楼宇垃圾桶搬运机器人设计研究

李志刚,邹骏鹏,杨翔

Research on design of building trash bin handling robot

Zhigang LI,Junpeng ZOU,Xiang YANG

表2 内层搜索引导向量对应的搜索邻域

Table 2 Search neighborhoods corresponding to inner-layer search guidance vectors

θ/(°) 内层搜索邻域 [337.5, 360.0)∪[0, 22.5) 7, 8, 9, 13, 16, 17, 18 [22.5, 67.5) 8, 9, 12, 13, 16, 17, 18 [67.5, 112.5) 7, 9, 12, 13, 16, 17, 18 [112.5, 157.5) 7, 8, 12, 13, 16, 17, 18 [157.5, 202.5) 7, 8, 9, 12, 16, 17, 18 [202.5, 247.5) 7, 8, 9, 12, 13, 16, 17 [247.5, 292.5) 7, 8, 9, 12, 13, 16, 18 [292.5, 337.5) 7, 8, 9, 12, 13, 17, 18