CN104647340B - A kind of Multifunctional mobile robot - Google Patents
A kind of Multifunctional mobile robot Download PDFInfo
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- CN104647340B CN104647340B CN201510066152.6A CN201510066152A CN104647340B CN 104647340 B CN104647340 B CN 104647340B CN 201510066152 A CN201510066152 A CN 201510066152A CN 104647340 B CN104647340 B CN 104647340B
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Abstract
The invention discloses a kind of Multifunctional mobile robot, including：Robot platform and control platform, the control platform include local control device and remote control equipment；The robot platform includes the moving parts with mobile robot movement, connecting rod, head assembly, the master controller of control robot motion is provided with the moving parts, with the signal transmitting apparatus that the local control device carries out signal exchange, and it is used to carry the bogey of the master controller and the signal transmitting apparatus, the head assembly includes control head transfer and is used to fix the fixing device of local control device, the local control device is by the signal transmitting apparatus and the robot platform transmission information, the remote control equipment passes through third-party application software and the local control device transmission information, integrate monitoring and amusement the invention provides one kind, intelligence multi-function robot attractive in appearance.
Description
Technical field
The present invention relates to robot field, specifically a kind of Multifunctional mobile robot.
Background technology
As the advantage of mobile Internet emerges, smart home industry has obtained fast development, and increasing place is opened
Begin to introduce intellectualizing system, therefore during mobile robot initially enters various places, current mobile robot generally comprises letter
Number collection sensing, wireless telecommunications, data processing and mechanical movement such as control at the part, and its function is also fixed generally when dispatching from the factory
It is the one kind in being only monitoring or amusement, this kind of whole machine of robot included multi-part, and caused cost to be difficult to reduce, and
This kind of machine is excessive because of part, causes appearance unsightly.
Problems above prior art cannot all be solved, and how develop a kind of to integrating monitoring and amusement, intelligence
Mobile robot attractive in appearance is technical barrier urgently to be resolved hurrily at present.
The content of the invention
Instant invention overcomes the problem that prior art is present, there is provided one kind integrates monitoring and amusement, intelligence is attractive in appearance
Multi-function robot.
The present invention uses following technical scheme to solve above-mentioned technical problem：Robot platform and control platform, the control
Platform processed includes local control device and remote control equipment；The robot platform includes the motion with mobile robot movement
Component, connecting rod, head assembly, the moving parts are linked together by the connecting rod with the head assembly, described
The master controller and the local control device of control robot motion are provided with moving parts carries out the signal of signal exchange
Transmitting device and it is used to carry the bogey of the master controller and the signal transmitting apparatus, the head assembly bag
Include control head transfer and be used to fix the fixing device of local control device, the local control device is by described
Signal transmitting apparatus and the robot platform transmission information, the remote control equipment by third-party application software with it is described
Local control device transmission information.
Used as present invention further optimization scheme, the signal transmitting apparatus are bluetooth modules.
Used as present invention further optimization scheme, the moving parts also include being arranged on preventing on the bogey
Collision sensing device, anti-2 for falling device, being arranged on the bogey front end for being arranged on the bogey front bottom end
Gravity drop hammer, 2 driving wheels and 1 driven pulley, 2 driving wheels are respectively connected with a motor.
Used as present invention further optimization scheme, the anticollision induction installation, anti-to fall device be infrared facility, institute
State infrared facility to be made up of protection cap and infrared ray sensor, the protection cap is made up of upper cover plate, back shroud, the bonnet
Plate base is provided with extension board, and the erecting device being fixed on infrared facility on base is provided with the extension board.
Used as present invention further optimization scheme, the control head transfer is by steering motor, rotatable parts group
Into the steering motor is connected by rotating shaft with the rotatable parts；The afterbody lower section of the rotatable parts is provided with highest order
Travel switch, is provided with an extension on the head of the rotatable parts, the extension lower section is provided with lowest order stroke and opens
Close.
Used as present invention further optimization scheme, the rotating shaft is provided with driving gear away from steering motor end, described
Rotatable parts include follower gear and connector.
Used as present invention further optimization scheme, the fixing device is by clamp, the first movable clamping part, the second activity
Clamping part, supporting part composition；First movable clamping part, the second movable clamping part be symmetricly set on the clamp both sides and with
The clamp is formed and is used to place the grasping part of local control device, first movable clamping part, the second movable clamping part
It is made up of retaining part, chute, teeth groove respectively, position limiting structure is provided with the top of the clamp, the position limiting structure is by 2 limits
Position gear and the first active fastening block composition moving up and down, described each position limited gear bearing connect a travelling gear.
As present invention further optimization scheme, flexible button and limit button, institute are provided with the top of the clamp
State limit button and be connected with the first adjustable spring, the first adjustable spring other end is connected with the second active fastening block, described to stretch
Contracting button connects have the 3rd adjustable spring, the second adjustable spring is additionally provided with the clamp and is engaged with the chute
Slide rail, is provided with projection on the clamp, described second adjustable spring one end is stuck on the projection.
Used as present invention further optimization scheme, first movable clamping part is provided with the second adjustable spring screens,
The second adjustable spring other end is stuck in the second adjustable spring screens, and first active fastening block and described second is lived
Dynamic fixture block is provided with screens end, and the screens end of second active fastening block is stuck on the position limited gear.
A kind of a kind of control method of Multifunctional mobile robot as claimed in claim 1, it is characterised in that including with
Lower step：
i）Local control device and Multifunctional mobile robot are bound：Website is logged on local control device and downloads peace
Dress third-party application software, logs in the application software, enters into robot control interface, opens the bluetooth of local control device,
Multifunctional mobile robot is searched by the Bluetooth function of third-party application software, robot connection and multi-purpose machine is clicked on
People sets up connection, can at any time monitor connection state；
ii）By the instruction in control interface, instruction is sent, instruction is by Bluetooth transmission to master controller, master controller
The motion control be converted to robot will be instructed, control robot advances, retreats, comes back, bows, turns left, turns right；
Local control robot is realized by above-mentioned two step；
iii）Remote control robot：On the basis of above-mentioned two step, application software is installed on remote control equipment,
Local control device is added for good friend by network in application software, video is set up with local control device and is connected, remote control
Equipment and local control device video are conversed, while directly instruction can be sent remote control local control device, instruction passes through
To master controller, master controller will instruct the motion control be converted to robot to Bluetooth transmission, control robot advances, after
Move back, come back, bow, turn left, turn right.
The present invention uses above technical scheme compared with prior art, with following technique effect：
1st, the present invention integrates remote control and local control function, amusement function, widely used, may be used on family
Or in public place of entertainment, family is applied to, and the moment home environment can be monitored, recognize emergency at the first moment
One time made a response, in addition, local control device is set up with remote control equipment and is connected, so as to realize video call function,
It is convenient and practical to have the advantages that.
2nd, robot integrated curved design of the present invention is smooth, is possessing multi-functional while giving people the visual experience of U.S..
3rd, the applicable various local control devices of fixing device of the present invention, highly versatile is simple to operate.
Brief description of the drawings
Fig. 1 is a kind of Multifunctional mobile robot architecture schematic diagram of the invention；
Fig. 2 is a kind of Multifunctional mobile robot remote control robot high-level schematic functional block diagram of the invention；
Fig. 3 locally controls robot high-level schematic functional block diagram for a kind of Multifunctional mobile robot of the invention；
Fig. 4 is a kind of Multifunctional mobile robot motion modular construction schematic diagram of the invention；
Fig. 5 is a kind of Multifunctional mobile robot control head transfer structural representation of the invention；
Fig. 6 is a kind of Multifunctional mobile robot fixing device lower cover structure schematic diagram of the invention；
Fig. 7 is a kind of another structural representation of Multifunctional mobile robot fixing device lower cover of the invention；
Fig. 8 is a kind of Multifunctional mobile robot fixture structure schematic diagram of the invention；
Fig. 9 is a kind of the first movable clamping part of Multifunctional mobile robot structural representation of the invention；
Figure 10 is a kind of structural representation of Multifunctional mobile robot infrared ray unit protection lid design 1 of the invention；
Figure 11 is a kind of structural representation of Multifunctional mobile robot infrared ray unit protection lid design 2 of the invention；
Figure 12 is a kind of structural representation of Multifunctional mobile robot infrared ray unit protection lid design 3 of the invention；
Figure 13 is a kind of structural representation of Multifunctional mobile robot infrared ray unit protection lid design 4 of the invention；
Main element symbol：Robot platform 1；Control platform 2；Local control device 202；Remote control equipment 201；Fortune
Dynamic component 101；Connecting rod 102；Master controller 103；Signal transmitting apparatus 104；Bogey 105；Control head transfer
106；Fixing device 107；Anticollision induction installation 108；It is anti-to fall device 109；Driving wheel 110；Driven pulley 111；Motor
112；Protection cap 113；Upper cover plate 114；Back shroud 115；Extension board 116；Mounting hole 117；Steering motor 118；Highest order stroke
Switch 119；Extension 120；Lowest order travel switch 121；Driving gear 122；Follower gear 123；Connector 124；Clamp
125；First movable clamping part 126；Second movable clamping part 127；Supporting part 128；Retaining part 129；Chute 130；Teeth groove
131；Position limited gear 132；First active fastening block 133；Travelling gear 134；First adjustable spring 135；Second active fastening block 136；
Slide rail 137；Projection 138；Second adjustable spring screens 139；Screens end 140；Rotating shaft 141；Power switch 142；Electricity display lamp
143；Gravity drop hammer 144；Second adjustable spring 145；Charging inlet 146；Flexible button 147；Limit button 148；3rd flexible bullet
Spring 149, upper lid 150；Lower cover 151；Line outlet 152；First side plate 153；Second side plate 154；Screw hole 155.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
Embodiment 1：
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of Multifunctional mobile robot, including：Robot platform 1 and control platform
2, control platform 2 includes local control device 202 and remote control equipment 201；Wherein, local control device 202 can be
Panel computer, size is 7-10 cuns, and remote control equipment 201 can be third party's mobile device or computer, and robot platform 1 is wrapped
Moving parts 101, connecting rod 102, head assembly with mobile robot movement are included, moving parts 101 pass through connecting rod 102 and head
Parts link together, and the master controller 103 and local control that control robot motion is provided with moving parts 101 set
Standby 202 carry out signal transmitting apparatus 104 of signal exchange and being used to carries master controller 103 and signal transmitting apparatus 104
Bogey 105, bogey 105 is a chassis being made up of black glue, and local control device 202 passes through signal transmitting apparatus
104 are passed by third-party application software with the transmission information of robot platform 1, remote control equipment 201 with local control device 202
Information is passed, third party software is a software for robot control of applicant's independent research, can on applicant official website
Download to the application software.
Signal transmitting apparatus 104 are bluetooth modules, and bluetooth module is arranged on bogey 105, local control device 202
Master controller 103 is transmitted instructions to by the bluetooth module, the instruction is converted to master controller 103 motion to robot
Control, so as to realize monitoring function, is provided with power on light 143, head assembly in connecting rod 102 and is provided with power switch
142。
As shown in Fig. 1,4,10,11,12,13, moving parts 101 include the anticollision sense being arranged on bogey 105
Device 108 is answered, the anti-of the front bottom end of bogey 105 is arranged on and is fallen device 109, is arranged on the 2 of the front end of the bogey 105
111,2 driving wheels 110 of 144,2 driving wheels 110 of individual gravity drop hammer and 1 driven pulley are respectively connected with a motor 112,
Design anticollision induction installation 108, prevent falling device 109, robot can accurately detect barrier, prevent in the process of walking
Robot falls and damages, and designs driven pulley, and robot waits action around freely realizing, bogey rear end also sets
Charging inlet 146 is put, robot can have been charged by the interface.
Before anticollision induction installation 108 includes being arranged on the left front collision sensing device on the front end both sides of bogey 105, the right side
Collision sensing device and the rear collision sensing device of the rear end of bogey 105 is arranged on, is touched before left front collision sensing device, the right side
It is infrared facility to hit induction installation, rear collision sensing device, the anti-device 109 that falls, and infrared facility is by protection cap 113 and infrared
Line sensor group is into 4 kinds of designs are stamped in protection in the utility model, and protection cap 113 is by upper cover plate wherein in design 1
114th, back shroud 115 is constituted, and the base of back shroud 115 is provided with extension board 116, is provided with infrared facility on extension board 116
It is fixed on the mounting hole 117 on base；In design 2, line outlet 152 is provided with the upper cover plate 114 of protection cap 113, if
Protection cap 113 is connected with the second side plate 154 by the first side plate 153 and constituted in meter scheme 3, and the first side plate and the second side plate mutually hang down
Directly, be provided with the screw hole 155 protection cap 113 being fixed on bogey 105 in design 4 on back shroud 115, anti-
Protection cap 113 is set on collision sensing device 108, it is to avoid ambient is interfered to infrared ray, improves the standard of detection
There is dust reduction capability while exactness, erecting device is devised, can be more convenient that infrared facility flexibly is fixed on into chassis
On.
As shown in figure 5, head assembly includes control head transfer 106, control head transfer 106 is by turning to electricity
Machine 118, rotatable parts is constituted, and steering motor 118 is connected by rotating shaft 141 with rotatable parts, and steering motor 118 is worm gear electricity
Machine；The afterbody lower section of rotatable parts is provided with highest order travel switch 119, and an extension is provided with the head of rotatable parts
120, the lower section of extension 120 is provided with lowest order travel switch 121, by the design, when robot head goes to highest order,
Highest order travel switch 119 is touched in the afterbody lower section of rotatable parts, powers off, and steering motor 118 is stopped operating, and head is fixed not
It is dynamic, stop being rotated toward eminence, when robot head turns to lowest order, extension 120 touches lowest order travel switch 121,
Power-off, steering motor 118 is stopped, and robot head stops rotating down, it is ensured that robot can be in highest minimum point
Freely rotate, rotational angle reaches 120 degree, has the advantages that automated intelligent.
Rotating shaft 141 is provided with driving gear 122 away from the end of steering motor 118, and rotatable parts include follower gear 123 and connect
Fitting 124, the external fixing device 107 of connector 124, rotatable parts are by driving gear 122 and the phase interworking of follower gear 123
Conjunction is movably connected with rotating shaft 141, and by the design, rotating shaft 141 drives driving gear 122 to rotate, the band of driving gear 122
The rotation of dynamic follower gear 123, rotation of the follower gear 123 with follower link 124 is so as to drive robot head to move.
As shown in Fig. 6,8,7,9, head assembly also includes being used to fix the fixing device 107 of local control device 202, Gu
Determine device 107 to be made up of clamp 125, the first movable clamping part 126, the second movable clamping part 127, supporting part；First activity folder
Hold portion 126, the second movable clamping part 127 and be symmetricly set on the both sides of clamp 125 and formed with clamp 125 and be used to place local control
The grasping part of equipment 202, the first movable clamping part 126, the second movable clamping part 127 are respectively by retaining part 129, chute
130th, teeth groove 131 is constituted, and the top of clamp 125 is provided with position limiting structure, and position limiting structure can be gone up by 2 position limited gears 132 and
First active fastening block 133 of lower movement is constituted, and each bearing of position limited gear 132 connects a travelling gear 134.
Clamp 125 is made up of upper lid 150 and lower cover 151, and the top of clamp 125 is provided with flexible button 147 and is pressed with spacing
Button 148, limit button 148 is connected with the first adjustable spring 135, and the other end of the first adjustable spring 135 is connected with the second active card
Block 136, flexible button 147 be connected with the 3rd adjustable spring 149, clamp 125 be additionally provided with the second adjustable spring 145 and with
The slide rail 137 that chute 130 is engaged, is provided with projection 138 on clamp 125, the one end of the second adjustable spring 145 is stuck in projection 138
On, the first movable clamping part 126 is provided with the second adjustable spring screens 139, and the other end of the second adjustable spring 145 is stuck in second and stretches
In contracting spring screens 139, the first active fastening block 133 and the second active fastening block 136 are provided with screens end 140, the second active fastening block
136 screens end 140 is stuck on position limited gear 132, and fixing device 107 is to the activity local control device 202 of fixation, fixed dress
Putting 107 has automatic telescopic function, manual stretch function and limit function, and fixed size is 7-10 very little panel computer.
Designed more than, what automatic telescopic function was realized in：Flexible button 147 is provided with clamp 125, stretch button 147
The 3rd adjustable spring 149 is connected with, when the first movable clamping part 126, the second movable clamping part 127 are compressed to minimum dimension,
Second adjustable spring 145 is also compressed, and the first active fastening block 133 and the second active fastening block 136 are provided with screens end 140, first
Active fastening block 133, the screens end 140 of the second active fastening block 136 are stuck on position limited gear 132, so as to limit travelling gear 134
Rotation, press flexible button 147, moved on the 3rd adjustable spring 149 so as to drive on the second active fastening block 136 move, second live
Dynamic fixture block 136 is removed from position limited gear 132, and the second adjustable spring 145 flicks the movement for driving the first movable clamping part 127,
Position limited gear 132 is connected by rotating shaft 141 with travelling gear 134, by the teeth groove 131 in the first movable clamping part 126 and biography
Rotation of the mutual cooperation of moving gear 134 with nutating gear 134 is finally realized so as to drive 2 rotations of position limited gear 132
Automatic telescopic function.
What manual stretch function was realized in：The moment of screens end 140 of the second active fastening block 136 is stuck in position limited gear
132 it is upper, the one end of the second active fastening block 136 is connected with the first adjustable spring 135, when impose external force manually stretching two activity folder
When holding portion, the telescopic action of the first adjustable spring 135 enables two movable clamping part smooth rotations, so as to realize stretching manually
Function, when certain size is stretched to manually, stops to two stretchings of movable clamping part, the card of the second active fastening block 136
The position rechuck of end 140 limits the rotation of travelling gear 134 in the upper of position limited gear 132.
A kind of application method of multi-function robot, comprises the following steps：
i）Local control device 202 and Multifunctional mobile robot are bound：Website is logged on local control device 202
Download and third-party application software is installed, log in the application software, enter into robot control interface, open local control device
202 bluetooth, Multifunctional mobile robot is searched by the Bluetooth function of third-party application software, click on robot connection with
Multi-function robot sets up connection；
ii）By the instruction in control interface, instruction is sent, instruction is by Bluetooth transmission to master controller, master controller
The motion control be converted to robot will be instructed, control robot advances, retreats, comes back, bows, turns left, turns right；
Local control robot is realized by above-mentioned two step；
iii）Remote control robot：On the basis of above-mentioned two step, application is installed on remote control equipment 201 soft
Part, local control device 202 is added for good friend in application software by network, is set up with local control device 202 and is connected, far
Program control control equipment 201 and the video of local control device 202 are conversed, while directly the local control device 202 of remote control can send out
Go out instruction, instruction will instruct the motion control be converted to robot, control by Bluetooth transmission to master controller, master controller
Robot advances, retreats, comes back, bows, turns left, turns right.
Designed more than, when at home, can be by multi-function robot and good friend's Video chat, by controlling robot
Walking movement, it is easy and convenient and intelligent；Monitoring function：When outgoing working, family child old man is neglected, can be whenever and wherever possible
Family environment is monitored by remote control robot, easily, when emergency occurs, can be made a response the very first time.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, in the ken that those of ordinary skill in the art possess, can also be on the premise of present inventive concept not be departed from
Make a variety of changes.The above, is only presently preferred embodiments of the present invention, and any formal limit is not made to the present invention
System, although the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional skill
Art personnel, without departing from the scope of the present invention, when using the technology contents of the disclosure above make it is a little change or
The Equivalent embodiments of equivalent variations are modified to, as long as being without departing from technical solution of the present invention content, according to technology reality of the invention
Matter, within the spirit and principles in the present invention, any simple modification, equivalent and the improvement made to above example
Deng still falling within the protection domain of technical solution of the present invention.
Claims (5)
1. a kind of Multifunctional mobile robot, it is characterised in that including：Robot platform and control platform, the control platform
Including local control device and remote control equipment；The robot platform include with mobile robot movement moving parts,
Connecting rod, head assembly, the moving parts are linked together by the connecting rod with the head assembly, the exercise group
The master controller and the local control device of control robot motion are provided with part carries out the signal transmission dress of signal exchange
Put and be used to carry the bogey of the master controller and the signal transmitting apparatus, the head assembly includes control
Head transfer and it is used to fix the fixing device of local control device, the local control device is passed by the signal
Defeated device and the robot platform transmission information, the remote control equipment pass through third-party application software and the local control
Control equipment transmission information, the control head transfer is made up of steering motor, rotatable parts, and the steering motor is by turning
Axle is connected with the rotatable parts；The afterbody lower section of the rotatable parts is provided with highest order travel switch, the rotatable parts
Head on be provided with an extension, the extension lower section is provided with lowest order travel switch, and the rotating shaft is away from turning to electricity
Generator terminal is provided with driving gear, and the rotatable parts include follower gear and connector；
The fixing device is made up of clamp, the first movable clamping part, the second movable clamping part, supporting part；First activity
Clamping part, the second movable clamping part are symmetricly set on the clamp both sides and are formed with the clamp and be used to place the local control
The grasping part of control equipment, first movable clamping part, the second movable clamping part are respectively by retaining part, chute, teeth groove group
Into, position limiting structure is provided with the top of the clamp, the position limiting structure is by 2 position limited gears and one moving up and down first
Active fastening block is constituted, and described each position limited gear bearing connects a travelling gear；
Flexible button and limit button are provided with the top of the clamp, the limit button is connected with the first adjustable spring, institute
State the first adjustable spring other end and be connected with the second active fastening block, the flexible button connects have the 3rd adjustable spring, the folder
The second adjustable spring and the slide rail being engaged with the chute are additionally provided with vivo, projection is provided with the clamp, it is described
Second adjustable spring one end is stuck on the projection；
First movable clamping part is provided with the second adjustable spring screens, and the second adjustable spring other end is stuck in described
In two adjustable spring screens, first active fastening block and second active fastening block are provided with screens end, second activity
The screens end of fixture block is stuck on the position limited gear.
2. a kind of Multifunctional mobile robot according to claim 1, it is characterised in that：The signal transmitting apparatus are blue
Tooth module.
3. a kind of Multifunctional mobile robot according to claim 1, it is characterised in that：The moving parts also include setting
The anti-of front bottom end for put the anticollision induction installation on the bogey, being arranged on the bogey falls device, sets
2 gravity drop hammers in the bogey front end, 2 driving wheels and 1 driven pulley are put, 2 driving wheels are respectively connected with
One motor.
4. a kind of Multifunctional mobile robot according to claim 3, it is characterised in that：The anticollision induction installation,
Prevent that it is infrared facility to fall device, the infrared facility is made up of protection cap and infrared ray sensor.
5. a kind of a kind of control method of Multifunctional mobile robot as claimed in claim 1, it is characterised in that including following
Step：
I) local control device and Multifunctional mobile robot are bound：Website is logged on local control device download and install the
Tripartite's application software, logs in the application software, enters into robot control interface, opens the bluetooth of local control device, passes through
The Bluetooth function of third-party application software searches Multifunctional mobile robot, clicks on robot connection and is built with multi-function robot
Vertical connection, can at any time monitor connection state；
Ii) by the instruction in control interface, instruction is sent, instruction will refer to by Bluetooth transmission to master controller, master controller
Order is converted to the motion control to robot, and control robot advances, retreats, comes back, bows, turns left, turns right；
Local control robot is realized by above-mentioned two step；
Iii) remote control robot：On the basis of above-mentioned two step, application software is installed on remote control equipment, in application
Local control device is added for good friend by network on software, video is set up with local control device and is connected, remote control equipment
With the call of local control device video, while directly instruction can be sent remote control local control device, instruction passes through bluetooth
Master controller is transferred to, master controller will instruct the motion control be converted to robot, and control robot advances, retreats, lift
Head, bow, turn left, turning right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510066152.6A CN104647340B (en) | 2015-02-09 | 2015-02-09 | A kind of Multifunctional mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510066152.6A CN104647340B (en) | 2015-02-09 | 2015-02-09 | A kind of Multifunctional mobile robot |
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| CN104647340A CN104647340A (en) | 2015-05-27 |
| CN104647340B true CN104647340B (en) | 2017-07-07 |
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| CN204012819U (en) * | 2014-07-04 | 2014-12-10 | 郭思明 | A kind of onboard wireless charger |
| CN204086873U (en) * | 2014-07-11 | 2015-01-07 | 重庆邮电大学 | Intelligent robot tele-control system |
| CN204471360U (en) * | 2015-02-09 | 2015-07-15 | 广州映博智能科技有限公司 | A kind of Multifunctional mobile robot |
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2015
- 2015-02-09 CN CN201510066152.6A patent/CN104647340B/en active Active
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