CN201693556U - Robot and control system thereof capable of performing corresponding action according to audio data - Google Patents
Robot and control system thereof capable of performing corresponding action according to audio data Download PDFInfo
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- CN201693556U CN201693556U CN2009202987332U CN200920298733U CN201693556U CN 201693556 U CN201693556 U CN 201693556U CN 2009202987332 U CN2009202987332 U CN 2009202987332U CN 200920298733 U CN200920298733 U CN 200920298733U CN 201693556 U CN201693556 U CN 201693556U
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H2200/00—Computerized interactive toys, e.g. dolls
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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Abstract
The utility model discloses a robot and a control system thereof capable of performing a corresponding action according to audio data. The control system comprises a control unit, a drive unit and a human-computer interface which are arranged at a robot main body, and a data storing unit which is separated from the robot main body and is stored with drive data which is matched with the audio data, wherein the data storing unit is connected with the control unit by a data interface; the control unit is connected with the human-computer interface to receive an instruction from the human-computer interface, read the drive data from the data storing unit, and send a drive instruction to the drive unit according to the drive data; and the drive unit receives the drive instruction to drive operable parts of the robot, and the operable parts moves according to the requirement of the drive instruction. The utility model leads the users to be capable of selecting the audio data by themselves; and the source of the audio data is wide.
Description
Technical field
The utility model relates to a kind of robot system, relates in particular to a kind of robot and control system thereof of carrying out corresponding actions according to voice data.
Background technology
Along with the development that leaps of the progress of society and scientific and technological level, various dissimilar robots appear on the market one after another, have opened up people's the visual field thus, have enriched people's life, have satisfied various crowds' different demands.As human emotion's strong expression, the dancing arts form is loved by the people always.Dance robot is in step with by the perfection of its body language and music rhythm, has realized that robot follows the effect that the beat of music is danced lightly, thereby becomes one of robot that people like.
At present, most of music that robot adopted or the actions that can dance are all set in advance by manufacturer.When the user uses this robotlike, can only choose wherein a certain music, appreciate dance movement that should music by the broadcast of music from robot.This robotlike's music track is more single comparatively speaking, and this is for the crowds that different hobbies are arranged, or need do something for the occasion when carrying out improvisation by robot, and seem have no way out, unable to do what one wishes.
Shenzhen Institutes of Advanced Technology, Chinese Academy of Science has carried out technique improvement to dance robot on the basis of existing dance robot." the dancing robot dog " of its design, action does not need layout in advance, and by the rhythm control of music, along with the difference of music rhythm, the pattern of action also can change to some extent fully." dancing robot dog ", extracts the beat information of music and is mapped to corresponding action promptly to the analysis of music by the understanding to music, and along with the broadcast of music, the rhythm that robot dog will be followed music wrings That Neck then.
" the dancing robot dog " that Shenzhen Institutes of Advanced Technology, Chinese Academy of Science researched and developed out, it has solved, and most on the market dance robot music track are single relatively at present, action is single relatively and the shortcoming of the improvisation of can not doing something for the occasion, the music that makes dance robot can tackle various different rhythm, bent wind is calmly carried out dancing, has shown the intellectual technology of dance robot.Yet such dance robot is because its built-in music resolver and special software control algorithm etc. make that this robotlike's technical value added is higher, and its price is also comparatively expensive.Moreover, of paramount importancely be that this robotlike is by dancing that the understanding of music is deduced voluntarily, also just chooses music for it and the user can do, and can't get involved the layout of robot dance movement.For the user, only can be as " onlooker ", can't be implemented in the individual intention that infiltrates " individual element " etc. in the layout of robot dance movement.This robotlike can't accomplish the abundant interaction with the user, and can't show user's idiosyncrasy.
The utility model content
Technical problem to be solved in the utility model is, at the deficiencies in the prior art, a kind of robot and control system thereof according to voice data execution corresponding actions is provided, makes the user to select voice data voluntarily, make robot carry out corresponding action by selected voice data.
In order to solve above-mentioned technical problem, the utility model provides a kind of control system that makes robot carry out corresponding actions according to voice data, comprise: the control module that is positioned at described robot body, driver element and man-machine interface, also comprise and separating with robot body, store the data storage cell of the driving data that is complementary with a voice data, described data storage cell is connected with described control module by data-interface, wherein, described control module is connected with man-machine interface, acceptance comes from the instruction of man-machine interface, from described data storage cell, read described driving data, send to described driver element according to described driving data and drive instruction; But described driver element is accepted the functional unit that described driving instruction drives described robot, but described functional unit is according to the requirement action of described driving instruction.
The robot that the utility model provides can carry out corresponding actions according to voice data, and what promptly be commonly called as has a dance function.Specifically:
1, the data storage cell that relates in the utility model can be various storage cards of the prior art, its inner data can be from the robot outside be directly stored by many families common equipment instruments such as mobile phone, computers or are passed through the Internet download, duplicate or download various music/action messages by described equipment tool, music/action wide material sources, variation.
2, since robot be connected with family's common equipment instruments such as mobile phone, computers by the storage card that it is external to store or pass through the Internet download.Specifically, the user only need take off external storage card from robot, storage card is connected with mobile phone or computer relevant position carries out file and transmit, just can easily realize the function storing or download, operate portable, thereby exempted the mobile apparatus human body, " hardship of work " that its body directly is connected with family's common equipments such as mobile phone, computers.
3, only need choose or the computer mouse operation by mobile phone key, directly store or download by the third party, associated documents are sent to the data storage cell of robot, can be implemented in search in " information bank " of " embracing a wide spectrum of ideas ", modification or change file, very convenient, simple.
4, making robot carry out the driving data of corresponding actions according to voice data in the utility model can be by the user from edlin, the user can edit being similar under the excel form, store into after having edited in the storage card, the threshold of use greatly reduces again, and operates very easy; In addition, also can edit immediately, promptly this driving data be made amendment, make the interactive stronger of user and robot, can make the action of robot demonstrate fully user's wish, and alter mode be more flexible by the man-machine interface of robot itself.
5, carry out the input of music/action by the mode that adopts storage or download data, demonstrated fully the friendly interaction between product self and the user, promoted the affinity of product, make the product made by the utility model not only as the robot of a kind of " dance is moving with sound ", and more can in product, incorporate user's individual intention, embody the individual subscriber speciality and increased the family life temperament and interest with this.
Description of drawings
Fig. 1 is the utility model is carried out corresponding actions according to voice data a robot construction schematic diagram.
Fig. 2 is the utility model is carried out the ROBOT CONTROL system embodiment one of corresponding actions according to voice data a theory diagram;
Fig. 3 is the utility model is carried out the ROBOT CONTROL system embodiment two of corresponding actions according to voice data a theory diagram;
Fig. 4 is the utility model is carried out the ROBOT CONTROL system embodiment three of corresponding actions according to voice data a theory diagram;
Fig. 5 is a kind of music information of driving data method and parallel tables of activation bit made in the utility model.
The specific embodiment
Referring to Fig. 1 and Fig. 2, be the embodiment one that carries out the robot of corresponding actions according to voice data provided by the utility model.Fig. 1 is a structural representation, and Fig. 2 is a theory diagram.
But the robot 1 in the present embodiment comprises control system 2, sensing system 10 and some functional units 11.Wherein, described control system 2 comprises control module 22, driver element 23 and the man-machine interface 21 that is positioned at described robot 1 body, with with robot 1 body data storage cell 24 that separate, that store the driving data that is complementary with a voice data, this data storage cell 24 can be embodied as a storage card, on robot 1 body, be provided with draw-in groove 15, storage card inserts in this draw-in groove 15, by data-interface, as USB interface with as described in control module 22 be connected.Described control module 22 is connected with man-machine interface 21, accepts to come from the instruction of man-machine interface 21, reads described driving data from described data storage cell 24, sends to described driver element 23 according to described driving data and drives instruction.But described driver element 23 is accepted the functional unit 11 that described driving instruction drives described robot, but described functional unit 11 is according to the requirement action of described driving instruction.
In the present embodiment, but described functional unit is two driving wheels 110 and 111 of robot bottom.Driver element 23 be two corresponding to about the drive motors of two driving wheels, by the operation of drive motors control driving wheel.
Described sensing system 10 is used to detect the duty of described robot 1, and detected status information is sent to control system 2.
In the present embodiment, only store driving data in the described data storage cell 24, robot can control the operation of two driving wheels by driving data.
In the utility model, robot as functions such as cleaning, dust suction, waxings, can also carry out corresponding actions according to voice data except having other functions, just be commonly called as dance function.Robot 1 in the present embodiment can be along with a certain music or forward or backward or turn-take when starting this dance function, and the control by to the speed of these several actions, amplitude, order can conversion go out multiple action.In the present embodiment, robot self can not play music, also needs to provide in addition music player.
Better, as embodiment two, as shown in Figure 3, also store voice data at data storage cell 24, accordingly, the control system 2 in the present embodiment also comprises audio signal processor 25, also comprises loudspeaker 12 on described robot 1 body.Described control module 22 to described driver element 23 send drive instruction in, described audio signal processor 25 receives the line number mould conversion of going forward side by side of described voice data in the described data storage cell 24, simulated audio signal after the conversion is sent to the loudspeaker 12 of described robot, play by described loudspeaker 12.Wherein, voice data can be issued described audio signal processor 25 by control module 22, also can directly be read in data storage cell 24 by audio signal processor 25, as described in dotted line among Fig. 3.
In the present embodiment, on one side described robot can play music, Yi Bian carry out the action that is complementary with this music, as advance, retreat or turn-take etc.
In the above-described embodiments, the voice data of storage is that outside from robot 1 obtains in the data storage cell 24, as, mobile phone, computer, CD CD, MP3, internet etc., the source of voice data is very extensive.Thereby the user can select music data by its hobby, even the user can oneself make music.
Can dance lightly according to voice data in order to make robot 1, but just control its functional unit and carry out specific action according to voice data, but need be according to the driving data of controlled its functional unit of voice data, with the robot among Fig. 11 is example, in order to drive its left driving wheel, described driving data should comprise the data of controlling this driving wheel direction, promptly is forward or backward, still is parked in as you were.Also should comprise the data of the speed of service, the data of time that this action is carried out in addition.Owing to will carry out repeatedly action to this driving wheel, also should comprise the data of the order qualification of action.
This driving data can obtain usually in the following way:
Generate by special software, promptly analyze music element based on music data, handle, obtain the music information M1 of expression along the playback duration axle X1 of music data by the music data that is transferred to robot 1 is carried out frequency analysis by special software.Based on the music information M1 of music data analysis, produce activation bit M2, as shown in Figure 5.This activation bit M2, i.e. driving data comprises the time that is used for controlling respectively the left driving wheel controlling value of direction of rotation, rotary speed of left driving wheel 110 and right driving wheel 111 and right driving wheel controlling value and is continued along playback duration axle X1.
Thus, control module 22 is resolved this driving data, obtains accurate controlling value, according to this controlling value, sends the corresponding driving instruction to drive motors, drives driving wheel by drive motors and carries out corresponding action.
This driving data can generate by special-purpose software during to data storage cell 24 in real time at transmitting audio data, also can generate and store when not having transmission requirement, when needs transmit, deposits in the data storage cell 24 again.When generating this driving data, can generate automatically by special-purpose software, handle automatically and generate as the music data that is transferred to robot 1 being carried out frequency analysis, also can the people for adjust, setting, layout, advance the personal presentation inside the performed action of robot to increase.Activation bit M2 by these two kinds of methods obtain respectively has advantage.For the driving data that preceding a kind of mode obtained, owing to be music data to be carried out frequency analysis handle and form, the robot dance movement that is obtained by this driving data is standard comparatively; For the driving data that a kind of mode in back is obtained, owing to be that the user is set artificially to music data execution frequency analysis, therefore the driving data that is obtained has individual intention and characteristic.
The another kind of generating mode of driving data: the user can be in the form of a certain form document, carry out layout in mobile phone or computer, and an embodiment of this table format is specific as follows:
Table 1:
| Sequence number | The revolver direction | Right wheel direction | Revolver speed | Right wheel speed | Time (ms) |
| 001? | 0? | 1? | 05? | 06? | 14205? |
| 002? | 0? | 2? | 03? | 08? | 12066? |
| 003? | ……? | ……? | ……? | ……? | ……? |
Sequence number is represented the order of each action, and it is arranged in the mode that increases progressively, and its work sequence number position comprises three decimal numbers.Revolver direction and right wheel direction are represented with a decimal number, are respectively 0,1,2,3.0 and 3 representatives stop; 1 expression is advanced; 2 expressions retreat.Revolver speed and right wheel speed represent that with two decimal numbers it converts by multiplication, such as multiply by a certain coefficient, and gearing factor for example, this coefficient can obtain by the relevant parameter of travelling gear, and the unit of drawing is the speed of m/s.As: import 15 under the digit order number of revolver speed correspondence, numerical value 15 be multiply by coefficient 0.25/19, drawing this sequence number bottom left wheel speed is 0.197m/s.The required time that takies of the action of this sequence number correspondence of time representation, its unit is ms, and its time data bit comprises five decimal numbers.Therefore, for the layout of above-mentioned driving data, the utility model also provides a time counter, but is used for the time of each performed specific action of functional unit is carried out timing.
Below as can be seen, this driving data has comprised many groups action drives data, and each action data comprises action sequence number position, revolver bearing data position, right wheel bearing data position, revolver speed data position, right wheel speed data position and time data position at least.By setting, just can draw a specific action to these.
After editor's execution, with the storage of txt form, particular content is with the data in the form:
00101050614205；
00202030812066；
Thereby, there is one to drive file corresponding to an audio file, comprised concrete driving data in this driving file.This document can be kept on mobile phone or the computer, or directly is kept on the data storage cell 20.Man-machine interface 13 is in case send work order to DCU data control unit 21, DCU data control unit 21 reads the information in the data storage cell 20 that is inserted in the robot 1, and controls left drive motors and right drive motors based on the driving data in the driving file of reading.
Need to prove that the user can be the software of any form from the software of edlin driving data, the driving file of final storage also can be the file of any form.As among the embodiment in the above, the making of table 1 can be edited under the excel form, and the final driving file that forms is the txt form, but is not limited thereto.
In data storage cell 24, can there be single or a plurality of audio files and the driving file corresponding with it corresponding to robot 1.Described audio file can be various forms such as MP3, WAV, WMA, MP2, OGG, APE, AAC, MIDI or VQF.
In addition, the utility model also provides very friendly man-machine interface 21, this man-machine interface 21 comprises display screen and keyboard, wherein, described keyboard comprises driving file options button and acknowledgement key, the user selects to allow robot carry out which driving file by driving the file options button, if in data storage cell 24, comprise audio file, common way is directly to select audio file, because audio file is complementary with the driving file, when having selected audio file, also just be equivalent to select the driving file.After choosing the driving file, confirm by acknowledgement key.Then man-machine interface 21 should confirm that instruction sent to control module 22, and control module 22 reads the driving data in the driving file of choosing, and the control robot carries out corresponding action.In addition, this keyboard can also comprise some other button, as delete key, deletes by the file that delete key can be disliked some.
This keyboard can also comprise data modification key and numeric keypad, described data modification key can be revised the driving data that drives in the file, as after selecting a certain driving file, this document is opened, a certain group of data are wherein made amendment, at this moment, by described numeric keypad input corresponding digital.By this function, the robot that present embodiment provides not only can dance according to the driving file that has kept, and also can make interim modification to driving data in real time, makes the action of robot more meet user's hobby.
Except present embodiment mentioned, can be with the driving wheel of robot as robot dance movement unit, robot can also be provided with elevating mechanism, perhaps/and be provided with acoustic transmitter, optical transmitting set etc., specific embodiment is with reference to shown in Figure 4.At this moment, in order to drive acoustic transmitter 14, optical transmitting set 13, the control data that comprises the described optical transmitting set of control, acoustic transmitter in the driving data as adding some data bit in the back of each row shown in the table 1, is represented the control data to acoustic transmitter, optical transmitting set respectively.The moment that starts as optical transmitting set, time period, color etc.The moment that sound sends, time period, frequency etc.
Sound and light are mixed on suitable opportunity again by robot when doing action, with making that the dancing of this robot is full of life, be full of entertaining.
In the utility model, the control module 22 in the control system 2 can be an independent control subelement, also can be the central controller of robot self.That is, in the specific implementation, the control module that is used for dance function in the robot can be an independent controller, and this moment is more convenient when implementing, and easily to the transformation of existing robot, can increase dance function in existing robot.In addition, this function also can be finished by the central processing unit that is used to plan as a whole to control robot, by increase by one section dancing subprogram in its program, makes the central processing unit of robot implement dance function.
Again referring to Fig. 1, machine 1 described in the utility model can be the robot that only possesses dance function, or some clean robots commonly used, such as: the dedusting robot with dedusting parts, have the automatic sweeper of cleaning part or mop floor machine automatically, have the waxing robot of waxing parts etc.Difference in functionality according to robot, need the building block everywhere of the robot described in Fig. 1 is changed accordingly, for example, when being dedusting machine man-hour, accordingly, described sensing system 10 comprises infrared sensor and/or piezoelectric transducer, be used for the testing environment, be used for the testing state sensor and with the corresponding signal processing circuit of sensor; Also comprise the wheel and the drive motor (being the driver element 23 in Fig. 1 driving wheel 110,111 and Fig. 2 control system 2) thereof that are used for driving the work motor of cleaning unit work and are used for driven machine people walking; Described control module 22 also can be the total central processing unit of this robot, and the control robot finishes dedusting work; Described man-machine interface 21 is used the interface for described robot manipulation.Described sensing system 10 also comprises, the working environment when being used for sniffing robot work.
Said structure for the dedusting robot can be prior art, as being in the patent documentation of KR20040087185, WO07065033A2, WO0038026A1, WO0036969A1 embodiment to be arranged all at publication number, no longer repeats in this application.
Robot in the utility model may be embodied as the robot of all kinds, various functions.As small-sized household robots such as family public security, dust catchers, also can be some industrial robots.These robots are outside finishing its main separately function, can also have as dance function described in the utility model, after work, for the user provides converter tools, improve the compatibility of machine person-to-person communication, increased the added value of these robots thus.And the dancing function by the utility model is finished need not increase excessive cost.
On the whole, this robot can so that the user by family's common equipment instruments such as mobile phone, computers, the user selects music voluntarily, uses software to generate the dance movement of closing music beat automatically, or by user's dance movement of editor robot voluntarily; " information source " wide material sources of this music and dance action, be not subjected to the restriction of robot in-house facility, make the user in to the use of robot, can make, revise or change, thereby the use of robot is had more compatibility, interest by its hobby.
It should be noted last that: above embodiment is only unrestricted in order to explanation the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, the modification of under the prerequisite that does not break away from spirit and scope of the present utility model the utility model being carried out or be equal to replacement all should be encompassed in the middle of the claim scope of the present utility model.
Claims (10)
1. control system that makes robot carry out corresponding actions according to voice data, comprise: the control module, driver element and the man-machine interface that are positioned at described robot body, it is characterized in that, also comprise the data storage cell that separates with robot body, store the driving data that is complementary with a voice data, described data storage cell is connected with described control module by data-interface, wherein
Described control module is connected with described man-machine interface, accepts to come from the instruction of described man-machine interface, reads described driving data from described data storage cell, sends to described driver element according to described driving data and drives instruction;
But described driver element is accepted the functional unit that described driving instruction drives described robot, but described functional unit is according to the requirement action of described driving instruction.
2. the control system that makes robot carry out corresponding actions according to voice data as claimed in claim 1, it is characterized in that, described voice data also is stored in the described data storage cell, described control system also comprises audio signal processor, wherein, described control module to described driver element send drive instruction in, described audio signal processor receives the line number mould conversion of going forward side by side of described voice data in the described data storage cell, the simulated audio signal after the conversion is sent to the loudspeaker of described robot.
3. the control system that makes robot according to voice data execution corresponding actions as claimed in claim 1 is characterized in that, also comprises time counter, but is used for the time of each performed specific action of described functional unit is carried out timing;
Described driving data is stored in the described data storage cell in the mode that drives file, and described data storage cell stores one or more driving files.
4. the control system that makes robot according to voice data execution corresponding actions as claimed in claim 3 is characterized in that described man-machine interface comprises display screen and keyboard, and wherein, described keyboard comprises driving file options button and acknowledgement key;
Described keyboard also comprises data modification key and numeric keypad, and described data modification key is used for revising the driving data that drives file, and described numeric keypad is used to import corresponding digital.
5. the control system that makes robot carry out corresponding actions according to voice data as claimed in claim 1, it is characterized in that, described data storage cell comprises various types of storage cards, correspondingly, is provided with the draw-in groove that is used to hold described storage card in described robot body.
6. as the arbitrary described control system that makes robot carry out corresponding actions according to voice data of claim 1-5, it is characterized in that, described driving data comprises many group action drives data, and each group action drives data comprises action sequence number position, revolver bearing data position, right wheel bearing data position, revolver speed data position, right wheel speed data position and time data position at least.
7. the control system that makes robot carry out corresponding actions according to voice data as claimed in claim 6, it is characterized in that, described action sequence number position comprises three decimal numbers, described revolver bearing data position and/or right wheel bearing data position comprise a decimal number, described revolver speed data position and/or right wheel speed data position comprise two decimal numbers, and described time data position comprises five decimal numbers.
8. robot that carries out corresponding actions according to voice data, but comprise the robot body functional unit, it is characterized in that, comprise arbitrary described control system as claim 1-7, but described functional unit is subjected to the driving of driver element in the described control system, the driving data corresponding action that data storage cell is stored in execution and the described control system.
9. the robot according to voice data execution corresponding actions as claimed in claim 8 it is characterized in that, but described functional unit comprises two driving wheels;
But described functional unit also comprises one or more optical transmitting sets and/or acoustic transmitter, comprises the control data of described optical transmitting set of control and/or acoustic transmitter in the driving data of storing in the described data storage cell.
10. as claim 8 or 9 each described robots, it is characterized in that also comprise cleaning unit, described cleaning unit comprises the dedusting parts, or cleaning part according to voice data execution corresponding actions, or the waxing parts.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202987332U CN201693556U (en) | 2009-12-31 | 2009-12-31 | Robot and control system thereof capable of performing corresponding action according to audio data |
| PCT/CN2010/078765 WO2011079657A1 (en) | 2009-12-31 | 2010-11-16 | Robot performing corresponding action according to audio data and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202987332U CN201693556U (en) | 2009-12-31 | 2009-12-31 | Robot and control system thereof capable of performing corresponding action according to audio data |
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| CN201693556U true CN201693556U (en) | 2011-01-05 |
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| CN2009202987332U Expired - Lifetime CN201693556U (en) | 2009-12-31 | 2009-12-31 | Robot and control system thereof capable of performing corresponding action according to audio data |
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| WO (1) | WO2011079657A1 (en) |
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| CN104392729A (en) * | 2013-11-04 | 2015-03-04 | 贵阳朗玛信息技术股份有限公司 | Animation content providing method and device |
| CN105938482A (en) * | 2016-04-12 | 2016-09-14 | 王怡科 | System debugging method and system for electronic product |
| CN106075854A (en) * | 2016-07-13 | 2016-11-09 | 牡丹江师范学院 | A kind of dance training system |
| CN109820456A (en) * | 2019-04-01 | 2019-05-31 | 东莞芯速科技有限公司 | A kind of cleaning robot system and control method with story music playback function |
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| JP4096221B2 (en) * | 2001-05-10 | 2008-06-04 | 株式会社センテクリエイションズ | Dance doll |
| JP3632644B2 (en) * | 2001-10-04 | 2005-03-23 | ヤマハ株式会社 | Robot and robot motion pattern control program |
| CN1683122A (en) * | 2004-04-16 | 2005-10-19 | 上海科技馆 | Interaction device making robot dance with music rhythm |
| KR20060127452A (en) * | 2005-06-07 | 2006-12-13 | 엘지전자 주식회사 | Apparatus and method to inform state of robot cleaner |
| CN101411948A (en) * | 2007-10-19 | 2009-04-22 | 鸿富锦精密工业（深圳）有限公司 | Electronic toys |
| CN201346776Y (en) * | 2009-01-24 | 2009-11-18 | 泰怡凯电器(苏州)有限公司 | Audio system for robot and robot employing same |
-
2009
- 2009-12-31 CN CN2009202987332U patent/CN201693556U/en not_active Expired - Lifetime
-
2010
- 2010-11-16 WO PCT/CN2010/078765 patent/WO2011079657A1/en active Application Filing
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| CN104392729A (en) * | 2013-11-04 | 2015-03-04 | 贵阳朗玛信息技术股份有限公司 | Animation content providing method and device |
| CN105938482A (en) * | 2016-04-12 | 2016-09-14 | 王怡科 | System debugging method and system for electronic product |
| CN106075854A (en) * | 2016-07-13 | 2016-11-09 | 牡丹江师范学院 | A kind of dance training system |
| CN109820456A (en) * | 2019-04-01 | 2019-05-31 | 东莞芯速科技有限公司 | A kind of cleaning robot system and control method with story music playback function |
| CN109820456B (en) * | 2019-04-01 | 2023-11-21 | 东莞芯速科技有限公司 | Cleaning robot system with story music playing function and control method |
| CN111037557A (en) * | 2019-12-20 | 2020-04-21 | 扬州哈工科创机器人研究院有限公司 | System and control system for mechanical arm LED display deduction |
| CN111037557B (en) * | 2019-12-20 | 2022-07-22 | 扬州哈工科创机器人研究院有限公司 | System and control system for mechanical arm LED display deduction |
| CN112959319A (en) * | 2021-01-19 | 2021-06-15 | 穆特科技（武汉）股份有限公司 | Device and method for rapidly editing motion data of multi-degree-of-freedom robot |
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| WO2011079657A1 (en) | 2011-07-07 |
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Assignee: Ecovacs Electric Co.,Ltd. Assignor: TEK ELECTRICAL (SUZHOU) Co.,Ltd. Contract record no.: 2011320010104 Denomination of utility model: Robot and control system thereof capable of performing corresponding action according to audio data Granted publication date: 20110105 License type: Common License Record date: 20110805 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
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