带传感器的密封装置(7)包括车体侧轨道部件(3)和旋转侧密封部件(9)。

A seal device (7) with a sensor, comprising a vehicle body side raceway track member (3) and a rotating side seal member (9).

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移动车体装有环形分布的超声波传感器阵列作为距离感知工具测量和路标之间的距离，里程计作为机器人自身的辅助定位工具。

Mobile robot body has a distribution of ultrasonic distance sensor array perceived as a tool for measuring the distance from the landmarks, a milestone of its own robot-assisted positioning tools.

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