CN107175649A - Microrobot and group grey relational grade - Google Patents
Microrobot and group grey relational grade Download PDFInfo
- Publication number
- CN107175649A CN107175649A CN201710441229.2A CN201710441229A CN107175649A CN 107175649 A CN107175649 A CN 107175649A CN 201710441229 A CN201710441229 A CN 201710441229A CN 107175649 A CN107175649 A CN 107175649A
- Authority
- CN
- China
- Prior art keywords
- circuit board
- microrobot
- robot
- wireless charging
- relational grade
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The present invention relates to a kind of microrobot and include the group grey relational grade of multiple microrobots.The group grey relational grade includes：Multiple structure identical microrobot monomers, and test platform, experiment activity and charging are carried out for multiple microrobot monomers, with platform body and are arranged on the wireless charging transmitting coil array of platform body lower surface.Each microrobot has：Drive division, for driving robot monomer to move；Control unit, for the interbehavior of control machine people's monomer, includes upper circuit board, middle circuit board, two lateral circuit plates and the lower circuit board for setting gradually and carrying out each other circuit connection from top to bottom；And power supply, for being powered to drive division and control unit, the Wireless charging coil matched comprising battery and with wireless charging transmitting coil array.The characteristics of microrobot and its group grey relational grade of the present invention has mobile convenient, delicate structure, charging is stable.
Description
Technical field
The present invention relates to automatic control technology, computer technology, the communication technology and Measurement And Control of The Jet Flotation Column field, and in particular to one
Plant microrobot and a kind of group grey relational grade being made up of multiple microrobots.
Background technology
Group grey relational grade is a class of multi-robot system, is made up of substantial amounts of, simple autonomous single robot,
By interaction, coordination and control between them, " emerging in large numbers " goes out the ordering behavior of colony's macroscopic behavior, especially macrodynamics,
Such as Coupled Dynamics research.The Inspiration Sources of this group grey relational grade are this kind of in ant, the biota system of the class of honeybee one
Insect in the case of no unified leadership, also can cooperation perform large amount of complex task.At present, group grey relational grade may be used
To realize clustered machine people avoidance, clustered machine people formation control and group robot cooperation fast search, surround and seize, track target
Deng.
Inspired by ant colony and bee colony, the robot being made up of thousands of microrobot Kilobot has been invented by Harvard University
Group, wherein each single robot is both provided with small microprocessors, infrared sensor and vibrating motor, in no center
In the case that control system is coordinated and organized, the operation such as these robots can be communicated, ranging, positioning, and then can be certainly
Row cooperation completes appointed task, or even can be with self assemble into another brand-new robot.
But Kilobot robots still have several drawbacks：(1) movement of Kilobot robots is by motor oscillating
Realize, mobile effect is not good；(2) installing space is than larger shared by communication in Kilobot robots, range-measurement system；(3)
Communication, range-measurement system in Kilobot robots are not sufficiently stable, existing defects, and the ranging of such as Kilobot robots is to pass through
The reflection of platform, its effect is influenceed very big by its residing platform environment color；(4) power demands are urgently to be resolved hurrily, specific manifestation
Kilobot robots charge a few hours, can only for dozens of minutes work power consumption, and charging and power supply cannot enter simultaneously
OK.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of microrobot and comprising many
The group grey relational grade of the individual microrobot.
The invention provides a kind of microrobot, have the feature that, including：Drive division, for driving micro computer
Device people moves；Control unit, the interbehavior for controlling microrobot, comprising set gradually from top to bottom and mutually carry out electricity
Upper circuit board, middle circuit board, two lateral circuit plates and the lower circuit board of connection；And power supply, for drive division and control
Portion is powered, the wireless charging comprising the battery of the upper surface of circuit board in setting and the lower surface for being arranged on lower circuit board
Coil, wherein, drive division includes motor, the driving wheel being fixed on motor, the belt that is connected with driving wheel and by belt
The wheel of operation is driven, upper circuit board is used to sense and show, includes Magnetic Sensor, the LED for being arranged on upper circuit board upper surface
Lamp and display, are arranged on the infrared emission tube and infrared receiver tube of circuit board lower surface, and for controlling magnetic to pass
Sensor, LED, display, the first controller of infrared emission tube and infrared receiver tube, middle circuit board are used for channel radio
Letter, is provided with radio receiving transmitting module and the second controller for controlling radio receiving transmitting module, and lateral circuit plate carries out electricity with motor
Connection, for drive control, lower circuit board be used for power supply control, comprising battery charging management chip, DC/DC conversion chips and
Wireless charging managing chip.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, the upper surface of middle circuit board
Hemispherical reflective mirror is additionally provided with, hemispherical reflective mirror is used to reflect infrared signal.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, the first controller is 8bit
Microcontroller, second controller is 32bit microcontrollers.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, Magnetic Sensor is three axle magnetic
Attitude angle under sensor, measurement single robot quiescent conditions, the attitude angle is the angle of pitch, roll angle or towards angle.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, LED is RGB three
Color LED, the current state of single robot is indicated according to bright light color, display is liquid crystal display, for showing with working as
The corresponding parameter of preceding state.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, radio receiving transmitting module is
WiFi transceiver modules or bluetooth transceiver module, are communicated to connect with intelligent terminal.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, upper circuit board and middle circuit
It is electrically connected between plate by contact rod, contact rod is in conductive metal material, alloy conductive material, composite conducting material
Meaning is a kind of.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, middle circuit board and lateral circuit
It is electrically connected, is electrically connected between lateral circuit plate and lower circuit board by inserting mode, side by inserting mode between plate
Circuit board and lower circuit board are respectively arranged with multiple golden fingers, and middle circuit board and lateral circuit plate are respectively arranged with and multiple golden fingers
The multiple slots matched, inserting mode is the multiple slots of multiple golden fingers correspondence insertion.
In the microrobot that the present invention is provided, it can also have the feature that：Wherein, the size of single robot
For 40mm × 40mm × 66mm.
The invention provides a kind of group grey relational grade, have the feature that, including：Multiple structure identical robots
Monomer, and test platform, experiment activity and charging are carried out for multiple robot monomers, and the lower surface of test platform is set
There is wireless charging transmitting coil array, wherein, robot monomer is above-mentioned microrobot.
The effect of invention and effect
According to group grey relational grade involved in the present invention, including multiple structure identical microrobot monomers and set
The test platform of wireless charging transmitting coil array is equipped with, each microrobot monomer includes drive division, control unit and confession
Electric portion, because drive division has wheel and motor, therefore, the movement of microrobot can be realized by power wheel；
Because control unit is disposed with the upper circuit board for sensing, the middle circuit board for radio communication, for driving from top to bottom
Two lateral circuit plates of dynamic control and the lower circuit board for power supply control, rational in infrastructure, therefore, the present invention is realizing complexity
The space structure of microrobot is efficiently utilized while interbehavior；Due in microrobot provided with wired charging and
Wireless charging two ways can guarantee that its power supply is stable, and during using wireless charging, microrobot need not it is static, still can
Continuation activity, therefore, of the invention not only realizes the stable power-supplying of robot, and use can also ensure to charge and power
Carry out simultaneously, the experiment activity of robot is not influenceed.
As can be seen here, microrobot of the invention and its group grey relational grade have mobile convenient, delicate structure, charging
Stable the characteristics of, accordingly, it is capable to preferably be applied to the experiment activity of group robot.
Brief description of the drawings
Fig. 1 is the schematic diagram of group grey relational grade in embodiments of the invention；
Fig. 2 is the schematic diagram (one) of microrobot in embodiments of the invention；
Fig. 3 is the schematic diagram (two) of microrobot in embodiments of the invention；
Fig. 4 is the schematic diagram of lateral circuit plate in embodiments of the invention；And
Fig. 5 is the electrical connection diagram of microrobot in embodiments of the invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below
Example combination accompanying drawing is applied to be specifically addressed the microrobot and its group grey relational grade of the present invention.
Fig. 1 is the schematic diagram of group grey relational grade in embodiments of the invention.
As shown in figure 1, the group grey relational grade 200 of the present invention includes multiple monomers of structure identical microrobot 100
And test platform 300.
Each microrobot 100 has unique ID identification informations.Test platform 300 is used for multiple microrobots
100 carry out experiment activity and charging.The lower surface of test platform 300 is provided with wireless charging transmitting coil array 301, is used for
Sensing and transmission power.
The microrobot 100 in the present embodiment is described in detail below：
Fig. 2 is the schematic diagram (one) of microrobot in embodiments of the invention；And during Fig. 3 is embodiments of the invention
The schematic diagram (two) of microrobot.Wherein, right figure is the upward view of Section A-A in Fig. 2.
As shown in figures 2-3, the size length × width × height of microrobot 100 is 40mm × 40mm × 66mm.Micromachine
People 100 includes：Drive division 10, control unit 20 and power supply 30.
Drive division 10 is used to drive microrobot 100 to move.Drive division 10 have two groups, every group be respectively provided with motor 11,
Driving wheel 12, belt 13, wheel 14 and axletree 15.Driving wheel 12 is fixed on motor 11 by motor shaft, and the driving of motor 11 is actively
Wheel 12 is operated.Belt 13 connects driving wheel 12 and wheel 14, and driving wheel 12 drives belt 13 to operate.Wheel 14 passes through the band of belt 13
Dynamic operation.Axletree 15 is used to connect wheel.
Control unit 20 is used to control the interbehavior of microrobot 100, comprising set gradually from top to bottom and mutually it
Between the upper circuit board 21, middle circuit board 22, two lateral circuit plates 23 and the lower circuit board 24 that are electrically connected.
Upper circuit board 21 is used to sense and show.Upper circuit board 21 includes Magnetic Sensor 21a, the LED for being arranged on upper surface
Lamp 21b and display 21c；It is arranged on the infrared emission tube 21d and infrared receiver tube 21e of lower surface；And first control
Device (not shown).
Magnetic Sensor 21a uses the attitude angle under magnetic sensor, the measurement quiescent conditions of microrobot 100, the appearance
State angle is the angle of pitch, roll angle or towards angle.In the present embodiment, microrobot 100 is measured using magnetic sensor
Towards angle.
LED 21b uses redgreenblue LED, and the current state of single robot is indicated according to bright light color.It is red green
Blue three colors can be mixed into many colors, and different colours represent different conditions, such as red to represent that mistake occurs in microrobot 100
By mistake, green represents normal operation, and the orange electric power that represents is not enough, and blueness represents to need other microrobots 100 to coordinate, cyan generation
Table departs from colony etc..
Display 21c is used to show parameter corresponding with current state using liquid crystal display.For example, working as not enough power supply
When, show percentage of dump energy etc..
First controller use 8bit microcontrollers, for control Magnetic Sensor 21a, LED 21b, display 21c,
Infrared emission tube 21d and two infrared receiver tube 21e.
Middle circuit board 22 is used for radio communication, is provided with radio receiving transmitting module 22a, second controller (not shown) and half
Spherical reflective mirror 22b.
Radio receiving transmitting module 22a is WiFi transceiver modules or bluetooth transceiver module, is communicated to connect with intelligent terminal.Pass through nothing
The ID identification informations of the microrobot 100, current location information and other corresponding data can be uploaded to by line communication
Server, while the control program of correlation can also be downloaded.
Second controller is used to control radio receiving transmitting module 22a using 32bit microcontrollers.
Hemispherical reflective mirror 22b is arranged on the upper surface of middle circuit board 22, for reflecting infrared signal, infrared logical to increase
Communication distance.
It is electrically connected between upper circuit board 21 and middle circuit board 22 by contact rod 25.Contact rod 25 is metallic conduction material
Any one in material, alloy conductive material, composite conducting material.In the present embodiment, using 4 copper rods as contact rod 25,
Respectively positive source rod, power supply earth polar rod, serial send (TX) rod, serial received (RX) rod.
Fig. 4 is the schematic diagram of lateral circuit plate in embodiments of the invention.
As illustrated, being provided with motor flange hole 23a, motor bolt hole 23b, car axle hole 23c, golden hand on lateral circuit plate 23
Refer to 23d and golden finger slot 23e.Motor flange hole 23a is used for positioning motor, and motor bolt hole 23b is used to install and fix electricity
Machine.Car axle hole 23c is passed through for axletree 15.Golden finger 23d is matched by the golden finger slot (not shown) on middle circuit board 22
Close, realize that lateral circuit plate 23 is electrically connected with middle circuit board 22.Golden finger slot 23e passes through the golden finger on lower circuit board 24
(not shown), realizes that lateral circuit plate 23 is electrically connected with lower circuit board 24.
Copper is covered with the bottom position 23h of lateral circuit plate 23, when two lateral circuit plates 23 are contacting external power source just respectively
Pole and when being grounded, can be charged by wired mode to microrobot 100.
Lower circuit board 24 is used for power supply control, includes battery charging management chip, DC/DC conversion chips and wireless charging
Managing chip.
Power supply 30 is used to be powered drive division 10 and control unit 20.Power supply 30 includes circuit board 22 in setting
The battery 31 of upper surface and it is arranged on the lower surface of lower circuit board 24 and matches with wireless charging transmitting coil array 301
Wireless charging coil.Battery 31 is 3.7V square polymer Li-ion battery in the present embodiment.
Fig. 5 is the electrical connection diagram of microrobot in embodiments of the invention.
The microrobot 100 of the present invention and its use process of group grey relational grade 200 are as follows：
As shown in figure 5, in microrobot 100, the major function of 8bit microcontrollers is by magnetic sensor
Robot pose is detected, control liquid crystal display shows design parameter, drives three-color LED light dispaly state, modulates an infrared hair
Emitter is communicated and relative positioning other microrobots with two infrared transmitters, the similar mankind's binaural discrimination of its operation principle
Sound differences are positioned.32bit microcontrollers can be connect as master controller by the wireless WiFi transceiver modules of ESP8266
Top service device information is received, can also be inherent parameters upload server；Motor；Using serial communication TX, RX and sensing
Controller communicates.Lower circuit board is mainly used in power management work, and it has two kinds of charge modes of wired charging and wireless charging.
By DC DC systems stabilisations voltage supply.
As shown in Figure 1 and Figure 5, group grey relational grade 200 can by infrared ray (in Fig. 1 shown in arrow) near-field communication come
Transmit two infrared remote receivers according to respective mark ID, and the relative position of measurement and positioning data sender simultaneously, its principle
Different receiving intensities, the relative position for obtaining sender is calculated by triangle telemetry；Interior data and Run Script
It can upload and download by WiFi module；Practice operation arranged beneath wireless charging transmitting coil array 301, the moment is fortune
The supplement electric power of group robot 100 in row.
The effect of embodiment and effect
Group grey relational grade according to involved by the present embodiment, including multiple structure identical microrobot monomers and
Be provided with the test platform of wireless charging transmitting coil array, each microrobot monomer comprising drive division, control unit and
Power supply, because drive division has wheel and motor, therefore, the shifting of microrobot can be realized by power wheel
It is dynamic；Upper circuit board for sensing, the middle circuit board for radio communication are disposed with due to control unit from top to bottom, are used for
Two lateral circuit plates of drive control and the lower circuit board for power supply control, rational in infrastructure, therefore, the present embodiment is being realized again
The space structure of microrobot is efficiently utilized while miscellaneous interbehavior；Due to being filled in microrobot provided with wired
Electricity and wireless charging two ways can guarantee that its power supply is stable, and during using wireless charging, and microrobot need not be static, still
So can continuation activity, therefore, the present embodiment not only realizes the stable power-supplying of robot, and use can also ensure charging
Carried out simultaneously with power supply, the experiment activity of robot is not influenceed.
As can be seen here, the microrobot and its group grey relational grade of the present embodiment have mobile convenient, delicate structure, filled
The characteristics of electricity is stable, accordingly, it is capable to preferably be applied to the experiment activity of group robot.
In addition, being additionally provided with hemispherical reflective mirror in the upper surface of middle circuit board, hemispherical reflective mirror is used to reflect infrared
Signal.It is such to be provided with beneficial to increase infrared communication distance, it is ensured that the sensing ranging energy stable operation between microrobot,
Solve communication between robot in the prior art, the problem of ranging is unstable.
In addition, being provided with WiFi module, it can be easy to upload and download corresponding data, be easy to user to group grey relational grade
Test procedure debugged and changed.
In addition, the group grey relational grade reasonable in design in the present embodiment ensure that robot performance, and have into
The characteristics of this is low, in addition, due also to manufacture material is that most common material, assembling process are convenient, therefore it is raw suitable for batch
Production.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (10)
1. a kind of microrobot, it is characterised in that including：
Drive division, for driving the microrobot to move；
Control unit, the interbehavior for controlling the microrobot, comprising set gradually from top to bottom and mutually carry out electricity
Upper circuit board, middle circuit board, two lateral circuit plates and the lower circuit board of connection；And
Power supply, for being powered to the drive division and the control unit, includes the upper surface for setting the middle circuit board
Battery and be arranged on the lower circuit board lower surface Wireless charging coil,
Wherein, the drive division comprising motor, the driving wheel being fixed on the motor, the belt that is connected with the driving wheel with
And the wheel run by the belt drive,
The upper circuit board is used to sense and show, comprising be arranged on the Magnetic Sensor of the upper circuit board upper surface, LED and
Display, is arranged on the infrared emission tube and infrared receiver tube of the upper circuit board lower surface, and described for controlling
Magnetic Sensor, the LED, the display, the first controller of the infrared emission tube and the infrared receiver tube,
The middle circuit board is used for radio communication, be provided with radio receiving transmitting module and for controlling the radio receiving transmitting module the
Two controllers,
The lateral circuit plate is electrically connected with the motor, for drive control,
The lower circuit board is used for power supply control, includes battery charging management chip, DC/DC conversion chips and wireless charging fulgurite
Manage chip.
2. microrobot according to claim 1, it is characterised in that：
Wherein, the upper surface of the middle circuit board is additionally provided with hemispherical reflective mirror, and the hemispherical reflective mirror is used to reflect red
External signal.
3. microrobot according to claim 1, it is characterised in that：
Wherein, first controller is 8bit microcontrollers,
The second controller is 32bit microcontrollers.
4. microrobot according to claim 1, it is characterised in that：
Wherein, the Magnetic Sensor is magnetic sensor, measures the attitude angle under the single robot quiescent conditions, the appearance
State angle is the angle of pitch, roll angle or towards angle.
5. microrobot according to claim 1, it is characterised in that：
Wherein, the LED is redgreenblue LED, and the current state of the single robot is indicated according to bright light color,
The display is liquid crystal display, for showing parameter corresponding with current state.
6. microrobot according to claim 1, it is characterised in that：
Wherein, radio receiving transmitting module is WiFi transceiver modules or bluetooth transceiver module, is communicated to connect with intelligent terminal.
7. microrobot according to claim 1, it is characterised in that：
Wherein, it is electrically connected between the upper circuit board and the middle circuit board by contact rod,
The contact rod is any one in conductive metal material, alloy conductive material, composite conducting material.
8. microrobot according to claim 1, it is characterised in that：
Wherein, be electrically connected between the middle circuit board and the lateral circuit plate by inserting mode, the lateral circuit plate and
It is electrically connected between the lower circuit board by inserting mode,
The lateral circuit plate and the lower circuit board are respectively arranged with multiple golden fingers, the middle circuit board and the lateral circuit plate
The multiple slots matched with multiple golden fingers are respectively arranged with,
The inserting mode is the multiple slots of multiple golden finger correspondence insertions.
9. microrobot according to claim 1, it is characterised in that：
Wherein, the size of the single robot is 40mm × 40mm × 66mm.
10. a kind of group grey relational grade, it is characterised in that including：
Multiple structure identical robot monomers, and
Test platform, experiment activity and charging, the lower surface of the test platform are carried out for multiple robot monomers
Wireless charging transmitting coil array is provided with,
Wherein, the robot monomer is the microrobot described in claim 1~9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441229.2A CN107175649B (en) | 2017-06-13 | 2017-06-13 | Micro robot and swarm robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710441229.2A CN107175649B (en) | 2017-06-13 | 2017-06-13 | Micro robot and swarm robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107175649A true CN107175649A (en) | 2017-09-19 |
| CN107175649B CN107175649B (en) | 2020-09-29 |
Family
ID=59835900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710441229.2A Active CN107175649B (en) | 2017-06-13 | 2017-06-13 | Micro robot and swarm robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107175649B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976241A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of characterizing method of robotary, device and robot |
| CN110224469A (en) * | 2019-07-01 | 2019-09-10 | 北京海益同展信息科技有限公司 | The control method and device and charging system of charging system |
| CN112589799A (en) * | 2020-12-10 | 2021-04-02 | 西北工业大学 | Miniature desktop robot facing to cluster |
| CN114407036A (en) * | 2022-01-27 | 2022-04-29 | 国科温州研究院(温州生物材料与工程研究所) | Cluster robot and charging equipment thereof |
| CN114434458A (en) * | 2022-01-27 | 2022-05-06 | 国科温州研究院(温州生物材料与工程研究所) | Interaction method and system of cluster robot and virtual environment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105401977A (en) * | 2015-12-15 | 2016-03-16 | 浙江理工大学 | Mine searching and rescuing robot based on Linux embedded system |
| CN205835348U (en) * | 2016-06-28 | 2016-12-28 | 陈太明 | A kind of intelligent mobile transfer robot |
-
2017
- 2017-06-13 CN CN201710441229.2A patent/CN107175649B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105401977A (en) * | 2015-12-15 | 2016-03-16 | 浙江理工大学 | Mine searching and rescuing robot based on Linux embedded system |
| CN205835348U (en) * | 2016-06-28 | 2016-12-28 | 陈太明 | A kind of intelligent mobile transfer robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976241A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of characterizing method of robotary, device and robot |
| CN110224469A (en) * | 2019-07-01 | 2019-09-10 | 北京海益同展信息科技有限公司 | The control method and device and charging system of charging system |
| CN112589799A (en) * | 2020-12-10 | 2021-04-02 | 西北工业大学 | Miniature desktop robot facing to cluster |
| CN112589799B (en) * | 2020-12-10 | 2022-07-26 | 西北工业大学 | Miniature desktop robot facing to cluster |
| CN114407036A (en) * | 2022-01-27 | 2022-04-29 | 国科温州研究院(温州生物材料与工程研究所) | Cluster robot and charging equipment thereof |
| CN114434458A (en) * | 2022-01-27 | 2022-05-06 | 国科温州研究院(温州生物材料与工程研究所) | Interaction method and system of cluster robot and virtual environment |
| CN114434458B (en) * | 2022-01-27 | 2024-02-27 | 国科温州研究院(温州生物材料与工程研究所) | Interaction method and system for clustered robots and virtual environment |
| CN114407036B (en) * | 2022-01-27 | 2024-03-22 | 国科温州研究院(温州生物材料与工程研究所) | Cluster robot and charging equipment thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107175649B (en) | 2020-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107175649A (en) | Microrobot and group grey relational grade | |
| CN106681321B (en) | The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID | |
| Rubenstein et al. | Kilobot: A low cost scalable robot system for collective behaviors | |
| CN107813721A (en) | Industrial AGV intelligent charging systems | |
| KR101951092B1 (en) | Battery Auto Charger | |
| US20220332201A1 (en) | Electric vehicle charging system with a charging cable that includes an inline cable controller | |
| CN105711849A (en) | Unmanned aerial vehicle and flying state indicating method and device thereof | |
| CN110531758A (en) | A kind of AGV control system and method | |
| US20130120107A1 (en) | Methods and systems for programming an electric machine | |
| CN213619362U (en) | Programming intelligent trolley | |
| CN111047886B (en) | Intelligent integrated signal lamp and control method | |
| CN107567825A (en) | Intelligent the mowing system and mowing method of preset regions | |
| CN210592453U (en) | NFC unmanned aerial vehicle intelligent battery system | |
| CN216697067U (en) | Intelligent line walking equipment able to programme | |
| CN210093225U (en) | Intelligent wireless repeater | |
| CN216215961U (en) | Remote control power supply | |
| CN209190641U (en) | A kind of digital display spanner and system | |
| CN202049385U (en) | Remote monitoring system of intelligent power flashboard | |
| CN109291057A (en) | A kind of robot is wireless teaching system and its control method | |
| CN212875476U (en) | Pressing plate monitoring system for transformer substation | |
| CN204454303U (en) | A kind of tower crane lifting visualization system | |
| CN108462414A (en) | A kind of RFID radio machine control system unit and electric car | |
| KR101279993B1 (en) | Distributing flyers Robot | |
| CN220051863U (en) | Robot system for cluster morphogenesis research | |
| CN218567885U (en) | Shuttle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |