CN105598940A - Patrol robot - Google Patents
Patrol robot Download PDFInfo
- Publication number
- CN105598940A CN105598940A CN201610156328.1A CN201610156328A CN105598940A CN 105598940 A CN105598940 A CN 105598940A CN 201610156328 A CN201610156328 A CN 201610156328A CN 105598940 A CN105598940 A CN 105598940A
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- CN
- China
- Prior art keywords
- robot body
- robot
- rotating shaft
- module
- damping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a patrol robot which comprises a robot body, a plurality of drive modules connected with the robot body, first damping modules, a detection module mounted at the front end of the robot body, an information acquisition module mounted above the robot body and a controller; each drive module comprises a transmission box, a drive source, a rotating shaft which is mounted on the transmission box and can rotate relative to the transmission box, a wheel and a transmission part; the two ends of each rotating shaft stretch out of each transmission box, and each wheel is arranged at one end of the corresponding rotating shaft; each first damping module comprises a rotating seat connected with the robot body, a connection rod and a first damping spring stringed to the connection rod; the other end of each connection rod penetrates through a hole in the middle of the corresponding rotating seat and is in sliding connection with the corresponding seat, and each first damping spring is pressed between the corresponding rotating seat and the corresponding rotating shaft. The patrol robot is high in barrier crossing performance, good in shock reducing effect and capable of making a camera shoot stable images and preventing fuzzy images caused by image flutter.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of patrol robot, belong to intelligent machineDevice people technical field.
Background technology
Along with the development of the social level of urbanization, residential quarter, hospital, square etc. are large-scaleQuantity and the scale in place constantly increase, and the security patrol mission of urbanization is also increasingly heavy, orderBefore substantially adopt in this place security personnel go on patrol with fixed position monitoring camera realize shouldThe safety and protection monitoring task in region, exists security personnel's fatiguability, fixed cameras monitoring to have dead angleEtc. shortcoming; In addition along with numeral and development, perception city, wireless city, the intelligence of information technologyThe proposition of the developing direction such as intelligent city, existing patrol monitoring means more and more can not meetThe needs of Urbanization Progress.
Patrol robot is a kind of movable machine robot system, can be under active or remote control modeGo on patrol and monitor in different occasions, Real-Time Monitoring surrounding environment, abnormal conditions are reportedPolice and record, and collaborative existing fixing monitoring system composition monitoring network system, improve security protectionThe automatization level of monitoring effect and monitoring.
Be operated in outdoor patrol robot, due to circumstance complication, to the frame for movement of robotWith stability, the reliability of control system, higher requirement is proposed, for some intricatelyFace, patrol robot will be crossed, and first will have the very strong ground ability of grabbing, and second requires each wheel all, in prior art, also there is not the patrol robot that meets above-mentioned condition in the ground of fitting.
Summary of the invention
The deficiency existing for prior art, the object of the invention be to provide a kind of obstacle performance strong,The patrol robot of good damping effect, can make camera clap picture stable, prevent pictureThe fuzzy pictures that shake causes.
To achieve these goals, the present invention realizes by the following technical solutions:
A kind of patrol robot of the present invention, comprises robot body, multiple and robot bodyThe driver module that is rotationally connected, be arranged on first between each driver module and robot bodyDamping module, be arranged on robot body front end and be connected with controller input for surveyThe detecting module of surrounding enviroment, be arranged on robot body top and be connected with controller input(controller is defeated according to detecting module and information acquisition module for the information acquisition module connecing and controllerThe information entering is drawn voluntarily environmental map and is planned next step track route, and this program is existing journeyOrder repeats no more herein).
Each driver module comprises transmission case, be arranged on drive source on transmission case, be arranged on biographyOn moving case and the rotating shaft that can rotate with respect to transmission case, wheel, for the power of drive source is passedMove the transfer member in rotating shaft; The two ends of described rotating shaft all stretch out in outside transmission case, described inWheel is arranged on one end of rotating shaft; The first damping module comprise be arranged on robot body and withRotation seat, one end and the rotating shaft that robot body is rotationally connected do not installed one end of wheel and rotated evenThe connecting rod connecing and first damping spring of string on connecting rod; The other end of described connecting rod is through rotatingSeat in the middle of hole and be slidably connected with rotation seat; Described the first damping spring is pressed in rotation seat and turnsBetween axle.
The present invention also comprises the universal wheel being arranged on robot body, each universal wheel and machineBetween human body, be provided with the second damping module; Described the second damping module comprise be arranged on universalGuide rod on wheel, the second damping bullet that is fixed on the guide pin bushing on robot body and goes here and there on guide rodSpring; Between described guide rod and guide pin bushing, be slidably matched, glide direction is vertical direction, described secondDamping spring is pressed between guide pin bushing and universal wheel.
On above-mentioned guide rod, be also fixed with the second pressure ring for regulating the second damping spring precompression,Described the second pressure ring and the second damping spring are separately positioned on the both sides of guide pin bushing.
Above-mentioned driver module is rotationally connected by crossed roller bearing and robot body; Described friendshipFork roller bearing comprise the inner ring that is fixed on transmission case and be fixed on robot body outsideCircle, and inner ring and outer ring can relatively rotate.
Above-mentioned transfer member comprises two synchronizing wheels and a Timing Belt, and two described synchronizing wheels divideBe not enclosed within on the output shaft of drive source and in rotating shaft, described Timing Belt and two synchronizing wheels are respectivelyEngagement.
What above-mentioned transfer member adopted is transmission gear, chain transmission, flat belt transmission.
On above-mentioned connecting rod, be also fixed with the first pressure ring for regulating the first damping spring precompression,Described the first pressure ring and the first damping spring are separately positioned on the both sides of rotation seat.
What above-mentioned detecting module specifically adopted is laser radar.
On above-mentioned robot body, be provided with can be flexible bar, described information acquisition module is installedIn the upper end of bar.
Above-mentioned information acquisition module comprises camera for obtaining image information and for obtainingThe sound pick-up of acoustic information.
Obstacle performance of the present invention is strong, good damping effect, and each wheel is all with independent damping, can fitAnswer different terrain, damping rigidity is adjustable, thus make camera clap picture stable, prevent pictureFace is shaken the fuzzy pictures causing.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment 1;
Fig. 2 is the structural representation of embodiment 2;
Fig. 3 is driver module structural representation of the present invention.
Detailed description of the invention
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to brightWhite understanding, below in conjunction with detailed description of the invention, further sets forth the present invention.
Embodiment 1
Referring to Fig. 1, a kind of patrol robot, comprises robot body 1, four driver modules2, detecting module, information acquisition module, wireless transport module 9 and controller.
Referring to Fig. 3, each driver module 2 include wheel 21, drive source, transmission case 23,Rotating shaft 24, transfer member 25; What the drive source of the present embodiment specifically adopted is motor 22, electricityMachine 22 is arranged on transmission case 23, and rotating shaft 24 is also arranged on transmission case 23 and can be with respect toTransmission case 23 rotates, and the two ends of rotating shaft 24 all stretch out in outside transmission case 23, its one endWheel 21 is installed; The power of motor is transferred in rotating shaft 24 by transfer member 25, transmitsParts 25 can be two synchronizing wheels and a Timing Belt, and two synchronizing wheels are enclosed within respectively motorOn 22 output shaft and in rotating shaft 24, Timing Belt engages respectively with two synchronizing wheels. TransmitParts 25 can also be the common machine driving such as transmission gear, chain transmission, flat belt transmissionMode.
Between driver module 2 and robot body 1 for being rotationally connected, center of rotation and motorThe center of rotation of 22 output shaft overlaps; Turning between driver module 2 and robot body 1Be dynamically connected and can be realized by crossed roller bearing 3, the Internal and external cycle of crossed roller bearing 3 can be relativeRotate, its inner ring is fixed on transmission case 23, and its outer ring is fixed on robot body 1.
Between each driver module 2 and robot body 1, be also connected with the first damping module 4,The first damping module 4 comprises rotation seat 41, connecting rod 42, the first damping spring 43 and firstPressure ring 44; Rotation seat 41 is arranged on robot body 1, and rotation seat 41 and robotBetween body 1 for being rotationally connected; Wheel 21 is not installed in one end of connecting rod 42 and rotating shaft 24One end is rotationally connected, the other end through the hole in the middle of rotation seat 41 and and rotation seat 41 beBe slidably connected; The first damping spring 43 is gone here and there on connecting rod 42, and the first damping spring 43 is pressedBetween rotation seat 41 and rotating shaft 24, on connecting rod 42, be also fixed with the first pressure ring 44, the firstPressure ring 44 and the first damping spring 43 are placed in respectively the both sides of rotation seat 41. By regulatingOne position of pressure ring 44 on connecting rod 42, can regulate the precompression of the first damping spring 43,Regulate the rigidity of the first damping module, be applicable to different occasions.
Adopt said structure, patrol robot has good obstacle detouring damping property in patrol processCan, make the camera image quality in shooting process on patrol robot stable.
Detecting module comprises laser radar 5, and laser radar 5 is arranged on the front end of patrol robot,Laser radar 5 is beamed back controller for surveying surrounding enviroment, and controller can be according to the environment gatheringInformation is drawn environmental map voluntarily, and plans next step track route, and then controls patrol planeDevice people continues motion.
Information acquisition module includes but not limited to camera 6 and sound pick-up 10, camera 6 useIn obtaining image information, sound pick-up 10 is for obtaining acoustic information. Information acquisition module is installedIn the upper end of bar 11, bar 11 lower ends are connected on robot body 1, and bar 11 can be made and stretchContracting rod type, so information acquisition module liftable can obtain more information according to concrete situation.
Embodiment 2
Referring to Fig. 2, a kind of patrol robot with self-navigation function, comprises that robot originallyBody 1, is provided with two groups of driver modules 2 on robot body 1 and at least one (in figure is2) universal wheel 7, the structure of driver module 2 with and and robot body 1 between companyThe mode of connecing comprises that the first damping module 4 is all consistent with embodiment 1.
Between universal wheel 7 and robot body 1, be connected with the second damping module 8, the second dampingsModule 8 comprises guide rod 81, guide pin bushing 82, the second damping spring 83 and the second pressure ring 84,Guide pin bushing 82 is fixed on robot body 1, and guide rod 81 is arranged on universal wheel 7, guide rod81 and guide pin bushing 82 between be slidably matched, glide direction is vertical direction; On guide rod 81, string hasThe second damping spring 83, the second damping springs 83 are pressed between guide pin bushing 82 and universal wheel 7;On guide rod 81, be also fixed with 83 points of the second pressure ring 84, the second pressure rings 84 and the second damping springsBe not placed in the both sides of guide pin bushing 82. By regulating the second position of pressure ring 84 on guide rod 81,Can regulate the precompression of the second damping spring 83, regulate the rigidity of the second damping module 8,Be applicable to different occasions. Remainder is identical with embodiment 1, repeats no more.
More than show and described general principle of the present invention and principal character and of the present invention excellentPoint. The technical staff of the industry should understand, and the present invention is not restricted to the described embodiments, onState in embodiment and description, describe principle of the present invention is just described, do not departing from the present inventionUnder the prerequisite of spirit and scope, the present invention also has various changes and modifications, these variations and changingEnter and all fall in the claimed scope of the invention. The claimed scope of the present invention is by appended powerProfit claim and equivalent thereof define.
Claims (10)
1. a patrol robot, is characterized in that, comprises robot body (1), multipleThe driver module (2) that is connected with robot body (1), be arranged on driver module (2) withThe first damping module (4) between robot body (1), be arranged on robot body (1)Front end and be connected for the detecting module of surveying surrounding enviroment with controller input, be arranged onRobot body (1) top and the information acquisition module and the control that are connected with controller inputDevice processed;
Described driver module (2) comprises transmission case (23), is arranged on transmission case (23)Drive source, the rotating shaft that is arranged on transmission case (23) above and can rotates with respect to transmission case (23)(24), wheel (21), for by the power transmission of drive source to the transmission in rotating shaft (24)Parts (25); The two ends of described rotating shaft (24) all stretch out in outside transmission case (23), instituteState one end that wheel (21) is arranged on rotating shaft (24);
Described the first damping module (4) comprises the rotation seat being connected with robot body (1)(41), the connecting rod (42) that one end of wheel (21) is connected is not installed in one end and rotating shaft (24)With first damping spring (43) of string on connecting rod (42); Another of described connecting rod (42)Hold through the hole in the middle of rotation seat (41) and be slidably connected with rotation seat (41), described firstDamping spring (43) is pressed between rotation seat (41) and rotating shaft (24).
2. patrol robot according to claim 1, is characterized in that,
Also comprise multiple universal wheels that are arranged on robot body (1), described universal wheel (7)And between robot body (1), be provided with the second damping module (8);
Described the second damping module (8) comprise the guide rod (81) that is arranged on universal wheel (7),Be fixed on guide pin bushing (82) on robot body (1) and string on guide rod (81) secondDamping spring (83); Between described guide rod (81) and guide pin bushing (82), be slidably matched, described inThe second damping spring (83) is pressed between guide pin bushing (82) and universal wheel (7).
3. patrol robot according to claim 2, is characterized in that,
On described guide rod (81), be also fixed with for regulating the second damping spring (83) precompressionThe second pressure ring (84), described the second pressure ring (84) and the second damping spring (83) are respectivelyBe arranged on the both sides of guide pin bushing (82).
4. according to the patrol robot described in claim 1-3 any one, it is characterized in that,Described driver module (2) is by crossed roller bearing (3) and robot body (1)Be rotationally connected; Described crossed roller bearing (3) comprise be fixed on transmission case (23) inEnclose and be fixed on the outer ring on robot body (1), and described inner ring can turn relatively with outer ringMoving.
5. according to the patrol robot described in claim 1-3 any one, it is characterized in that,Described transfer member (25) comprises two synchronizing wheels and a Timing Belt, and two described sameStep is taken turns on the output shaft that is enclosed within respectively drive source and in rotating shaft (24), described Timing Belt and twoIndividual synchronizing wheel all engages.
6. according to the patrol robot described in claim 1-3 any one, it is characterized in that,What described transfer member (25) adopted is transmission gear, chain transmission, flat belt transmission.
7. according to the patrol robot described in claim 1-3 any one, it is characterized in that,On described connecting rod (42), be also fixed with for regulating the first damping spring (43) precompressionThe first pressure ring (44), described the first pressure ring (44) and the first damping spring (43) are respectivelyBe arranged on the both sides of rotation seat (41).
8. according to the patrol robot described in claim 1-3 any one, it is characterized in that,What described detecting module specifically adopted is laser radar (5).
9. according to the patrol robot described in claim 1-3 any one, it is characterized in that,Telescopic bar (11) is installed, described information gathering on described robot body (1)Module is arranged on the upper end of bar (11).
10. according to the patrol robot described in claim 1-3 any one, it is characterized in that,Described information acquisition module comprises camera (6) for obtaining image information and for obtainingGet the sound pick-up (10) of acoustic information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156328.1A CN105598940A (en) | 2016-03-18 | 2016-03-18 | Patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156328.1A CN105598940A (en) | 2016-03-18 | 2016-03-18 | Patrol robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105598940A true CN105598940A (en) | 2016-05-25 |
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ID=55979545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610156328.1A Pending CN105598940A (en) | 2016-03-18 | 2016-03-18 | Patrol robot |
Country Status (1)
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| CN (1) | CN105598940A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142050A (en) * | 2016-09-08 | 2016-11-23 | 肇庆市小凡人科技有限公司 | A kind of adaptive mobile robot of wheel difference of height |
| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN107932516A (en) * | 2017-11-14 | 2018-04-20 | 东莞市海柔智能科技有限公司 | Robot |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108454726A (en) * | 2018-01-31 | 2018-08-28 | 广州映博智能科技有限公司 | A kind of suspension Shockproof type robot |
| CN108500991A (en) * | 2018-04-09 | 2018-09-07 | 中山火炬高新企业孵化器有限公司 | A kind of security robot |
| CN109176456A (en) * | 2018-10-19 | 2019-01-11 | 广东电网有限责任公司 | A kind of Multifunctional inspecting robot |
| CN110014440A (en) * | 2019-05-24 | 2019-07-16 | 北京深醒科技有限公司 | A kind of underground garage security protection crusing robot |
| CN110355767A (en) * | 2019-07-28 | 2019-10-22 | 南京驭逡通信科技有限公司 | A kind of outdoor patrol robot with damping and heat sinking function |
| CN111503451A (en) * | 2020-04-18 | 2020-08-07 | 刘志亮 | Intelligent monitoring camera without dead angle |
| CN111823254A (en) * | 2020-07-31 | 2020-10-27 | 李静 | Mobile invigilating robot |
| CN111932703A (en) * | 2020-07-06 | 2020-11-13 | 枞阳县第三中学 | Unmanned automatic patrol device |
| CN112655689A (en) * | 2020-12-17 | 2021-04-16 | 南京林业大学 | Pesticide applying robot for orchard pesticide application |
| CN113276078A (en) * | 2021-04-22 | 2021-08-20 | 国网浙江省电力有限公司嘉兴供电公司 | Parking device of robot |
| CN115046080A (en) * | 2022-05-13 | 2022-09-13 | 中国人民解放军陆军特种作战学院 | Image recognition device based on big data |
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| CN201089161Y (en) * | 2007-09-12 | 2008-07-23 | 山东超越数控电子有限公司 | Semi-automatic moving robot soldier having stereoscopic vision |
| KR20110088045A (en) * | 2010-01-28 | 2011-08-03 | 주식회사 유진로봇 | Wheel assembly of moving robot having single vertical shaft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
| US10525604B2 (en) | 2016-06-13 | 2020-01-07 | Zhuineng Robotics (Shanghai) Co., Ltd | Linear actuator-type automatic warehouse robot |
| CN106142050B (en) * | 2016-09-08 | 2018-10-16 | 肇庆市小凡人科技有限公司 | A kind of mobile robot that wheel difference of height is adaptive |
| CN106142050A (en) * | 2016-09-08 | 2016-11-23 | 肇庆市小凡人科技有限公司 | A kind of adaptive mobile robot of wheel difference of height |
| CN107932516A (en) * | 2017-11-14 | 2018-04-20 | 东莞市海柔智能科技有限公司 | Robot |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN107857115A (en) * | 2017-12-27 | 2018-03-30 | 南京工程学院 | A kind of material transfer robot based on suspension |
| CN108454726A (en) * | 2018-01-31 | 2018-08-28 | 广州映博智能科技有限公司 | A kind of suspension Shockproof type robot |
| CN108500991B (en) * | 2018-04-09 | 2020-06-02 | 中山火炬高新企业孵化器有限公司 | Security robot |
| CN108500991A (en) * | 2018-04-09 | 2018-09-07 | 中山火炬高新企业孵化器有限公司 | A kind of security robot |
| CN109176456A (en) * | 2018-10-19 | 2019-01-11 | 广东电网有限责任公司 | A kind of Multifunctional inspecting robot |
| CN110014440A (en) * | 2019-05-24 | 2019-07-16 | 北京深醒科技有限公司 | A kind of underground garage security protection crusing robot |
| CN110355767A (en) * | 2019-07-28 | 2019-10-22 | 南京驭逡通信科技有限公司 | A kind of outdoor patrol robot with damping and heat sinking function |
| CN110355767B (en) * | 2019-07-28 | 2021-03-19 | 南京驭逡通信科技有限公司 | Outdoor patrol robot with shock attenuation and heat dissipation function |
| CN111503451A (en) * | 2020-04-18 | 2020-08-07 | 刘志亮 | Intelligent monitoring camera without dead angle |
| CN111503451B (en) * | 2020-04-18 | 2021-12-31 | 深圳市爱立普科技有限公司 | Intelligent monitoring camera without dead angle |
| CN111932703A (en) * | 2020-07-06 | 2020-11-13 | 枞阳县第三中学 | Unmanned automatic patrol device |
| CN111823254A (en) * | 2020-07-31 | 2020-10-27 | 李静 | Mobile invigilating robot |
| CN112655689A (en) * | 2020-12-17 | 2021-04-16 | 南京林业大学 | Pesticide applying robot for orchard pesticide application |
| CN113276078A (en) * | 2021-04-22 | 2021-08-20 | 国网浙江省电力有限公司嘉兴供电公司 | Parking device of robot |
| CN115046080A (en) * | 2022-05-13 | 2022-09-13 | 中国人民解放军陆军特种作战学院 | Image recognition device based on big data |
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Application publication date: 20160525 |