CN105423817A - Shooting robot provided with infrared and ultrasonic mixed auxiliary aiming device - Google Patents
Shooting robot provided with infrared and ultrasonic mixed auxiliary aiming device Download PDFInfo
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- CN105423817A CN105423817A CN201410487130.2A CN201410487130A CN105423817A CN 105423817 A CN105423817 A CN 105423817A CN 201410487130 A CN201410487130 A CN 201410487130A CN 105423817 A CN105423817 A CN 105423817A
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- infrared
- rifle body
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- motor
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Abstract
The invention discloses a shooting robot provided with an infrared and ultrasonic mixed auxiliary aiming device and belongs to the technical field of tactical reconnaissance. The shooting robot provided with the infrared and ultrasonic mixed auxiliary aiming device comprises a walking vehicle body, a gun body, a first walking motor, a second walking motor, a gun body rotation motor, a gun body pitching motor, a power battery and a control and aiming system. The control and aiming system comprises a controller, a first walking motor control module, a second walking motor control module, an ultrasonic detection module, an infrared sensing module, a gun body rotation control module, a gun body pitching control module, a wireless communication module, a shooting trigger module and a video acquisition module. Compared with the prior art, the shooting robot has the characteristics of being simple in structure, reliable in property, convenient to operate and the like.
Description
Technical field
The invention belongs to tactical reconnaissance technical field, in particular, belong to a kind of infrared technology and ultrasonic technology of utilizing and carry out the Autonomous Robotic System scouted.
Background technology
Battle reconnaissance and emergency scene Intelligence Technology are field army, People's Armed Police and special policeman army all need faced by practical problem, how effectively battlefield and emergency scene effectively to be scouted, are a great problem of restriction field army and special policeman Force Reconnaissance.The battle reconnaissance system of field army should be the sky world Trinity, namely reconnaissance satellite, reconnaissance plane (comprising scounting aeroplane, reconnaissance helicopter etc.), ground armo(u)red scoutcar and in particular cases by a small amount of scout form moral investigate group.In prior art, always custom payes attention to powerful a series of high-tech means such as space reconnaissance, aerial reconnaissance, but ignores the important function of traditional ground reconnaissance.
Armed policeman, special policeman soldier and field army soldier need when dealing with contingencies to fight usually, usually in combat environment, contact is between ourselves and the enemy a complicated process, normally contactless fight mode between ourselves and the enemy, battlefield surroundings is ever-changing to be made can to make full use of environment between ourselves and the enemy and artificiality effectively pretends.In course of battle, how to identify the camouflage of enemy and ensure that shooting course does not accidentally injure innocent people and one's own side personnel, be armed policeman, special policeman soldier and field army soldier must faced by a great problem.
This year, terrorism force was constantly expanded, how emergency action is carried out to terrified accident, with avoid the unnecessary injures and deaths of the not guilty masses become armed policeman and special policeman soldier must faced by actual combat problem, lacking necessary technical equipment in prior art is also the key factor that restriction armed policeman and special policeman soldier dispose similar incidents.How to give full play to the effect of auxiliary technique and tactics means, to improve a great problem that armed policeman, the fighting quality of special policeman soldier and field army soldier and technical ability are restriction the art as far as possible always.
Summary of the invention
The present invention, in order to effectively solve above technical problem, gives and a kind ofly configures the shooting robot that sighting device is assisted in infrared ultrasonic mixing.
Of the present inventionly a kind ofly configure the shooting robot that sighting device is assisted in infrared ultrasonic mixing, it is characterized in that: comprise walking vehicle body, rifle body, the first movable motor, the second movable motor, rifle body turning motor, rifle body pitching motor, electrokinetic cell and control and sighting system; Described first movable motor, described second movable motor, described rifle body turning motor, described rifle body pitching motor, described electrokinetic cell are all arranged in described walking vehicle body, described rifle body is arranged on described walking vehicle body, and described control and sighting system are arranged on described rifle body;
Described control and sighting system comprise controller, the first movable motor control module, the second movable motor control module, ultrasound examination module, infrared sensing module, the revolution of rifle body control module, rifle body pitch control module, wireless communication module, shooting trigger module, video acquisition module, the first infrared motor control module, the first infrared motor; Described controller turns round control module respectively with described first movable motor control module, described second movable motor control module, described ultrasound examination module, described infrared sensing detection module, described rifle body, described rifle body pitch control module, described wireless communication module, described shooting trigger module, described video acquisition module, described first infrared motor control module are electrical connected; Described first infrared motor control module and described first infrared motor are electrical connected;
Described electrokinetic cell turns round control module with described controller, described first movable motor control module, described second movable motor control module, described rifle body respectively, described rifle body pitch control module is connected, and provides power supply electric energy for it;
Described first movable motor control module and described the first row leakage of electricity machine are electrical connected to realize the control to described first movable motor, and described second movable motor control module and described movable motor are electrical connected to realize the control to described movable motor; Described rifle body revolution control module and described rifle body turning motor are electrical connected to realize the control to described rifle body turning motor, and described rifle body pitch control module and described rifle body pitching motor are electrical connected to realize the control to described rifle body pitching motor;
Described infrared sensing module is electrical connected with the first infrared probe, the second infrared probe respectively, described first infrared probe, described second infrared probe are arranged on by the gear train of described first infrared driven by motor rotation respectively symmetrically; The infra-red detection amplitude angle A of described first infrared probe is identical with the infra-red detection amplitude angle B of described second infrared probe; The infra-red detection region S of described first infrared probe
3with the infra-red detection region S of described second infrared probe
4mutually intersect to form an infrared ray blind area region S
1and an infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, described infrared ray overlap-add region S
2angle C be 4-50 degree, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxially, described infrared ray blind area region S
1axis, infrared ray overlap-add region S
2axis consistent with rifle body firing direction;
Described ultrasound examination module is divided with ultrasonic wave emitting portion, ultrasonic wave reception unit respectively and is electrical connected, and the ultrasonic wave reciever that the ultrasonic wave transmit direction of described ultrasonic wave emitting portion, described ultrasonic wave reception unit are divided is to consistent with rifle body firing direction.
The shooting robot of sighting device is assisted, preferably: described control and sighting system also comprise wireless remote control module, wireless telecommunications between described wireless remote control module and described wireless communication module according to the infrared ultrasonic mixing of above-described configuration.
The shooting robot of sighting device is assisted, preferably: described video acquisition module is binocular video harvester according to the infrared ultrasonic mixing of above-described configuration.
The shooting robot of sighting device is assisted, preferably: the receive direction that the admission direction of described video acquisition module and the transmit direction of described ultrasonic wave emitting portion, described ultrasonic wave reception unit are divided is consistent according to the infrared ultrasonic mixing of above-described configuration.
The shooting robot of sighting device is assisted, preferably: described first movable motor, described second movable motor, described rifle body turning motor, described rifle body pitching motor are all direct current generators according to the infrared ultrasonic mixing of above-described configuration; Described electrokinetic cell is direct-flow storage battery.
The present invention compared with prior art has that structure is simple, dependable performance, the feature such as easy to operate, easy to operate.
Accompanying drawing explanation
Accompanying drawing 1A is the structural representation that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing;
Accompanying drawing 1B is the power section structural representation sketch that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing;
Accompanying drawing 2 is control and sighting system structural representations that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing;
Accompanying drawing 3 is structural representations of infrared detection of the present invention;
Accompanying drawing 4 is electrical block diagrams of ultrasonic wave emitting portion of the present invention;
Accompanying drawing 5 is electrical block diagrams that ultrasonic wave reception unit of the present invention is divided;
Accompanying drawing 6 is the gear train and the electric machine structure schematic diagram that are provided with infrared probe in the present invention.
Detailed description of the invention
Figure 1A is the structural representation that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing, and Figure 1B is the power section structural representation sketch that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing;
Of the present invention comprise walking vehicle body, rifle body, the first movable motor 201, second movable motor 301, rifle body turning motor 601, rifle body pitching motor 701, electrokinetic cell 102 and control and sighting system 101; First movable motor 201, second movable motor 301, rifle body turning motor 601, rifle body pitching motor 701, electrokinetic cell 102 are all arranged in walking vehicle body, and rifle body is arranged on walking vehicle body, and control and sighting system 101 are arranged on rifle body; First movable motor 201, second movable motor 301, rifle body turning motor 601, rifle body pitching motor 701 are all direct current generators; Electrokinetic cell 102 is direct-flow storage batteries.
First movable motor 201 and the second movable motor 301 are with the motion of car body left forward side wheel and right-hand wheel in cardon, respectively to realize the motion control to walking vehicle body, rifle body turning motor 601 and rifle body pitching motor 701 are for controlling the motion of rifle body mechanism to adjust shooting visual angle, and electrokinetic cell provides electric power for the first movable motor 201, second movable motor 301, rifle body turning motor 601 and rifle body pitching motor 701.
In walking vehicle body walking process or walking vehicle body inactive state time, infrared detection part and ultrasound examination part control and sighting system control under carry out co-ordination; In this preferred embodiment, walking vehicle body adopts six to take turns chassis structure form, wherein two wheels arranged side by side on front side of the direction of motion are leaned on to be power wheel in Figure 1A, four wheels is below Additional wheel, first movable motor 201 and the second movable motor 301 drive the motion of left forward side wheel and right forward side wheel to realize the motion control to walking vehicle body respectively, control and sighting system carry out cooperation control to the first movable motor 201 and the second movable motor 301, can make walking vehicle body moving along arbitrary trajectory; Arbitrary movable motor in two movable motors remains static and another one movable motor is in rotation status, can ensure that walking vehicle body realizes turning motion.
Fig. 2 is control and the sighting system structural representation that the present invention configures that the shooting robot of sighting device is assisted in infrared ultrasonic mixing; Control and sighting system 101 comprise controller 1, first movable motor control module 2, second movable motor control module 3, ultrasound examination module 4, infrared sensing module 5, rifle body revolution control module 6, rifle body pitch control module 7, wireless communication module 8, shooting trigger module 9, video acquisition module 10, first motor control module 11, second motor control module 12, first motor 1101, second motor 1201; Controller 1 can adopt single-chip microcomputer, the control system that control and sighting system 101 can be made up of embedded control system.
Controller 1 turns round control module 6, rifle body pitch control module 7, wireless communication module 8 respectively, shoots trigger module 9 with the first movable motor control module 2, second movable motor control module 3, ultrasound examination module 4, infrared sensing detection module 5, rifle body, the infrared motor control module 11 of video acquisition module 10, first is electrical connected; First infrared motor control module 11 and the first infrared motor 1101 are electrical connected; Electrokinetic cell is respectively described controller 1, first movable motor control module 2, second movable motor control module 3, rifle body turns round control module 6, the infrared motor control module 11 of rifle body pitch control module 7, first provides power supply.
Second movable motor control module 3 and the second movable motor 301 are electrical connected to realize the control to the second movable motor 301, first movable motor control module 2 and the first movable motor 201 are electrical connected to realize the control to the first movable motor 201, by achieving the control to walking vehicle body to the cooperation control of the second movable motor 301 and the first movable motor 201;
Rifle body revolution control module 6 is electrical connected to realize the control to rifle body turning motor 601 with rifle body turning motor 601, rifle body pitch control module 7 and rifle body pitching motor 701 be electrical connected to realize the control to rifle body pitching motor 701, by the control to rifle body mechanism firing direction of the control of rifle body turning motor 601 and the control realization to rifle body pitching motor 701;
Infrared sensing module 5 is electrical connected with the first infrared probe 501, second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on walking vehicle body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3with the infra-red detection region S of the second infrared probe 502
4mutually intersect to form an infrared ray blind area region S
1and an infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C, infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxially; Infrared sensing module 3 can carry out symmetry adjustment, to change infrared ray blind area region S to the first infrared probe 501 and the second infrared probe 502
1axial length and infrared ray overlap-add region S
2angle C.
Ultrasound examination module 4 divides 402 to be electrical connected with ultrasonic wave emitting portion 401, ultrasonic wave reception unit respectively, ultrasonic wave emitting portion 401 and ultrasonic wave reception unit are divided near 402 mid points that can be arranged between the first infrared probe 501 and the second infrared probe 502, and ultrasonic wave emitting portion 401 and ultrasonic wave reception unit divide the setting position of 402 can be positioned at around the first infrared probe 501 and the second infrared probe 502.
Transmit direction, the ultrasonic wave reception unit of the axis of the first infrared probe 501, the axis of the second infrared probe 502 and ultrasonic wave emitting portion 401 divide the receive direction of 402 to be all positioned at same plane, can ensure infrared ray and hyperacoustic testing result optimum like this.
For the ease of controlling shooting robot, also comprise in system and to control and sighting system 101 carries out wireless remote control module, the wireless telecommunications between wireless remote control module and wireless communication module 8 of wireless telecommunications, special policeman or People's Armed Police personnel can by wireless remote control module remote pilot to realize carrying out remote wireless control to shooting robot, make shooting robot have intelligent automatic function and artificial remote control function, greatly expand the application scenario of shooting robot.
The admission direction of video acquisition module 10 and the transmit direction of ultrasonic wave emitting portion 401, ultrasonic wave reception unit divides the receive direction of 402 to be consistent, the admission direction of video acquisition module 10 and the ballistic projections direction of rifle body are consistent, the video information that video acquisition module 10 collects sends to wireless remote control module by controller 1 and wireless communication module 8, the video information that long distance wireless operating personnel can intuitively show to wireless remote control module and infrared ray and hyperacoustic testing result, after the situation of infrared ray and ultrasound examination exception, the video information that long distance wireless operating personnel can collect according to video acquisition module 10 can be confirmed further to infrared ray and hyperacoustic testing result.
Fig. 3 is the structural representation of infrared detection of the present invention, can obtain extraordinary monitoring effect when the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1.The infra-red detection amplitude S of the first infrared probe 501
3with the infra-red detection amplitude S of the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3with the infra-red detection amplitude S of the second infrared probe 502
4there is the infrared ray overlap-add region S of an overlap
2, wherein region, blind area S
1axis coverage be H
2, infrared ray overlap-add region S
2axis coverage be H
3, region, blind area S
1and with infrared ray overlap-add region S
2coaxial line, i.e. H
2and H
3coaxial line, region, blind area S
1and with infrared ray overlap-add region S
2axis and the dead ahead of walking vehicle body is consistent, i.e. H
2and H
3be consistent with rifle body firing direction.
First infrared probe 501 and the second infrared probe 502 all can adopt pyroelectric infrared sensor to carry out the infrared signal of human body radiation, and the detector front end formed at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, infrared ray overlap-add region S
2angle C scope be 4-50 degree.When having people before the lens of pyroelectric infrared sensor, the infrared ray that human body sends just enters infrared ray overlap-add region S
2, so just obtain infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9 ~ 10um, the window that one is equipped with filter glass has been offered at transducer tip, this optical filter is 7 ~ 10um by the wave-length coverage of light, just in time be suitable for the detection of human infrared radiation, and the infrared ray of other wavelength is absorbed by optical filter.
Infrared sensing module 5 is electrical connected with the first infrared probe 501, second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on walking vehicle body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3with the infra-red detection region S of the second infrared probe 502
4form region, a blind area S
1and an infrared ray overlap-add region S
2.Ultrasound examination module 4 divides 402 to be electrical connected with ultrasonic wave emitting portion 401, ultrasonic wave reception unit respectively, and described ultrasonic wave emitting portion 401 and described ultrasonic wave reception unit are divided 402 to be arranged on rifle body and be consistent with the forward of rifle body firing direction;
Fig. 4 is the structure chart of Detecting Robot ultrasonic wave emitting portion 401 of the present invention; Ultrasonic wave emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 is in parallel, phase inverter U6 and phase inverter U7 is in parallel, be connected with two self-oscillation circuit respectively with two inputs of door U8, difference two Schmidt trigger U1 and U2 in two self-oscillation circuit.
Fig. 5 is that Detecting Robot ultrasonic wave reception unit of the present invention divides 402 structure charts; 5V direct current is the fuse F1 of 500mA and diode D1 through resistance to stream and forms 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, and digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Ultrasonic wave receiving sensor LS1 10K resistance in parallel R3 changes the ultrasonic signal received into input signal, and input signal amplifies through first order amplifier NE5532P, second level amplifier NE5532P is input to ultrasound examination module 4 after amplifying, input signal is exaggerated altogether 400 times after two-stage is amplified.
Fig. 6 is the gear train and the electric machine structure schematic diagram that are provided with infrared probe in the present invention, infrared sensing module 5 comprises the first infrared probe 501, second infrared probe 502, first infrared probe 501 and the second infrared probe 502 are arranged symmetrically, and the first infrared probe 501, second infrared probe 502 is arranged in the gear train of the first infrared motor 11 driven rotary respectively; Under the control of controller 1, first infrared motor 11 driven gear system carries out symmetry adjustment to the first infrared probe 501, second infrared probe 502, change the position between the first infrared probe 501, second infrared probe 502, and infrared ray overlap-add region S
2angle C, infrared ray overlap-add region S
2angle C excursion be 4-50 degree.
Claims (5)
1. configure the shooting robot that sighting device is assisted in infrared ultrasonic mixing, it is characterized in that: comprise walking vehicle body, rifle body, the first movable motor, the second movable motor, rifle body turning motor, rifle body pitching motor, electrokinetic cell and control and sighting system; Described first movable motor, described second movable motor, described rifle body turning motor, described rifle body pitching motor, described electrokinetic cell are all arranged in described walking vehicle body, described rifle body is arranged on described walking vehicle body, and described control and sighting system are arranged on described rifle body;
Described control and sighting system comprise controller, the first movable motor control module, the second movable motor control module, ultrasound examination module, infrared sensing module, the revolution of rifle body control module, rifle body pitch control module, wireless communication module, shooting trigger module, video acquisition module, the first infrared motor control module, the first infrared motor; Described controller turns round control module respectively with described first movable motor control module, described second movable motor control module, described ultrasound examination module, described infrared sensing detection module, described rifle body, described rifle body pitch control module, described wireless communication module, described shooting trigger module, described video acquisition module, described first infrared motor control module are electrical connected; Described first infrared motor control module and described first infrared motor are electrical connected;
Described electrokinetic cell turns round control module with described controller, described first movable motor control module, described second movable motor control module, described rifle body respectively, described rifle body pitch control module is connected, and provides power supply electric energy for it;
Described first movable motor control module and described the first row leakage of electricity machine are electrical connected to realize the control to described first movable motor, and described second movable motor control module and described movable motor are electrical connected to realize the control to described movable motor; Described rifle body revolution control module and described rifle body turning motor are electrical connected to realize the control to described rifle body turning motor, and described rifle body pitch control module and described rifle body pitching motor are electrical connected to realize the control to described rifle body pitching motor;
Described infrared sensing module is electrical connected with the first infrared probe, the second infrared probe respectively, described first infrared probe, described second infrared probe are arranged on by the gear train of described first infrared driven by motor rotation respectively symmetrically; The infra-red detection amplitude angle A of described first infrared probe is identical with the infra-red detection amplitude angle B of described second infrared probe; The infra-red detection region S of described first infrared probe
3with the infra-red detection region S of described second infrared probe
4mutually intersect to form an infrared ray blind area region S
1and an infrared ray overlap-add region S
2, described infrared ray overlap-add region S
2angle C, described infrared ray overlap-add region S
2angle C be 4-50 degree, described infrared ray blind area region S
1with infrared ray overlap-add region S
2coaxially, described infrared ray blind area region S
1axis, infrared ray overlap-add region S
2axis consistent with rifle body firing direction;
Described ultrasound examination module is divided with ultrasonic wave emitting portion, ultrasonic wave reception unit respectively and is electrical connected, and the ultrasonic wave reciever that the ultrasonic wave transmit direction of described ultrasonic wave emitting portion, described ultrasonic wave reception unit are divided is to consistent with rifle body firing direction.
2. the shooting robot of sighting device is assisted in the infrared ultrasonic mixing of the configuration according to claims 1, it is characterized in that: described control and sighting system also comprise wireless remote control module, wireless telecommunications between described wireless remote control module and described wireless communication module.
3. the shooting robot of sighting device is assisted in the infrared ultrasonic mixing of the configuration according to claims 1, it is characterized in that: described video acquisition module is binocular video harvester.
4. the shooting robot of sighting device is assisted in the infrared ultrasonic mixing of the configuration according to claims 1, it is characterized in that: the receive direction that the admission direction of described video acquisition module and the transmit direction of described ultrasonic wave emitting portion, described ultrasonic wave reception unit are divided is consistent.
5. the shooting robot of sighting device is assisted in the infrared ultrasonic mixing of the configuration according to claims 1, it is characterized in that: described first movable motor, described second movable motor, described rifle body turning motor, described rifle body pitching motor are all direct current generators; Described electrokinetic cell is direct-flow storage battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410487130.2A CN105423817A (en) | 2014-09-22 | 2014-09-22 | Shooting robot provided with infrared and ultrasonic mixed auxiliary aiming device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410487130.2A CN105423817A (en) | 2014-09-22 | 2014-09-22 | Shooting robot provided with infrared and ultrasonic mixed auxiliary aiming device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105423817A true CN105423817A (en) | 2016-03-23 |
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ID=55502198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410487130.2A Pending CN105423817A (en) | 2014-09-22 | 2014-09-22 | Shooting robot provided with infrared and ultrasonic mixed auxiliary aiming device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105423817A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106910407A (en) * | 2017-03-22 | 2017-06-30 | 佛山市三水区希望火炬教育科技有限公司 | A kind of anti-frogman's weapon of the special drilling platforms of teenager's research in defense-related science and technology |
| CN107791256A (en) * | 2017-10-24 | 2018-03-13 | 西安航空学院 | Imitative spider-shaped rescue robot |
-
2014
- 2014-09-22 CN CN201410487130.2A patent/CN105423817A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106910407A (en) * | 2017-03-22 | 2017-06-30 | 佛山市三水区希望火炬教育科技有限公司 | A kind of anti-frogman's weapon of the special drilling platforms of teenager's research in defense-related science and technology |
| CN107791256A (en) * | 2017-10-24 | 2018-03-13 | 西安航空学院 | Imitative spider-shaped rescue robot |
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Application publication date: 20160323 |