CN102794758A - Multifunctional household service robot - Google Patents
Multifunctional household service robot Download PDFInfo
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- CN102794758A CN102794758A CN2012102453350A CN201210245335A CN102794758A CN 102794758 A CN102794758 A CN 102794758A CN 2012102453350 A CN2012102453350 A CN 2012102453350A CN 201210245335 A CN201210245335 A CN 201210245335A CN 102794758 A CN102794758 A CN 102794758A
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Abstract
The invention provides a multifunctional household service robot which uses a crawler-type running system. The multifunctional household service robot comprises a maintenance system and a clear-up system; the maintenance system comprises a maintenance table and a butt-joint lamp group; the maintenance table mainly consists of a maintenance table lifting mechanism, a maintenance table push arm transmission mechanism, a maintenance table push arm cleaning mechanism, a charging joint, a positioning detection light sensation triode, a shooting indication lamp and the like; main mechanisms of the clear-up system are distributed in a chassis rack, and comprise a push arm, an ejector door and a lifting table from top to down in sequence; the push arm consists of two moving pairs; the ejecting door comprises an ejecting door right face and an ejecting door left face, which are connected through a connecting rod of a crank sliding block, and are driven by transmission mechanisms which are symmetrically arranged at the top of the chassis rack; and the lifting table consists of a platform and four screw rod nut mechanisms for supporting the platform. According to the multifunctional household service robot provided by the invention, the basic moving technology of the household service robot, such as simple indoor positioning and path planning can be realized, so that the multifunctional household service robot has actual use values when mission is carried out indoors; the full-automatic services can be basically realized; and the inconvenience brought by remote control can be avoided.
Description
Technical field
The invention belongs to the small scale robot field, be specifically related to the multifunctional household service robot.
Background technology
Now family expenses service class robot function ratio is more single on the market, mainly is some clean type robots, and the robot that is used for article arrangement and storage can not satisfy user's needs especially less and few.This product not only can carry out article arrangements, can also this arrangement be divided into full-automatic and automanually, article is put into casing can manually be put into by the user, also can automatically article be taken in casing from ground by machine, has realized the variation of function.
Present most of robot needs the manual regular maintenance to detect, and this does not only have liberate people to let the people go to look after robot on the contrary, and the burden that has increased the people has been raised user's use threshold.Thereby we hope robot can self and energy storage break away from user's treatment, " wholeheartedly " be user's service.Be in particular the mobile robot based on these these works and designed all-in-service station; Supply it to carry out self-fault detect, charging, basic cleaning; Realized from using the comprehensive automation of maintenance, exempted the user and introduce numerous and diverse things of periodic maintenance behind the robot and reduced the technical threshold that to grasp when the user uses.
The utilization of solar energy is that present robot also is the developing direction of future robot, and the adding of solar panel has reduced the dependence of energy supplying system for rechargeable battery and fixed power source, can under the situation of short time outage, lighting energy be provided again simultaneously.The solar powered function that focuses automatically of this product, it is less that its mechanism takies volume, and can carry out two axial adjustings.This function has been introduced the system design philosophies of " people-machine-environment " with our design, not only realizes social value but also utilized natural value, is a kind of designer trends of following domestic robot energy supplying system.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art; The object of the present invention is to provide a kind of multifunctional household service robot; Can realize the basic mobile technologies of home services robotlike such as simple indoor positioning, path planning; When indoor executing the task, have actual use value, realize full automatic service basically, the inconvenience of avoiding remote control to bring.
In order to achieve the above object, the technical scheme of the present invention's employing is:
The multifunctional household service robot adopts the crawler-type traveling system, also comprises maintenance system and clearing system:
Said maintenance system comprises base plate 3, and base plate 3 is provided with by butt joint and starts photoelectric tube group 1 and dock the butt joint lamp group that termination photoelectric tube group 2 is formed; Also fixing first frame 4 on the base plate 3; Being furnished with vertical first leading screw, 5, the first leading screws, 5 one sides between being fixed in wherein on first frame 4 is provided with on first spacing telegraph key 6, the first leading screws 5 first nut 7 is arranged; First motor 8 is fixed on first frame, 4 tops; First motor 8 connects first gear, 9, the first gears 9 and 10 engagements of second gear, second gear 10 and 5 transmissions of first leading screw; First gear 9 is connected with the 3rd gear 11 realizes coaxial rotation; This axle head contacts when rotating, to realize counting with counting telegraph key 12, Yi Bian first nut 7 is fixed with the balanced controls 13 that balance is used, balanced controls 13 front ends are fixed with the indicator lamp 20 of taking pictures, malfunction monitoring camera and temperature sensor 21; First nut, 7 another sides are fixed with second motor 14; Second motor 14 connects first gear-box 15; First gear-box 15 is connected with first tooth bar 16 through draw-in groove; First tooth bar 16 is fixed on the bar 18, and the below that charging connector 19 and maintenance state indicator lamp group 22, the second motors 14 are equipped with in the place ahead of bar 18 is fixed with the first spacing telegraph key 17;
The principal organ of said clearing system all is distributed in the rack cabinet 40, from top to bottom is followed successively by to push arm, roof door and lifting platform:
Said propelling movement arm is made up of two moving sets, and moving sets is taken turns 41 transition by first chain 44 via the 7th gear 42 at the two ends of being fixed in push pedal 43 and octadentate and connected to form; Another moving sets adopts pinion and rack; Be fixed in a side of push pedal 43 by second tooth bar 32, second gear-box 38 all is connected with second tooth bar 32 through draw-in groove with the 3rd gear-box 36, and the 6th motor 37 drives the 3rd gear-box 36; Second gear-box 38 is fixed in the rear of rack cabinet 40; Second tooth bar, 32 relative translations when being connected with moving sets slide block 71, the second gear-boxes 38 in the push pedal 43 by driving, and then drive moving sets slide block 71 moves;
Said roof door comprises the roof door right side 55 and the roof door left side 56 that the connecting rod 57 through crank block links to each other; 56 belows, the roof door left side are provided with solar panel 54; Roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet 40 tops; Transmission mechanism comprises that the 9th gear 33, the nine gears 33 are driving link and are driven by the 5th motor 34, the 9th gear 33 through draw-in groove be connected at the 3rd tooth bar 73 that is fixed on the rack cabinet 40;
Said lifting platform is made up of platform 35 and four screw-nut bodies that support it.
Said running gear comprises with the main crawler belt part of second frame 29 as the chassis; On second frame 29, be symmetrically distributed with two the 3rd motors 59; The 3rd motor 59 drives via driven pulley 61 and the two-stage travelling gear that driving wheel 60 constitutes; Driving wheel 60 is unsettled, driven pulley 61 and the 5th gear 58 coaxial rotation that drive secondary crawler belt part.
By a moving sets, and three revolute pairs are formed between the major-minor crawler belt of the running gear part.Moving sets is that two second leading screws 25 and two second nuts matching with it 24 are formed, and two second nuts 24 are symmetrically fixed on the secondary crawler belt through fixture 39; Revolute pair frame 23 is fixed on second frame 29; Three gears as revolute pair are fixed in the middle of the moving sets frame 23; The 4th motor 66 that is fixed on the moving sets frame 23 drives pinion 69 rotations; Pinion 69 drives central gear 68 rotations with its engagement, and the 4th gear 67 that meshes through this secondary gear transmission drive and central gear 68 rotates, and is connected through axle with second leading screw 25 like the 4th gear 67 and realizes coaxial rotation; And then drive the motion that secondary crawler belt is partly realized two-dimensional directional; The 5th gear 58 of secondary crawler belt part and driven pulley 61 coaxial rotation of main crawler belt part, the 5th gear 58 and 72 engagements of the 6th gear drive it and rotate, and respectively are provided with one group of anticreep sprocket wheel 28,26 in the both sides of major and minor crawler belt.
Maintenance on revolute pair frame 23 butt joint lamp 77, through with all-in-service station on dock and start photoelectric tube group 1 and stop photoelectric tube group 2 with butt joint and carry out optical signal transmitting and finish receiving mating operation.The charging that is fixed on rack cabinet 40 right-hand members receives mouthfuls 74, dock with charging inlet 19 on the maintenance console and realizes charging.
Push not directly connection between arm, roof door and the lifting platform, they all the part parts through separately be fixed on the rack cabinet 40.The rear that second gear-box 38 in the propelling movement arm and the 3rd gear-box 36 all are fixed on rack cabinet 40; The 3rd tooth bar 73 is fixed on the rack cabinet 40, and the roof door left side 56 is fixed on the rack cabinet 40 through axle 75, and the 4th leading screw 31 in the lifting platform is fixed on the rack cabinet 40 through screw set 76.
With compared with techniques, advantage of the present invention is:
1) this robot mainly is that the mobile arrangement that is directed against small article designs.This arrangement is divided into full-automatic and automanual.Article are put into casing can manually be put into by the user, also can automatically article be taken in casing from ground by machine, has realized the variation of function.And " plane " arrangement of this arrangement function robot different from the past, it can realize " three-dimensional arrangement ", promptly from ground to the desktop, is applicable to following life.
2) these works are in particular the mobile robot and have designed all-in-service station and supply it to carry out self-fault detect and charging; Realized from using the comprehensive automation of maintenance, exempted the user and introduce numerous and diverse things of periodic maintenance behind the robot and reduced the technical threshold that to grasp when the user uses.
3) lifting platform of clearing system uses the chain-drive mechanism that butterfly is arranged, makes that travelling gear is difficult for skidding, and increases the transmission pulling force.
4) push arm and adopt the rack-and-pinion of double stroke and the structure of chain transmission combination, do not increasing number of motors, do not reducing to push under the condition of distance, will push arm lengths and reduce half, pushing speed has increased by one times, practices thrift the arrangement of mechanism space.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a left view of the present invention.
Fig. 3 is a vertical view of the present invention.
Fig. 4 is that the present invention pushes arm mechanism figure.
Fig. 5 is chassis butterfly distribution motor figure of the present invention.
Fig. 6 is a major-minor caterpillar belt structure sketch of the present invention.
Fig. 7 is a hoistable platform sketch of the present invention.
Fig. 8 is a scraper bowl jack sketch of the present invention.
Fig. 9 is a roof door transmission mechanism sketch of the present invention.
Figure 10 is master's crawler belt part driving wheel schematic diagram of mechanism of the present invention.
Figure 11 is the front view of all-in-service station of the present invention.
Figure 12 is the left view of all-in-service station of the present invention.
Figure 13 is the vertical view of all-in-service station of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is explained further details.
The present invention is a kind of multifunctional household service robot that adopts the crawler-type traveling system, has also comprised maintenance system and clearing system simultaneously.
The running gear that the present invention adopts comprises with the main crawler belt part of second frame 29 as the chassis; As shown in Figure 6; On second frame 29, be symmetrically distributed with two the 3rd motors 59; The 3rd motor 59 drives via driven pulley 61 and the two-stage travelling gear that driving wheel 60 constitutes, and driving wheel 60 is unsettled, driven pulley 61 and the 5th gear 58 coaxial rotation that drive secondary crawler belt part.
By a moving sets, and three revolute pairs are formed between the major-minor crawler belt of the running gear part.As shown in figures 1 and 3, moving sets is that two second leading screws 25 and two second nuts matching with it 24 are formed, and two second nuts 24 are symmetrically fixed on the secondary crawler belt through fixture 39; As shown in Figure 1 again; Revolute pair frame 23 is fixed on second frame 29, Figure 10 and shown in Figure 1 and for example, and three gears as revolute pair are fixed in the middle of the moving sets frame 23; The 4th motor 66 that is fixed on the moving sets frame 23 drives pinion 69 rotations; Pinion 69 drives central gear 68 rotations with its engagement, and the 4th gear 67 that meshes through this secondary gear transmission drive and central gear 68 rotates, and is connected through axle with second leading screw 25 like the 4th gear 67 and realizes coaxial rotation; And then drive the motion that secondary crawler belt is partly realized two-dimensional directional; The 5th gear 58 of secondary crawler belt part and driven pulley 61 coaxial rotation of main crawler belt part, the 5th gear 58 and 72 engagements of the 6th gear drive it and rotate, and respectively are provided with one group of anticreep sprocket wheel 28,26 in the both sides of major and minor crawler belt.
Fig. 1 for another example, the maintenance butt joint lamp 77 on revolute pair frame 23, through with all-in-service station on dock and start photoelectric tube group 1 and stop photoelectric tube group 2 with butt joint and carry out optical signal transmitting and finish receiving mating operation.The charging that is fixed on rack cabinet 40 right-hand members receives mouthfuls 74, dock with charging inlet 19 on the maintenance console and realizes charging.
This running gear also comprises scraper bowl 62; As shown in Figure 8; Scraper bowl 62 is driven by one group of the 3rd leading screw 64, the 3rd nut 65 that matches with it and double rocking lever 63, and the 3rd leading screw 64 is fixed in the centre of the crawler belt of main crawler belt two symmetry arrangement partly, the 5th motor 70 and 64 coaxial connections of the 3rd leading screw; The 3rd nut 65 and double rocking lever 63 link together through axle, and double rocking lever 63 is connecting scraper bowl 62.
The principal organ of said clearing system all is distributed in the rack cabinet 40, from top to bottom is followed successively by to push arm, roof door and lifting platform:
Said propelling movement arm is made up of two moving sets, like Fig. 4; Moving sets is taken turns 41 transition by first chain 44 via the 7th gear 42 at the two ends of being fixed in push pedal 43 and octadentate and is connected to form, and like Fig. 2, another moving sets adopts pinion and rack; Be fixed in a side of push pedal 43 by second tooth bar 32, second gear-box 38 all is connected with second tooth bar 32 through draw-in groove with the 3rd gear-box 36, and the 6th motor 37 drives the 3rd gear-box 36; Second gear-box 38 is fixed in the rear of rack cabinet 40; Second tooth bar, 32 relative translations when being connected with moving sets slide block 71, the second gear-boxes 38 in the push pedal 43 by driving, and then drive moving sets slide block 71 moves;
Like Fig. 1 and Fig. 9; Said roof door comprises the roof door right side 55 and the roof door left side 56 that the connecting rod 57 through crank block links to each other, and 56 belows, the roof door left side are provided with solar panel 54, and roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet 40 tops; Like Fig. 2; Transmission mechanism comprises that the 9th gear 33, the nine gears 33 are driving link and are driven by the 5th motor 34, the 9th gear 33 through draw-in groove be connected at the 3rd tooth bar 73 that is fixed on the rack cabinet 40;
Like Fig. 7, said lifting platform is made up of platform 35 and four screw-nut bodies that support it.Driving force is provided by low power the 8th motor 27 of four parallel connections, and transmission mechanism is adopted the chain kind of drive that butterfly is arranged.Like Fig. 5, four the 8th motors 27 drive four gears 45,46,47,48 in first gear train respectively.These four gears rotate through four gears 49,50,51,52 that second chain 53 drives in second gear train that is attached thereto respectively.And gear 49,50,51 is connected with 31 of the 4th leading screws with 52, and like Fig. 7, the 4th nut 30 that drives on the 4th leading screw 31 moves up and down.And platform 35 is fixed on the 4th nut 30, moves along with moving up and down of nut.
Not directly connection between above-mentioned propelling movement arm, roof door and the lifting platform, they all the part parts through separately be fixed on the rack cabinet 40.The rear that second gear-box 38 in the propelling movement arm and the 3rd gear-box 36 all are fixed on rack cabinet 40; The 3rd tooth bar 73 is fixed on the rack cabinet 40, and the roof door left side 56 is fixed on the rack cabinet 40 through axle 75, and the 4th leading screw 31 in the lifting platform is fixed on the rack cabinet 40 through screw set 76.
Shown in Figure 11-13, maintenance system of the present invention is independent of other two systems, mainly is made up of butt joint lamp group and maintenance console.Butt joint lamp group is made up of with butt joint termination photoelectric tube group 2 the butt joint startup photoelectric tube group 1 that is arranged on the base plate 3.And maintenance console is mainly pushed arm cleaning mechanism, charging connector, detection and localization light sensation triode, the indicator lamp of taking pictures etc. and is formed by maintenance console elevating mechanism, maintenance console propelling movement arm transmission mechanism, maintenance console; The maintenance console concrete structure comprises base plate 3; Also fixing first frame 4 on the base plate 3; Be furnished with the first vertical leading screw 5 between being fixed in wherein on first frame 4; First leading screw, 5 one sides are provided with on first spacing telegraph key 6, the first leading screws 5 has first nut, 7, the first spacing electricity to build the minimum shift position that key limits first nut 7.First motor 8 is fixed on first frame, 4 tops; First motor 8 connects first gear 9 and drives 9 rotations of first gear; First gear 9 and second gear 10 mesh and then drive the motion of first nut 7 on first leading screw 5; First gear 9 is connected with the 3rd gear 11 realizes coaxial rotation; This axle head contacts when rotating, to realize counting with counting telegraph key 12, Yi Bian first nut 7 is fixed with the balanced controls 13 that balance is used, balanced controls 13 front ends are fixed with the indicator lamp 20 of taking pictures, malfunction monitoring camera and temperature sensor 21; First nut, 7 another sides are fixed with second motor 14; Second motor 14 connects first gear-box 15; First gear-box 15 is connected with first tooth bar 16 through draw-in groove; First tooth bar 16 is fixed on the bar 18, and the below that charging connector 19 and maintenance state indicator lamp group 22, the second motors 14 are equipped with in the place ahead of bar 18 is fixed with the first spacing telegraph key 17; The gear of first gear-box 15 can make said first tooth bar 16 slide when rotating, realize pushing protracting or indentation of arm, and accomplish the cleaning to mechanical body.
Of the present invention can the realization stores and places arrangement, follows reading, self-energy storage, self totally 5 main merits picking up of little article.Can go to the place that need put in order and pick up article through running gear the present invention, only need the 3rd motor 59 to drive during the motion of level land, drive driving wheel 60, driven pulley 61 rotations realize moving.In the process of topping bar; At first the 4th motor 66 drives and makes second leading screw 25 rotate drive second nut 24 translation backward; Secondary crawler belt is partly lifted, and main afterwards crawler belt partly drives complete machine and travels forward, and second nut 24 translation backward makes secondary crawler belt partly be pressed on the step; Prop vehicle body, the driving wheel 60 of main crawler belt part rotates with driven pulley 61 and makes vehicle body press step for preceding half section.Last rear scraper bowl 62 is propped up aftercarriage, and back crawler belt rotates, and makes machine gravity cross step, the completion process of topping bar.When getting out of a predicament or an embarrassing situation, move behind second nut 24 of secondary crawler belt part and press down touching low layer ground, main crawler belt part driving wheel 60 rotates with driven pulley 61 and advances forward at a slow speed, secondary crawler belt part through second nut 24 forward translation slowly be raised to and main crawler belt part conllinear.Main crawler belt portion rotates with driven pulley 61 through driving wheel 60 and quickens to advance, and accomplishes the process of getting out of a predicament or an embarrassing situation; Clearing system can realize following reading; The chain kind of drive driven wheel 49,50,51 and 52 that the 8th motor 27 is arranged through butterfly rotates and then the 4th leading screw 31 is rotated; Drive that the 4th nut 30 moves up and down on it; And then lifting platform fixed thereon 35 is moved up and down, so can being placed into book on it, the user reads; Scraper bowl 62 actings in conjunction of clearing system and running gear realize the placement arrangement of article; Hoistable platform 35 drops to extreme lower position; The 5th motor 70 drives the 3rd leading screw 64 and rotates 65 translations of drive the 3rd nut, make double rocking lever 63 motions, and then drive scraper bowl 62 is realized folding and unfolding; The 7th motor 34 drives the 9th gear 33 and rotates, and drives the roof door right side 55 and moves horizontally, and moves the two dimensional motion of realizing solar panel 54 through the connecting rod 57 drive roof door left sides 56 simultaneously and receives sunlight, realizes energy storage; On the clearing system maintenance butt joint lamp 77, through with all-in-service station on dock and start photoelectric tube group 1 and stop photoelectric tube group 2 with butt joint and carry out optical signal transmitting and reception, accomplish mating operation.And the indicator lamp 20 of taking pictures on the all-in-service station is accomplished the maintenance work to clearing system with malfunction monitoring camera and temperature sensor 21.
Claims (2)
1. the multifunctional household service robot adopts the crawler-type traveling system, it is characterized in that, also comprises maintenance system and clearing system:
Said maintenance system comprises base plate (3), and base plate (3) is provided with by butt joint and starts photoelectric tube group (1) and dock the butt joint lamp group that termination photoelectric tube group (2) is formed; Also fixing first frame (4) on the base plate (3); Be furnished with vertical first leading screw (5) between being fixed in wherein on first frame (4); First leading screw (5) one sides are provided with the first spacing telegraph key (6); First nut (7) is arranged on first leading screw (5), and first motor (8) is fixed on first frame (4) top, and first motor (8) connects first gear (9); First gear (9) and second gear (10) engagement; Second gear (10) and first leading screw (5) transmission, first gear (9) are connected with the 3rd gear (11) realizes coaxial rotation, and this axle head contacts with counting telegraph key (12) when rotating, to realize counting; First nut (7) is fixed with the balanced controls (13) that balance is used on one side, and balanced controls (13) front end is fixed with the indicator lamp of taking pictures (20), malfunction monitoring camera and temperature sensor (21); First nut (7) another side is fixed with second motor (14); Second motor (14) connects first gear-box (15); First gear-box (15) is connected with first tooth bar (16) through draw-in groove; First tooth bar (16) is fixed on the bar (18), and charging connector (19) and maintenance state indicator lamp group (22) are equipped with in the place ahead of bar (18), and the below of second motor (14) is fixed with the first spacing telegraph key (17);
The principal organ of said clearing system all is distributed in the rack cabinet (40), from top to bottom is followed successively by to push arm, roof door and lifting platform:
Said propelling movement arm; Form by two moving sets; A moving sets is connected to form by first chain (44) the 7th gear (42) and (41) transition of octadentate wheel via the two ends of being fixed in push pedal (43), and another moving sets adopts pinion and rack, is fixed in a side of push pedal (43) by second tooth bar (32); Second gear-box (38) all is connected with second tooth bar (32) through draw-in groove with the 3rd gear-box (36); The 6th motor (37) drives the 3rd gear-box (36), and second gear-box (38) is fixed in the rear of rack cabinet (40), is connected with moving sets slide block (71) in the push pedal (43); Second tooth bar (32) translation relatively when second gear-box (38) is driven, and then it is mobile to drive moving sets slide block (71);
Said roof door comprises the roof door right side (55) and the roof door left side (56) that the connecting rod (57) through crank block links to each other; Below, the roof door left side (56) is provided with solar panel (54); Roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet (40) top; Transmission mechanism comprises the 9th gear (33); The 9th gear (33) is driving link and driven by the 5th motor (34), the 9th gear (33) through draw-in groove be connected at the 3rd tooth bar (73) that is fixed on the rack cabinet (40);
Said lifting platform is made up of platform (35) and its four screw-nut bodies of support.
2. multifunctional household service robot according to claim 1; It is characterized in that; Said running gear comprises with the main crawler belt part of second frame (29) as the chassis, on second frame (29), is symmetrically distributed with two the 3rd motors (59), and the 3rd motor (59) drives via the two-stage travelling gear that driven pulley (61) and driving wheel (60) constitute; Driving wheel (60) is unsettled, driven pulley (61) and the 5th gear (58) coaxial rotation that drives secondary crawler belt part.
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| CN201210245335.0A CN102794758B (en) | 2012-07-16 | 2012-07-16 | Multifunctional household service robot |
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| CN201210245335.0A CN102794758B (en) | 2012-07-16 | 2012-07-16 | Multifunctional household service robot |
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| CN103264393A (en) * | 2013-05-22 | 2013-08-28 | 常州铭赛机器人科技有限公司 | Use method of household service robot |
| CN103699136A (en) * | 2014-01-14 | 2014-04-02 | 河海大学常州校区 | Intelligent household service robot system and service method based on leapfrogging algorithm |
| CN104015820A (en) * | 2014-05-12 | 2014-09-03 | 高超 | Crawler belt type robot for raking salt crystals of salt pan |
| CN106682418A (en) * | 2016-12-27 | 2017-05-17 | Tcl集团股份有限公司 | Intelligent access system and access method on basis of robot |
| CN111889422A (en) * | 2020-07-22 | 2020-11-06 | 张英杰 | Automatic cleaning and maintaining device for civil air defense door |
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| CN103699136A (en) * | 2014-01-14 | 2014-04-02 | 河海大学常州校区 | Intelligent household service robot system and service method based on leapfrogging algorithm |
| CN103699136B (en) * | 2014-01-14 | 2016-08-31 | 河海大学常州校区 | Intelligent home service robot system based on the algorithm that leapfrogs and method of servicing |
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| CN106682418A (en) * | 2016-12-27 | 2017-05-17 | Tcl集团股份有限公司 | Intelligent access system and access method on basis of robot |
| CN106682418B (en) * | 2016-12-27 | 2021-08-10 | Tcl科技集团股份有限公司 | Intelligent access system based on robot and access method thereof |
| CN111889422A (en) * | 2020-07-22 | 2020-11-06 | 张英杰 | Automatic cleaning and maintaining device for civil air defense door |
| CN111889422B (en) * | 2020-07-22 | 2022-05-24 | 山西安得瑞防护设备有限公司 | Automatic cleaning and maintaining device for civil air defense door |
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| CN102794758B (en) | 2014-10-15 |
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