CN107071652B - Service robot - Google Patents
Service robot Download PDFInfo
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- CN107071652B CN107071652B CN201611225877.6A CN201611225877A CN107071652B CN 107071652 B CN107071652 B CN 107071652B CN 201611225877 A CN201611225877 A CN 201611225877A CN 107071652 B CN107071652 B CN 107071652B
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- voice signals
- conversion circuit
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 59
- 230000003321 amplification Effects 0.000 claims abstract description 15
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 15
- 230000009467 reduction Effects 0.000 claims abstract description 5
- 239000003990 capacitor Substances 0.000 claims description 14
- 230000008030 elimination Effects 0.000 claims description 9
- 238000003379 elimination reaction Methods 0.000 claims description 9
- 238000002955 isolation Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/02—Circuits for transducers, loudspeakers or microphones for preventing acoustic reaction, i.e. acoustic oscillatory feedback
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Otolaryngology (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The embodiment of the invention discloses a service robot, which comprises a plurality of microphones, wherein the microphones are used for receiving input voice signals from different directions. The service robot further comprises an analog-to-digital conversion circuit, a power amplification circuit, a loudspeaker and a main control chip, wherein the power amplification circuit provides output voice signals for the loudspeaker, the analog-to-digital conversion circuit respectively carries out analog-to-digital conversion on the input voice signals received by the microphone and the output voice signals provided by the power amplification circuit, the input voice signals are transmitted to the main control chip, and the main control chip carries out noise reduction processing on the input voice signals subjected to analog-to-digital conversion by utilizing the output voice signals subjected to analog-to-digital conversion. Through the mode, the service robot can receive the voice signals from different directions, and the sound receiving effect of the service robot is further effectively improved through noise reduction processing.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to a service robot.
Background
With the progress of technology, service robots have been widely used in many fields such as maintenance, repair, transportation, cleaning, security, rescue, surveillance, guidance, education, leisure and entertainment. In order to improve the interactivity of the service robot, a microphone is generally disposed on the service robot to receive an input voice signal of a user, and recognize the input voice signal as a corresponding control command, thereby executing a corresponding action. However, the current service robot only sets a microphone right in front of the service robot, resulting in poor sound pickup effect. Further, the received input voice signal is susceptible to interference from the speaker.
Disclosure of Invention
The embodiment of the invention provides a service robot, which aims to solve the problem of poor radio effect of the existing service robot.
In order to solve the technical problems, one technical scheme adopted by the embodiment of the invention is as follows: there is provided a service robot comprising a plurality of microphones arranged to receive input speech signals from different directions. The service robot further comprises an analog-to-digital conversion circuit, a power amplification circuit, a loudspeaker and a main control chip, wherein the power amplification circuit provides output voice signals for the loudspeaker, the analog-to-digital conversion circuit respectively carries out analog-to-digital conversion on the input voice signals received by the microphone and the output voice signals provided by the power amplification circuit, the input voice signals are transmitted to the main control chip, and the main control chip carries out noise reduction processing on the input voice signals subjected to analog-to-digital conversion by utilizing the output voice signals subjected to analog-to-digital conversion.
The service robot further comprises a head shell, wherein the head shell is provided with a plurality of groups of sound inlet holes, and each group of sound inlet holes is correspondingly provided with a microphone.
The sound inlet holes are formed in the top of the head shell and divided into five groups, and the sound inlet holes comprise a center sound inlet hole formed in the center of the top of the head shell, and front sound inlet holes, rear sound inlet holes, zuo Ceru sound holes and right sound inlet holes which are formed in the front side, the rear side, the left side and the right side of the center sound inlet hole by taking the direction of the head shell as a reference.
Wherein the front side sound inlet hole, the rear side sound inlet hole, the Zuo Ceru sound inlet hole and the right side sound inlet hole are positioned on the same circumference with the center sound inlet hole as the center and the same radius.
Wherein, the speaker includes left side speaker and the right side speaker that sets up in head casing left and right sides.
The service robot further comprises a harmonic elimination circuit, wherein the harmonic elimination circuit is connected between the digital conversion circuit and the power amplifier circuit and is used for eliminating harmonic components in an output voice signal provided by the power amplifier circuit.
The power amplifier circuit comprises a first differential data line for providing a first differential signal and a second differential data line for providing a second differential signal, wherein the harmonic elimination circuit comprises a first voltage dividing resistor, a second voltage dividing resistor and a third voltage dividing resistor, the first end of the first voltage dividing resistor is connected with the first differential data line, the first end of the second voltage dividing resistor is connected with the second differential data line, the first end and the second end of the third voltage dividing resistor are respectively connected with the second end of the first voltage dividing resistor and the second end of the second voltage dividing resistor, and the second end of the first voltage dividing resistor and the second end of the second voltage dividing resistor are further respectively connected with the analog-to-digital conversion circuit.
The harmonic elimination circuit further comprises a first filter capacitor and a second filter capacitor, wherein the first filter capacitor is connected between the second end of the first voltage dividing resistor and the analog-to-digital conversion circuit, and the second filter capacitor is connected between the second end of the second voltage dividing resistor and the analog-to-digital conversion circuit.
The service robot further comprises an FPGA circuit, wherein the FPGA circuit is connected between the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit and the main control chip, and is used for combining the first digital signal and the second digital signal into a third digital signal and inputting the third digital signal to the main control chip.
The service robot further comprises a first circuit board and a second circuit board, wherein the main control chip is arranged on the first circuit board, the first analog-to-digital conversion circuit, the second analog-to-digital conversion circuit and the FPGA circuit are arranged on the second circuit board, and an isolation resistor used for being connected between the main control chip and the FPGA circuit is further arranged on the first circuit board.
The embodiment of the invention has the beneficial effects that: in the service robot provided by the embodiment of the invention, the plurality of microphones are arranged to receive the input voice signals from different directions, so that the sound receiving effect of the service robot can be improved. Further, the noise elimination is carried out on the collected input voice signals by utilizing the output voice signals provided by the power amplification circuit, so that the interference of a loudspeaker to a microphone can be reduced.
Drawings
Fig. 1 is a schematic circuit diagram of a service robot according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a service robot according to a second embodiment of the present invention;
fig. 3 is a schematic circuit diagram of a service robot according to a third embodiment of the present invention;
fig. 4 is a circuit schematic of a service robot according to a fourth embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic circuit diagram of a service robot according to a first embodiment of the present invention. The service robot of the present embodiment includes a plurality of microphones 101, 102, 103, 104, 105, analog-to-digital conversion circuits 111, 112, speakers 121, 122, power amplification circuits 131, 132, an FPGA circuit (field programmable gate circuit) 14, and a main control chip 15.
In this embodiment, the microphones 101-105 are arranged to receive input speech signals from different directions, whereby the sound reception effect can be effectively improved.
With further reference to fig. 2, fig. 2 is a schematic structural view of a service robot according to a second embodiment of the present invention.
The service robot further comprises a head housing 20, the head housing 20 being provided with a plurality of sets of sound inlet holes 21-25, wherein each set of sound inlet holes 21-25 is provided corresponding to one of the microphones 101-105.
Specifically, the sound inlet holes 21 to 25 are provided at the top of the head housing 20 and are divided into five groups including a center sound inlet hole 21 provided at the top center of the head housing 20 and front sound inlet holes 22, rear sound inlet holes 23, left sound inlet holes 24 and right sound inlet holes 25 provided on the front side, rear side, left side and right side of the center sound inlet hole 21 with reference to the orientation of the head housing 20 (the direction indicated by the arrow D1). The microphones 101-105 are disposed in the head housing 20 and correspond to the center sound inlet 21, the front sound inlet 22, the rear sound inlet 23, the left sound inlet 24 and the right sound inlet 25, respectively, so that the voice signals input through the sound inlets are collected and converted into analog signals by the microphones 101-105. In the present embodiment, the front side sound entrance hole 22, the rear side sound entrance hole 23, the left side sound entrance hole 24, and the right side sound entrance hole 25 are located on the same circumference with the center sound entrance hole 21 as the center and the same radius.
Further, speakers 121, 122 are provided on the left and right sides of the head housing 20. In other embodiments, the distance between the front side sound inlet 22 and the rear side sound inlet 23 may also be set to be larger than the distance between the left side sound inlet 24 and the right side sound inlet 25, thereby further reducing the interference of the speakers 121, 122 with the microphones 101-105. The particular number and arrangement of microphones 101-105 described above is merely illustrative, and in other embodiments, the particular number and arrangement of microphones may be varied as desired.
As further shown in fig. 1, the power amplifier circuits 131 and 132 provide output voice signals to the speakers 121 and 122, and the analog-to-digital conversion circuits 111 and 112 respectively perform analog-to-digital conversion on the input voice signals received by the microphones 101 to 105 and the output voice signals provided by the power amplifier circuits 131 and 132, and transmit the converted input voice signals to the main control chip 15.
Specifically, in the present embodiment, the analog-to-digital conversion circuit 111 is connected to the microphones 101-104, and performs analog-to-digital conversion on the input voice signals received by the microphones 101-104 to a first digital signal, and the analog-to-digital conversion circuit 111 is connected to the microphone 103 and the power amplifier circuits 131 and 132, so as to perform analog-to-digital conversion on the input voice signals received by the microphone 103 and the output voice signals provided by the power amplifier circuits 131 and 132 to a second digital signal. The FPGA circuit 14 is connected between the analog-to-digital conversion circuits 111, 112 and the main control chip 15, and is configured to combine the first digital signal and the second digital signal into a third digital signal, and input the third digital signal to the main control chip 15. Wherein the first digital signal and the second digital signal formed by the analog-to-digital conversion circuits 111, 112 may be I 2 S or other types of digital signals, the FPGA circuit 14 packages the received first digital signal and the second digital signal according to a preset format, forms a third digital signal and sends the third digital signal to the main control chip 15. The main control chip 15 extracts corresponding output voice signals and input voice signals from the third digital signals according to a predetermined package format, and performs noise reduction processing on the input voice signals by using the output voice signals.
Specifically, the voice signals output by the speakers 121, 122 are re-picked up by the microphones 101-105 and loaded into the voice signals input by the user, so that the input voice signals actually picked up by the microphones 101-105 contain a certain degree of noise. In order to eliminate the noise, in this embodiment, the analog-to-digital conversion circuits 111 and 112 are used to perform synchronous analog-to-digital conversion on the output voice signals provided to the speakers 121 and 122 by the power amplification circuits 131 and 132, the main control chip 15 performs displacement and inversion with a certain delay on the output voice signals after the analog-to-digital conversion, adjusts the amplitude of the output voice signals after the displacement and inversion according to the amplitude of the input voice signals after the analog-to-digital conversion performed by the analog-to-digital conversion circuits 111 and 112, and finally performs logic addition operation on the adjusted output voice signals and the input voice signals, thereby eliminating noise components in the input voice signals and further improving the accuracy of subsequent voice recognition.
The main control chip 15 also evaluates the input voice signals corresponding to the microphones 101-105 (e.g., signal-to-noise ratio evaluation), and selects the best input voice signal from the evaluation results for voice recognition and subsequent action response.
With further reference to fig. 3, fig. 3 is a schematic circuit diagram of a service robot according to a third embodiment of the present invention.
In this embodiment, the service robot is further provided with a harmonic cancellation circuit 16 on the basis of the above circuit, and the harmonic cancellation circuit 16 is connected between the analog-to-digital conversion circuit 112 and the power amplifier circuit 131, and is used for canceling harmonic components in the output voice signal provided by the power amplifier circuit 131. Of course, in other embodiments, the same harmonic cancellation circuit 16 may be provided between the analog-to-digital conversion circuit 112 and the power amplifier circuit 132.
Specifically, the power amplifier circuit 131 includes a first differential data line for providing a first differential signal and a second differential data line for providing a second differential signal. The harmonic cancellation circuit 16 includes a first voltage dividing resistor 161, a second voltage dividing resistor 162, and a third voltage dividing resistor 163, where a first end of the first voltage dividing resistor 161 is connected to the first differential data line, a first end of the second voltage dividing resistor 162 is connected to the second differential data line, a first end and a second end of the third voltage dividing resistor 163 are respectively connected to a second end of the first voltage dividing resistor 161 and a second end of the second voltage dividing resistor 162, and the second end of the first voltage dividing resistor 161 and the second end of the second voltage dividing resistor 162 are further respectively connected to the analog-to-digital conversion circuit 112. By providing the first voltage dividing resistor 161, the second voltage dividing resistor 162, and the third voltage dividing resistor 163, harmonic components in the first differential signal and the second differential signal output by the first differential data line and the second differential data line can be effectively eliminated.
Further, the harmonic cancellation circuit 16 further includes a first filter capacitor 164 and a second filter capacitor 165, wherein the first filter capacitor 164 is connected between the second end of the first voltage dividing resistor 161 and the analog-to-digital conversion circuit 112, and the second filter capacitor 165 is connected between the second end of the second voltage dividing resistor 163 and the analog-to-digital conversion circuit 112. The dc component in the first differential signal and the second differential signal can be effectively eliminated by providing the first filter capacitor 164 and the second filter capacitor 165.
With further reference to fig. 4, fig. 4 is a schematic circuit diagram of a service robot according to a fourth embodiment of the present invention. In this embodiment, the main control chip 15 is disposed on the first circuit board 17, and the analog-to-digital conversion circuits 111 and 112 and the FPGA circuit 14 are disposed on the second circuit board 18. The first circuit board 17 and the second circuit board 18 are connected by a wire, and noise introduced during transmission of signals is eliminated. Isolation resistors 191 and 192 for connecting between the main control chip 15 and the FPGA circuit 14 are further provided on the first circuit board 17. The main control chip 15, the analog-digital conversion circuits 111 and 112 and the FPGA circuit 14 are respectively arranged on the two circuit boards, so that the circuit layout is more reasonable, and the power can be further supplied by mutually independent power supplies respectively, thereby avoiding the influence of the main control chip 15 on the data acquisition of the analog-digital conversion circuits 111 and 112 in the working process.
In summary, it is easy to understand by those skilled in the art that in the service robot provided by the embodiment of the present invention, the plurality of microphones are provided to receive the input voice signal from different directions, so as to improve the sound receiving effect of the service robot. Further, the noise elimination is carried out on the collected input voice signals by utilizing the output voice signals provided by the power amplification circuit, so that the interference of a loudspeaker to a microphone can be reduced.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (8)
1. The service robot comprises a plurality of microphones, wherein the microphones are arranged to receive input voice signals from different directions, the service robot comprises an analog-to-digital conversion circuit, a harmonic elimination circuit, a power amplification circuit, a loudspeaker and a main control chip, wherein the power amplification circuit provides output voice signals for the loudspeaker, the harmonic elimination circuit is connected between the analog-to-digital conversion circuit and the power amplification circuit and eliminates harmonic components in the output voice signals provided by the power amplification circuit, and the analog-to-digital conversion circuit respectively carries out analog-to-digital conversion on the input voice signals received by the microphones and the output voice signals provided by the power amplification circuit and eliminated the harmonic components by the harmonic elimination circuit into I 2 S-type digital signals are transmitted to the main control chip, and the main control chip performs noise reduction processing on the analog-to-digital converted input voice signals by utilizing the analog-to-digital converted output voice signals;
the power amplifier circuit comprises a first differential data line for providing a first differential signal and a second differential data line for providing a second differential signal, the harmonic cancellation circuit comprises a first voltage dividing resistor, a second voltage dividing resistor and a third voltage dividing resistor, the first end of the first voltage dividing resistor is connected with the first differential data line, the first end of the second voltage dividing resistor is connected with the second differential data line, the first end and the second end of the third voltage dividing resistor are respectively connected with the second end of the first voltage dividing resistor and the second end of the second voltage dividing resistor, and the second end of the first voltage dividing resistor and the second end of the second voltage dividing resistor are respectively connected with the analog-digital conversion circuit.
2. The service robot of claim 1, comprising a head housing provided with a plurality of sets of sound entrance holes, wherein each set of sound entrance holes is provided with a corresponding microphone.
3. The service robot according to claim 2, wherein the sound entrance holes are provided at the top of the head housing and are divided into five groups including a center sound entrance hole provided at the top center of the head housing and front sound entrance holes, rear sound entrance holes, zuo Ceru sound entrance holes and right sound entrance holes provided at the front, rear, left and right sides of the center sound entrance hole with reference to the orientation of the head housing.
4. A service robot according to claim 3, wherein the front side sound entrance hole, the rear side sound entrance hole, the left side sound entrance hole and the right side sound entrance hole are located on the same circumference centered on the center sound entrance hole and having the same radius.
5. A service robot according to claim 3, wherein the speakers include left and right speakers provided at left and right sides of the head housing.
6. The service robot of claim 1, wherein the harmonic cancellation circuit further comprises a first filter capacitor and a second filter capacitor, wherein the first filter capacitor is connected between the second end of the first divider resistor and the analog-to-digital conversion circuit, and the second filter capacitor is connected between the second end of the second divider resistor and the analog-to-digital conversion circuit.
7. The service robot according to claim 1, wherein the analog-to-digital conversion circuit comprises a first analog-to-digital conversion circuit and a second analog-to-digital conversion circuit, wherein the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit are respectively used for performing analog-to-digital conversion on an input voice signal received by the microphone and/or an output voice signal provided by the power amplifier circuit connected with the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit into a first digital signal and a second digital signal, and the FPGA circuit is connected between the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit and the main control chip, and is used for combining the first digital signal and the second digital signal into a third digital signal and inputting the third digital signal to the main control chip.
8. The service robot of claim 7, further comprising a first circuit board and a second circuit board, wherein the master control chip is disposed on the first circuit board, the first analog-to-digital conversion circuit, the second analog-to-digital conversion circuit, and the FPGA circuit are disposed on the second circuit board, and an isolation resistor is disposed on the first circuit board for connecting between the master control chip and the FPGA circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225877.6A CN107071652B (en) | 2016-12-27 | 2016-12-27 | Service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225877.6A CN107071652B (en) | 2016-12-27 | 2016-12-27 | Service robot |
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| Publication Number | Publication Date |
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| CN107071652A CN107071652A (en) | 2017-08-18 |
| CN107071652B true CN107071652B (en) | 2023-08-04 |
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| CN201611225877.6A Active CN107071652B (en) | 2016-12-27 | 2016-12-27 | Service robot |
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| CN1662018A (en) * | 2004-02-24 | 2005-08-31 | 微软公司 | Method and apparatus for multi-sensory speech enhancement on a mobile device |
| CN101524594A (en) * | 2009-04-17 | 2009-09-09 | 中国地质大学（武汉） | Anthropomorphic robot autonomously dancing along with rhythm |
| CN105825862A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Robot man-machine dialogue echo cancellation system |
| CN105991858A (en) * | 2015-03-20 | 2016-10-05 | 三星电子株式会社 | Method of cancelling echo and electronic device thereof |
| CN106030331A (en) * | 2013-10-01 | 2016-10-12 | 奥尔德巴伦机器人公司 | Method for locating a sound source, and humanoid robot using such a method |
| CN206461765U (en) * | 2016-12-27 | 2017-09-01 | 深圳市优必选科技有限公司 | A kind of service robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120045068A1 (en) * | 2010-08-20 | 2012-02-23 | Korea Institute Of Science And Technology | Self-fault detection system and method for microphone array and audio-based device |
-
2016
- 2016-12-27 CN CN201611225877.6A patent/CN107071652B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1662018A (en) * | 2004-02-24 | 2005-08-31 | 微软公司 | Method and apparatus for multi-sensory speech enhancement on a mobile device |
| CN101524594A (en) * | 2009-04-17 | 2009-09-09 | 中国地质大学（武汉） | Anthropomorphic robot autonomously dancing along with rhythm |
| CN106030331A (en) * | 2013-10-01 | 2016-10-12 | 奥尔德巴伦机器人公司 | Method for locating a sound source, and humanoid robot using such a method |
| CN105825862A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Robot man-machine dialogue echo cancellation system |
| CN105991858A (en) * | 2015-03-20 | 2016-10-05 | 三星电子株式会社 | Method of cancelling echo and electronic device thereof |
| CN206461765U (en) * | 2016-12-27 | 2017-09-01 | 深圳市优必选科技有限公司 | A kind of service robot |
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| CN107071652A (en) | 2017-08-18 |
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Address after: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province, China 518000 Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20231128 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province, China 518000 Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |