CN106217393B - Mobile interaction platform of distally coming personally - Google Patents
Mobile interaction platform of distally coming personally Download PDFInfo
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- CN106217393B CN106217393B CN201610753058.2A CN201610753058A CN106217393B CN 106217393 B CN106217393 B CN 106217393B CN 201610753058 A CN201610753058 A CN 201610753058A CN 106217393 B CN106217393 B CN 106217393B
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- mobile
- distal end
- interaction platform
- platform
- projecting apparatus
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Classifications
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a kind of mobile interaction platforms of distally coming personally, and emulating body, mobile platform support bracket, mobile base robot by mankind's artificial head, the mankind, from top to bottom connection forms successively.Interaction platform is a humanoid mobile robot when participating in the cintest for movable type distal end, the image of local end user can be passed through two projecting apparatus by it, it is respectively displayed on the trunk and head of robot, scene around the facial expression and body of user is shown in real time, to reach the estrangement for reducing people and being exchanged with the machine human world.Meanwhile interaction platform can collect its ambient condition information when participating in the cintest for movable type distal end, include the image of the environment of surrounding, sound.By the utilization to these acquisition information, the telepresenc of user can be improved, makes user on the spot in person.In addition, this mobile distal end is come personally, interaction platform also possesses the automatic charge function that makes a return voyage in certain area.
Description
Technical field
The present invention relates to human-computer interaction technique fields.More particularly to a kind of mobile interaction platform of distally coming personally.
Background technology
With the accelerating rhythm of life of people, the case where people is too busy to attend to anything else, is increased, therefore has promoted mobile remote
Interactive development.Just start, due to the birth of internet, in order to keep up with people’s lives rhythm, people have invented Internet video,
So that people can indoors simultaneously with multiple people's contact acs.But people are still unsatisfactory for, by development for many years, remotely
Interaction has had many new products to be born.Such as Anybots QB mobile robots and the U.S. of Anybots companies
The Double robots of Double Robotics companies.The function of this two product is all closely similar, all mainly realizes user
" attending to anything else " ability, allowing user, remote control mobile robot goes to attend a meeting, goes to work and office and go on business indoors.But at present
The interactive experience of these products on the market is all poor, and basic only there are one screen display and stiff skeleton holder, distal ends
It can only be interacted with ice-cold machine with the people of robot interactive.If tele-robotic is designed to more to be bonded the mankind, shape
More as the mankind, make it have the real-time face expression of user, the people that surely enhancing distal end interacts in this way generates cordial feeling,
Shorten " distance " between machine and people.In addition, for local end user, the experience of telepresenc is particularly significant.If can incite somebody to action
Virtual reality technology is applied on local end user, and local end user is made to pass through virtual reality technology, makes its visual field and remote machine
Device people synchronizes, and must can enhance the telepresenc of local end user in this way.
In recent years, many and the relevant paper of the patent and patent are produced, it is as follows respectively：
1, Chinese publication number：CN104898652A, title：It is mutually exchanged with a moveable tele-robotic.
The equipment can make user's remote collection to the various information of the equipment so that user exchanges with the external world, while its upper limb
Certain movement can be made, but the shape of the equipment is more stiff, it is not beautiful enough, while the feelings of user cannot be shown remarkably
Scape information, interactive experience is poor, and the telepresenc of local end user is poor.
2, Chinese publication number：CN103802108A, title：Remote assistance office machine people.Patent description is set
It is standby can meet the mankind office general work, such as audio-visual exchange, remotely make an inspection tour working site, remote file transferring and
Participate in Remote Video Conference etc..But same, the shape of the equipment is more stiff, is not bonded the aesthetic of interaction between the mankind, to
The scene situation reducing degree at family is relatively low.The telepresenc of local end user is not accounted for simultaneously.
3, Chinese publication number：CN102755194A, title：A kind of remote monitoring robot.The equipment can pass through
The life and health situation of various Vital status detectors monitoring patient above it, can there is a degree of interaction with patient,
But its function that can be interacted is fewer, and the appearance of the equipment is equally more stiff, does not meet the aesthetic of the mankind, not to
The scene situation at family is restored, and causes interactive experience very poor.The telepresenc of its local end user of what is more important is very poor.
Invention content
The purpose of the present invention is to solve drawbacks described above in the prior art, such as remote mobile robot can not show use
The problems such as family scene situation, interactive experience is poor, user's telepresenc is poor, provides a kind of mobile interaction platform of distally coming personally.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of mobile interaction platform of distally coming personally, the platform emulate body 5, movement by mankind's artificial head 1, the mankind
From top to bottom connection forms successively for flat top holder 8, mobile base robot 9,
Mankind's artificial head 1 includes the first translucent glass plate 2, the first projecting apparatus 10 and head shell, described
The image information on local end user head is projected on the first translucent glass plate 2 by the first projecting apparatus 10 so that described
Mankind's artificial head 1 possesses the facial expression of local end user；
The remote subscriber refers to the user exchanged with mobile interaction platform of distally coming personally, meanwhile, corresponding, local side
User refers to the user of the mobile interaction platform of distally coming personally of manipulation.
The mankind emulate body 5 and include the second translucent glass plate 7, the second projecting apparatus 11 and body shell, described
The image information of remote subscriber body is projected on the second translucent glass plate 7 by the second projecting apparatus 11 so that the people
Class emulation body 5 possesses the body scene of remote subscriber.
Further, first projecting apparatus 10 and second projecting apparatus 11 are each parallel to the described first translucent glass
What glass plate 2 and the second translucent glass plate 7 were placed, first projecting apparatus 10 and second projecting apparatus 11 difference
Including a projecting apparatus image transfer, shown for that will redirect to parallel image respectively on corresponding translucent glass plate
Show.
Further, the projecting apparatus image transfer includes：First fixed plate a1, two-way mirror a2 and second are solid
Fixed board a3, the first fixed plate a1, the two-way mirror a2 and the second fixed plate a3 form a 45° angle and will project
The vertical picture of instrument is turned into level.
Further, the mankind emulate and are provided with mini microphone 6,3D cameras 3 and speaker 4 on body 5, described micro-
Type microphone 6 is used for the video signal around acquisition platform for the voice signal around acquisition platform, the 3D cameras 3,
The speaker 4 is used to play the sound of user.
Further, the mobile platform support bracket 8 plays load-bearing effect and upper-lower height is supported to adjust, by described
The position height that the mankind emulate body 5 and mankind's artificial head 1 is adjusted in mobile platform support bracket 8.
Further, the mobile base robot 9 includes：Sensor assembly, motor and its drive module, power module
And embedded computer,
Wherein, the motor and its drive module, for for mobile distal end, interaction platform to provide kinetic moment when participating in the cintest；
The power module can for providing operating voltage for all parts in mobile distal end when participating in the cintest interaction platform
Export 24V, 6V, 5V, 3.3V voltage；
The embedded computer, the control for being responsible for entire platform, while it is equipped with wireless network module, for connecing
The control signal and image, voice signal of user are received, meanwhile, there are the embedded computer the required data of projecting apparatus to connect
Mouth, power interface.
Further, the sensor assembly includes：Hall-type current sensor, gyro sensor and ultrasonic wave pass
Sensor,
Wherein, the Hall-type current sensor is used to detect the charge condition of mobile interaction platform of distally coming personally；
The gyro sensor is used to measure the steering angle of the mobile base robot 9；
The ultrasonic sensor modules are used to acquire the distance of mobile interaction platform peripheral obstacle of distally coming personally, and
Realize automatic obstacle avoiding.
Further, the mobile interaction platform of distally coming personally further includes external charging pile 12, the charging pile 12
It is bonded the shape of the mobile interaction platform of distally coming personally, when the mobile interaction platform of distally coming personally is moved to charging pile
When charging, the charging plug of the charging pile 12 just corresponds to the charging jacks of the mobile base robot.
Further, interaction platform can monitor remaining capacity in real time when participating in the cintest for the mobile distal end, when electricity is less than setting
When warning value, platform can alert user, and user is reminded to charge.
Further, interaction platform is come personally in a certain range of the charging pile 12 in the mobile distal end, can start
Automatic Track Finding backhaul function returns to the charging pile 12 and voluntarily charges according in it in obstacle avoidance algorithm and the algorithm that tracks.
The present invention has the following advantages and effects with respect to the prior art：
It comes personally interaction platform the invention discloses a kind of mobile distal end, which can allow user to realize the effect of " attending to anything else "
Fruit, the mobile interaction platform of distally coming personally of remote control one even more, allows user to appear in the world simultaneously indoors
The various occasions of various regions.The platform can go back the countenance and sound of original subscriber.Compared with other similar-type products, this is flat
Platform restores its environment by the way that its environmental information is conveyed to local end user, by computer equipment and virtual reality glasses, therefore
User's feels truer when participating in the cintest.Meanwhile the platform supports automated backhaul charge function within the scope of certain position, it can
The operation of easy user.
Description of the drawings
Fig. 1 is the structure chart of mobile interaction platform of distally coming personally disclosed in the present invention；
Fig. 2 is the partial sectional view of mobile interaction platform of distally coming personally disclosed in the present invention；
Fig. 3 is the structural schematic diagram of the first projecting apparatus in the present invention；
Fig. 4 is the structural schematic diagram of the second projecting apparatus in the present invention；
Fig. 5 is the structural schematic diagram of mobile interaction platform charging pile of distally coming personally；
Fig. 6 is the vertical view of mobile interaction platform charging pile of distally coming personally.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment
The present embodiment provides a kind of mobile distal end, interaction platform, the forward position for being related to human-computer interaction technology are applied when participating in the cintest.This
Interaction platform can provide a mobile robot to the user, and user can be connect with extraneous people and material object before computer
It touches, exchange.Scene (including expression, sound) perfection of the upper part of the body of local end user can be mapped to movement by this interaction platform
Robot makes robot possess the countenance of user in real time, and the people that distal end interacts is allowed to generate cordial feeling.Meanwhile the machine
Device people can allow user to be exchanged with other people by sound equipment and microphone.Local end user can pass through virtual reality eye
Mirror " true " experiences the mobile distal end environment where interaction platform when participating in the cintest, has very strong telepresenc.The interaction platform branch
Automated backhaul charge function is held, user's left-hand seat operation difficulty can be reduced.By using the interaction platform, user can accomplish " to divide
The effect of body ", while appearing in and attending various occasions all over the world.
Shown in Fig. 1 and Fig. 2, interaction platform is come personally by mankind's artificial head 1, the first translucent glass plate in mobile distal end
2,3D cameras 3, speaker 4, the mankind emulate body 5, mini microphone 6, the second translucent glass plate 7, mobile platform load-bearing branch
Frame 8, mobile base robot 9, the first projecting apparatus 10, the second projecting apparatus 11 composition.
Mankind's artificial head 1 and the mankind emulate body 5 as shown in Fig. 2, mankind's artificial head 1 is translucent by first
Glass plate 2, the first projecting apparatus 10 and head shell composition.Its inner hollow, the signal wire and power cord of projecting apparatus are along head
Inside portion then rear shell passes through torso interior rear shell, is ultimately connected to mobile base robot 9 to neck.First projecting apparatus 10
Then rear portion, the first projecting apparatus 10 project to the image information of user's head on the first translucent glass plate 2 in head shell,
So that mankind's artificial head 1 possesses the facial expression of user.
Equally, the mankind emulate body 5 and are made of the second translucent glass plate 7, the second projecting apparatus 11 and body shell.Its
Inner hollow, the signal wire and power cord of projecting apparatus are connected to mobile base robot 9 along torso interior rear shell.Second projection
Then the image information of user's body is projected to the second translucent glass plate to instrument 11 by rear portion, the second projecting apparatus 11 in body shell
On 7 so that the mankind emulate the body scene that body 5 possesses user.The mankind emulate and are provided with mini microphone 6 on body, 3D takes the photograph
As head 3 and speaker 4, the sound for environmental information (image, voice signal) and broadcasting local end user around acquisition platform.
Its collected information conveyance in embedded computer to being handled.Processing for image, uses according to different requirements,
Different image processing algorithms.
Since the first projecting apparatus and the second projecting apparatus are parallel to the first translucent glass plate and second translucent
What glass plate was placed, it is therefore desirable to build a projecting apparatus image transfer, parallel image is redirect to translucent glass
It is shown on plate.Projecting apparatus transfer is made of the first fixed plate a1, two-way mirror a2 and the second fixed plate a3, forms one
45° angle turns to the vertical picture of projecting apparatus at level, projects to the first translucent glass plate 2 or the second translucent glass plate
On 7.Furthermore, it is necessary to adjust the size of projecting apparatus image, it is possible to according to specific requirements, convex lens is added in transfer,
To reach image regulatory function.
To make mobile distal end come personally interaction platform close to Human stature, it is needed to take 1.75m close to the height of the mankind.
Remove mobile base robot, mankind's artificial head, outside body level altitude, it is remaining highly desirable to be propped up by mobile platform load-bearing
Frame 8 provides.The position of body and head is increased to the position of normal adult by mobile platform support bracket 8, while being played and being held
Recast is used.
Mobile base robot 9, mainly by sensor assembly, motor and its drive module, power module and insertion
Formula computer forms.Its sensor assembly includes Hall-type current sensor, gyro sensor and ultrasonic sensor.Suddenly
Your formula current sensor is used to detect the current conditions of circuit in entire mobile base robot, plays system protection.Such as
In the motor course of work, the operating current of system overruns, then it is assumed that system is in abnormal condition.Gyro sensors
Device is used to measure the steering angle of mobile base robot, and information is mainly used for it and automatic makes a return voyage.Ultrasonic sensor mould
Block is used for the distance of acquisition platform peripheral obstacle, and realizes automatic obstacle avoiding.Motor and its drive module are faced for mobile distal end
Field interaction platform provides kinetic moment.Motor will meet small and big torque feature.In view of motor mounting space is smaller,
And it is larger to bear a heavy burden, and need to choose small and big torque motor, such as 57BYG250C type stepper motors.Meanwhile in order to electricity
Machine is controlled, and needs to use motor driver, such as TB6600 motor drivers.
Power module needs to meet the different requirement of voltage needed for modules, can export 24V, 6V, 5V, 3.3V etc. no
Same voltage.The lithium battery of 24V 12AH is chosen, while needing the constant pressure conversion circuit for being equipped with the different voltages such as 6V, 5V, 3.3V.It is embedding
Enter formula computer, be responsible for entire platform control, while its be equipped with wireless network module, for receive user control signal and
Image, voice signal.Meanwhile the embedded computer has the required data-interface of projecting apparatus, power interface.
The charging pile 12 of mobile interaction platform of distally coming personally, smooth ground is fixed on by two screws of d1 and d2
On.Its global shape is a triangular prism, and intermediate hollow, hollow shape is cylinder, has specific groove at ground,
Position for fixing and limiting mobile base robot 9.Charging pile 12 passes through d3 charging plugs and mobile base robot 9
Charging jacks contact, to charge.By in it sensor, the mobile distal end of monitoring in real time is come personally interaction platform
Power conditions.
It is described here in conjunction with the mobile embodiment for distally coming personally interaction platform.When local end user is in computer
Interaction platform goes to company to participate in meeting to the mobile distal end of preceding manipulation when participating in the cintest, the 3D camera shootings for interaction platform of being come personally by mobile distal end
The information of first 3 acquisition, local end user can wear virtual reality glasses, mobile simultaneously in virtual reality " body faces scene "
The countenance of local end user is projected on its mankind's artificial head 1 by formula distal end interaction platform of coming personally.Work as local end user
When needing to carry out interactive with remote subscriber, local end user can directly with remote subscriber actual conversation, while local end user
The thing of notes etc can be placed on to the place of its upper limb, shown by the first projecting apparatus and the second projecting apparatus.
In view of the functional effect of mobile interaction platform of distally coming personally, it is desirable that carried out to user's the image collected certain
Image procossing.Due to the use of two projecting apparatus, and the parameter of two projecting apparatus differs, and projected image size is caused to have
It is distinguished.And, it is desirable that the head of the first projector user, and the trunk of the second projector user, therefore, it is necessary to
Processing is split to source images.By the embedded computer of mobile base robot 9, can be to image information at
Reason, is divided into two parts of images in head and trunk.Then, the parameter of projecting apparatus is corresponded to according to it carry out image size respectively
The modification of specification is finally transported to corresponding projecting apparatus respectively, is projected into translucent glass plate.
Interaction platform can monitor its remaining capacity in real time when participating in the cintest for mobile distal end, when electricity is less than setting warning value, put down
Platform can alert user, and user is reminded to charge.Interaction platform is come personally when needing charging in mobile distal end, local side only need by
It is manipulated near charging pile 12, when interaction platform is come personally in a certain range of charging pile in mobile distal end, so that it may to start
Automatic Track Finding backhaul function voluntarily charges according to charging pile is returned in obstacle avoidance algorithm, the algorithm that tracks in it.Work as charging complete, moves
Interaction platform can give user to send charging completion signal when participating in the cintest for dynamic formula distal end.
When interaction platform needs charging when participating in the cintest for mobile distal end, local side only needs to be manipulated near charging pile,
Then interaction platform can voluntarily be filled according to charging pile is returned in obstacle avoidance algorithm, the algorithm that tracks in it when participating in the cintest for mobile distal end
Electricity.The charging pile is bonded the shape of mobile interaction platform of distally coming personally, and is filled when mobile interaction platform of distally coming personally is moved to
When electric stake charging, the charging plug of charging pile just corresponds to the charging jacks of mobile base robot, and mobile base robot
Wheel be just moved to charging pile wheel pilot trench bottom, the position of mobile base robot is limited in the region of formulation
Charging.
In conclusion " attending to anything else " function of user may be implemented in the interaction platform, allow user before computer or before tablet
Remote control interaction platform, interacts with the external world.In addition, the platform can perfect presentation user real-time scene situation, it is complete
The expression of U.S.'s performance local end user, sound, reduce the distance between person to person and machine estrangement.It is more outstanding to be, lead to
The information for collecting its ambient enviroment to mobile interaction platform of distally coming personally is crossed, its reality environment, local side are built
User can make more humane operation by virtual reality glasses " on the spot in person ".In addition, the invention has the fitting mankind
The appearance of aesthetic conceptions allows the people that distal end interacts to generate cordial feeling, provides good user-interaction experience.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
- The interaction platform 1. a kind of mobile distal end is come personally, which is characterized in that the platform is by mankind's artificial head (1), Ren Leifang From top to bottom connection forms successively for true body (5), mobile platform support bracket (8), mobile base robot (9),Mankind's artificial head (1) includes the first translucent glass plate (2), the first projecting apparatus (10) and head shell, institute It states the first projecting apparatus (10) image information on local end user head is projected on the first translucent glass plate (2), make Obtain the facial expression that mankind's artificial head (1) possesses local end user；It includes the second translucent glass plate (7), the second projecting apparatus (11) and body shell, institute that the mankind, which emulate body (5), It states the second projecting apparatus (11) image information of local end user body is projected on the second translucent glass plate (7), make It obtains the mankind and emulates the body scene that body (5) possesses local end user.
- The interaction platform 2. mobile distal end according to claim 1 is come personally, which is characterized in that first projecting apparatus (10) And second projecting apparatus (11) is each parallel to the first translucent glass plate (2) and the second translucent glass plate (7) it places, first projecting apparatus (10) and second projecting apparatus (11) respectively include a projecting apparatus image and turn to Device is shown for parallel image to be redirect to respectively on corresponding translucent glass plate.
- The interaction platform 3. mobile distal end according to claim 2 is come personally, which is characterized in that the projecting apparatus image turns to Device includes：First fixed plate (a1), two-way mirror (a2) and the second fixed plate (a3), first fixed plate (a1), institute It states two-way mirror (a2) and second fixed plate (a3) forms a 45° angle and turns to the vertical picture of projecting apparatus at water It is flat.
- The interaction platform 4. mobile distal end according to claim 1 is come personally, which is characterized in that the mankind emulate body (5) mini microphone (6), 3D cameras (3) and speaker (4) are provided on, the mini microphone (6) is for acquisition platform week The voice signal enclosed, the 3D cameras (3) are used for the video signal around acquisition platform, the speaker (4) for playing The sound at family.
- The interaction platform 5. mobile distal end according to claim 1 is come personally, which is characterized in that the mobile platform load-bearing branch Frame (8) plays load-bearing effect and upper-lower height is supported to adjust, and the mankind are adjusted by the mobile platform support bracket (8) Emulate the position height of body (5) and mankind's artificial head (1).
- The interaction platform 6. mobile distal end according to claim 1 is come personally, which is characterized in that the mobile base robot (9) include：Sensor assembly, motor and its drive module, power module and embedded computer,Wherein, the motor and its drive module, for for mobile distal end, interaction platform to provide kinetic moment when participating in the cintest；The power module can be exported for providing operating voltage for all parts in mobile distal end when participating in the cintest interaction platform 24V, 6V, 5V, 3.3V voltage；The embedded computer, the control for being responsible for entire platform, while it is equipped with wireless network module, is used for receiving Control signal and image, the voice signal at family, meanwhile, the embedded computer have the required data-interface of projecting apparatus, Power interface.
- The interaction platform 7. mobile distal end according to claim 6 is come personally, which is characterized in that the sensor assembly packet It includes：Hall-type current sensor, gyro sensor and ultrasonic sensor,Wherein, the Hall-type current sensor is used to detect the charge condition of mobile interaction platform of distally coming personally；The gyro sensor is used to measure the steering angle of the mobile base robot (9)；The ultrasonic sensor modules are used to acquire the distance of mobile interaction platform peripheral obstacle of distally coming personally, and realize Automatic obstacle avoiding.
- The interaction platform 8. mobile distal end according to claim 1 is come personally, which is characterized in that come personally the mobile distal end Interaction platform further includes external charging pile (12), and charging pile (12) the fitting mobile distal end is come personally interaction platform Shape, when interaction platform is moved to charging pile charging when participating in the cintest for the mobile distal end, the charging plug of the charging pile (12) Just correspond to the charging jacks of the mobile base robot.
- The interaction platform 9. mobile distal end according to claim 8 is come personally, which is characterized in that come personally the mobile distal end Interaction platform can monitor remaining capacity in real time, and when electricity is less than setting warning value, platform can alert user, and user is reminded to carry out Charging.
- The interaction platform 10. mobile distal end according to claim 9 is come personally, which is characterized in that the mobile distal end is faced Field interaction platform can start Automatic Track Finding backhaul function in a certain range of the charging pile (12), interior in avoidance according to it Algorithm and the algorithm that tracks return to the charging pile (12) and voluntarily charge.
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| CN201610753058.2A CN106217393B (en) | 2016-08-29 | 2016-08-29 | Mobile interaction platform of distally coming personally |
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| CN201610753058.2A CN106217393B (en) | 2016-08-29 | 2016-08-29 | Mobile interaction platform of distally coming personally |
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| JP7249419B2 (en) * | 2020-02-14 | 2023-03-30 | ベイジン バイドゥ ネットコム サイエンス テクノロジー カンパニー リミテッド | robot |
| CN112720519B (en) * | 2020-12-23 | 2022-03-08 | 长沙学院 | Art pattern display robot |
| DE112021007312T5 (en) * | 2021-03-19 | 2024-04-04 | Honda Motor Co., Ltd. | ROBOT |
| DE112021007313T5 (en) * | 2021-03-19 | 2024-04-04 | Honda Motor Co., Ltd. | ROBOT |
| DE112021007350T5 (en) * | 2021-03-19 | 2024-03-28 | Honda Motor Co., Ltd. | robot |
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| CN105835071A (en) * | 2016-06-07 | 2016-08-10 | 苏州全谱光电科技有限公司 | Projection type humanoid robot |
| CN206200977U (en) * | 2016-08-29 | 2017-05-31 | 华南理工大学 | Portable distal end is come personally interaction platform |
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| CN106217393A (en) | 2016-12-14 |
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