the connecting piece (2) is greater than the diameter of the sweeping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020006945.5U CN211911502U (en) | 2020-01-02 | 2020-01-02 | TOF module testing tool for sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020006945.5U CN211911502U (en) | 2020-01-02 | 2020-01-02 | TOF module testing tool for sweeping robot |
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| CN211911502U true CN211911502U (en) | 2020-11-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115151A (en) * | 2021-11-24 | 2022-03-01 | 山东哈博特机器人有限公司 | A method and system for collaborative assembly of industrial robots based on MES |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115151A (en) * | 2021-11-24 | 2022-03-01 | 山东哈博特机器人有限公司 | A method and system for collaborative assembly of industrial robots based on MES |
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