CN107229243A - A kind of robot and its control circuit - Google Patents
A kind of robot and its control circuit Download PDFInfo
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- CN107229243A CN107229243A CN201710469568.1A CN201710469568A CN107229243A CN 107229243 A CN107229243 A CN 107229243A CN 201710469568 A CN201710469568 A CN 201710469568A CN 107229243 A CN107229243 A CN 107229243A
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- 238000004891 communication Methods 0.000 claims abstract description 46
- 230000000875 corresponding effect Effects 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000006870 function Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000002452 interceptive effect Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 13
- 210000001624 hip Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2666—Toy
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology field, a kind of robot and its control circuit are disclosed.It is speech data that the present invention gathers voice signal identifying processing by power management and audio processing modules, wireless communication module receives the wireless control directives that exterior terminal is sent, main control module generates motion control instruction according to speech data and wireless control directives, motion-control module is controlled according to motion control instruction to steering wheel, so that robot makes corresponding actions.In the present invention, robot has a variety of functions such as dancing control, voice call, video calling, video monitoring, home security and Intelligent housing, the action of robot can also can be realized preferably interactive with user by Voice command by exterior terminal remote control.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot and its control circuit.
Background technology
With the development of science and technology, the demand in order to meet amusement, the anthropomorphic robot that anthropomorphic robot can particularly dance
Become one of study hotspot of robot field.
Existing anthropomorphic robot, up to more than ten servomechanism is configured with each turning joint of machine, can be in control
Various motion is completed under the control of system, but this robot can only be moved by the corresponding dancing of designed order completion in advance
Make, function is simple, the interactive difference with user.
The content of the invention
The embodiments of the invention provide a kind of robot and its control circuit, it is intended to solves robot of the prior art only
Corresponding dance movement can be completed by designed order in advance, function is simple, the problem of interactive poor with user.
The embodiments of the invention provide a kind of control circuit of robot, wherein, robot includes the steering wheel of predetermined number,
Circuit is controlled to include main control module, power management and audio processing modules, link block, wireless communication module and motion control mould
Block.
Power management and audio processing modules, link block, wireless communication module and motion-control module with master control mould
Block is electrically connected, and the motion-control module is electrically connected with each steering wheel respectively.
Power management and audio processing modules collection voice signal, and be speech data by voice signal identifying processing；Even
Connection module accesses externally fed circuit to obtain electric energy；Wireless communication module and exterior terminal radio communication, it is outside whole to receive
Hold the wireless control directives sent；Main control module generates motion control instruction according to speech data and wireless control directives；Motion
Control module is controlled according to motion control instruction to steering wheel, so that robot makes corresponding actions.
In one embodiment, main control module includes arm processor.
In one embodiment, power management and audio processing modules include PMU, audio input unit and
Audio output unit, audio input unit and audio output unit are electrically connected with PMU, PMU with
Main control module is electrically connected.
In one embodiment, link block includes：
To access externally fed circuit to obtain the power interface unit of electric energy；
Memory card interface unit to access External memory equipment；
Identification card interface unit to access identity identification chip；
To connect the serial interface unit that multiple external equipments realize Function Extension by serial ports；
To connect the parallel cell interface that multiple external equipments realize Function Extension by parallel port；And,
Usb interface unit to transmit usb protocol data.
In one embodiment, wireless communication module includes：
Radio-frequency communication unit to carry out radio communication with exterior terminal；And,
Wireless communication unit to carry out radio communication with exterior terminal.
In one embodiment, in addition to main control module the touch-control module electrically connected, touch-control module senses outside touch
Touch signal is exported after touching to main control module, so that master control module controls robot performs corresponding preset instructions.
In one embodiment, in addition to main control module the infrared control module electrically connected.
Infrared control module includes being used to detect that human body realizes antitheft infrared detection unit and/or for remote control electrical appliance
Infrared remote control unit.
In one embodiment, in addition to main control module the display module electrically connected.
In one embodiment, in addition to main control module the police instruction module electrically connected.
Police instruction module is carried including being sent corresponding sound and light alarm according to different abnormal informations by master control module controls
Acousto-optic warning unit, indicator unit and/or the audible alarm unit shown.
The embodiment of the present invention additionally provides a kind of robot, includes the steering wheel and robot as described above of predetermined number
Control circuit.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：Pass through power management and audio processing modules
Voice signal is gathered, and is speech data by voice signal identifying processing；Wireless communication module and exterior terminal radio communication, with
Receive the wireless control directives that exterior terminal is sent；Main control module generates motion control according to speech data and wireless control directives
Instruction；Motion-control module is controlled according to motion control instruction to steering wheel, so that robot makes corresponding actions.The present invention
In embodiment, robot has dancing control, voice call, video calling, video monitoring, home security and Intelligent housing
Etc. a variety of functions, the action of robot can also be realized and used by exterior terminal remote control by Voice command
Family is preferably interactive.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below by using required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without having to pay creative labor, it can also obtain other according to these accompanying drawings
Accompanying drawing.
The structural representation of the control circuit for the robot that Fig. 1 provides for one embodiment of the present of invention；
The structural representation of the control circuit for the robot that Fig. 2 provides for one embodiment of the present of invention.
Embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
The realization of the present invention is described in detail below in conjunction with specific accompanying drawing：
Embodiment 1：
Fig. 1 shows a kind of structure of the control circuit for robot that one embodiment of the invention is provided, for the ease of saying
It is bright, the part related to the embodiment of the present invention is illustrate only, details are as follows：
As shown in figure 1, a kind of control circuit 10 for robot that the embodiment of the present invention is provided, wherein, robot includes
The steering wheel 20 of predetermined number, control circuit 10 includes main control module 100, power management and audio processing modules 200, link block
300th, wireless communication module 400 and motion-control module 500.
Power management and audio processing modules 200, link block 300, wireless communication module 400 and motion-control module
500 are electrically connected with main control module 100, and motion-control module 500 is electrically connected with each steering wheel 20 respectively.
Power management and the collection voice signal of audio processing modules 200, and be speech data by voice signal identifying processing；
Link block 300 accesses externally fed circuit to obtain electric energy；Wireless communication module 400 and the radio communication of exterior terminal 30, with
Receive the wireless control directives that exterior terminal 30 is sent；Main control module 100 is transported according to speech data and wireless control directives generation
Dynamic control instruction；Motion-control module 500 is controlled according to motion control instruction to steering wheel 20, so that robot makes accordingly
Action.
In a particular application, voice signal is analog signal, one section of sound that such as microphone is received.Speech data is
Data signal.
In one embodiment, main control module 100 includes arm processor.
ARM (Advanced RISC Machines, Embedded System Design) processor can for MT6572 chips,
S5p4418 chips or s5p6818 chips.Android system is loaded with inside arm processor.
In one embodiment, speech data is converted to semanteme by default speech recognition algorithm and referred to by main control module 100
Order, and corresponding first action directive is exported to motion-control module 500 according to semantic instructions, so that motion-control module
500 control steering wheels 20 perform corresponding action.
In a particular application, default speech recognition algorithm can interrogate winged speech recognition algorithm for University of Science and Technology.
In a particular application, main control module 100 exports corresponding first action directive, specific bag according to semantic instructions
Include：Main control module 100 transfers corresponding default file according to semantic instructions, and default file includes data protocol；Main control module 100
The first action directive is obtained after default file is parsed by application program.
In a particular application, action directive includes numbering, rotational angle and/or the actuation time of steering wheel 20.
In one embodiment, main control module 100 passes through I2C (Inter- with power management and audio processing modules 200
Integrated Circuit, twin wire universal serial bus) data/address bus and SPI (Serial Peripheral Interface,
Serial Peripheral Interface (SPI)) data/address bus communicated.
In one embodiment, main control module 100 and link block 300 by USB (Universal Serial Bus,
USB) data/address bus communicated.
In one embodiment, main control module 100 passes through UART (Universal with motion-control module 500
Asynchronous Receiver/Transmitter, universal asynchronous receiving-transmitting transmitter) communication interface communicated.
In one embodiment, motion-control module 500 is communicated with steering wheel 20 by single line serial port data/address bus.
In one embodiment, motion-control module 500 include microcontroller, such as STM32F103xC,
The serial control panels of STM32F103xD or STM32F103xE.
In one embodiment, altogether provided with 17 steering wheels 20 in robot, steering wheel 20 is arranged in each limbs of robot,
For example in large arm, forearm, waist, thigh, shank and foot.
In the embodiment of the present invention, 17 steering wheels 20 are connected in series, and motion-control module 500 is sent by serial ports to steering wheel 20
Control instruction and the feedback data for receiving steering wheel, control instruction include numbering, rotational angle and/or the actuation time of steering wheel 20.
The action of robot can also can be realized more preferable with user by Voice command by the remote control of exterior terminal 30
It is interactive.
Fig. 2 shows the modular structure of the control circuit 10 for the robot that one embodiment of the invention is provided, for the ease of
Illustrate, illustrate only the part related to the embodiment of the present invention, details are as follows：
As shown in Fig. 2 in one embodiment of the invention, power management and audio processing modules 200 in Fig. 1 include
PMU 210, audio input unit 220 and audio output unit 230, audio input unit 220 and audio output list
Member 230 is electrically connected with PMU 210, and PMU 210 is electrically connected with main control module 100.
In a particular application, the voice signal for receiving outside is converted to speech data by audio input unit 220, and will
Speech data is transferred to main control module 100 by PMU 210.Audio output unit 230 can be in main control module 100
Control under send preset sound.
In one embodiment, PMU 210 includes power management chip, such as MT6323 power managements core
Piece.
In one embodiment, audio input unit 220 includes microphone, and such as microphone can receive the sound of user
Sound.
In one embodiment, audio output unit 230 includes loudspeaker, and such as loudspeaker can play the audios such as music
File.
As shown in Fig. 2 in one embodiment of the invention, the link block 300 in Fig. 1 includes：
To access externally fed circuit to obtain the power interface unit 310 of electric energy；
Memory card interface unit 320 to access External memory equipment；
Identification card interface unit 330 to access identity identification chip；
To connect the serial interface unit 340 that multiple external equipments realize Function Extension by serial ports；
To connect the parallel cell interface 350 that multiple external equipments realize Function Extension by parallel port；And,
Usb interface unit 360 to transmit usb protocol data.
In a particular application, memory card interface unit 320 includes SD (Secure Digital Memory Card/SD
Card, safe digital card) socket, CF (Compact Flash Card, compact flash) sockets and/or MMC (Multi
Media Card, multimedia storage card) socket.
In a particular application, identification card interface unit 330 includes SIM card (Subscriber Identification
Module, client identification module) socket.
In a particular application, usb interface unit 360 includes micro USB sockets and MINI USB sockets.
As shown in Fig. 2 in one embodiment of the invention, the wireless communication module 400 in Fig. 1 includes：
Radio-frequency communication unit 410 to carry out radio communication with exterior terminal；And,
Wireless communication unit 420 to carry out radio communication with exterior terminal.
In a particular application, radio-frequency communication unit 410 is electrically connected with main control module 100.
Radio-frequency communication unit 410 can receive the first radiofrequency signal of the transmission of exterior terminal 30, and by the first radiofrequency signal
Main control module 100 is transferred to, main control module 100 exports corresponding second action directive to motion according to the first radiofrequency signal
Control module 500, so that the control steering wheel 20 of motion-control module 500 performs corresponding action.
The external voice that radio-frequency communication unit 410 can also be received audio input unit 220 by main control module 100
Signal is converted to corresponding second radiofrequency signal and is sent to exterior terminal 30.
In a particular application, radio-frequency communication unit 410 can be used for 2G, 3G, 4G and/or gsm communication, including communications baseband
Chip, such as MT6166 chips.
In the present embodiment, radio-frequency communication unit 410 can realize the function of taking phone.
In a particular application, wireless communication unit 420 is electrically connected with main control module 100.
Wireless communication unit 420 receives the first wireless signal that exterior terminal 30 is sent, and by the first transmission of wireless signals
To main control module 100, main control module 100 exports corresponding 3rd action directive to motion control according to the first wireless signal
Module 500, so that the control steering wheel 20 of motion-control module 500 performs corresponding action.
Wireless communication unit 420 also receives the wireless data that main control module 100 is sent, and exports second according to wireless data
Wireless signal is to exterior terminal 30.
In a particular application, wireless communication unit 420 can be used for Wifi, Bluetooth, GPS and/or FM communication, bag
Include wireless communication chips, such as MT6627 chips.
In the present embodiment, wireless communication unit 420 can realize the function of telecommunication, mobile phone control robot motion.
Wireless communication unit 420 can also communicate with cloud platform.
As shown in Fig. 2 in one embodiment of the invention, the control circuit 10 of robot also includes and main control module
The touch-control module 600 of 100 electrical connections, touch-control module 600, which is sensed, exports touch signal to main control module 100 after external touch,
So that the control machine people of main control module 100 performs corresponding preset instructions.
Touch-control module 600 obtains touching signals during with external contact, and touching signals are transferred into main control module 100,
Main control module 100 exports corresponding 4th action directive to motion-control module 500 according to touching signals, so that motion is controlled
The control steering wheel 20 of molding block 500 performs corresponding action.
In a particular application, touch-control module 600 includes contact panel.
Contact panel can be capacitive sensing panel, electromagnetic induction panel, electric capacity and electromagnetic induction combination panel.
In the present embodiment, touch-control module 600 can be realized to touch by user and waken up or closing machine people, and control machine
Device human action.
As shown in Fig. 2 in one embodiment of the invention, the control circuit 10 of robot also includes and main control module
The infrared control module 700 of 100 electrical connections.
Infrared control module 700 includes being used to detect that human body realizes antitheft infrared detection unit 710 and/or for remote control
The infrared remote control unit 720 of electrical equipment.
In one embodiment, infrared detection unit 710 includes thermoinduction sensor and/or touch sensible sensor.
As shown in Fig. 2 in one embodiment of the invention, the control circuit 10 of robot also includes and main control module
The display module 800 of 100 electrical connections.
Display module 800 includes LCD (Liquid Crystal Display, liquid crystal display) display screen, LED (Light
Emitting Diode, light emitting diode) display screen or OLED (Organic Light-Emitting Diode, organic light emission
Diode) display screen etc..
As shown in Fig. 2 in one embodiment of the invention, the control circuit 10 of robot also includes and main control module
The police instruction module 900 of 100 electrical connections.
Police instruction module is carried including being sent corresponding sound and light alarm according to different abnormal informations by master control module controls
Acousto-optic warning unit 910, indicator unit 920 and/or the audible alarm unit 930 shown.
In one embodiment, the control circuit 10 of robot also includes photographing module.
Photographing module is electrically connected with power management and audio processing modules 200, for obtaining video and being sent to outside whole
End 30.
Embodiment 2：
The embodiment of the present invention additionally provides a kind of robot, includes the steering wheel 20 and machine as described above of predetermined number
The control circuit 10 of people.
Robot in the present embodiment can realize that dancing control, voice call, video calling, video monitoring, family prevent
A variety of functions such as robber and Intelligent housing.
In a particular application, predetermined number can be configured according to actual needs, and the quantity of steering wheel 20 is more, robot
Action it is more flexible, action species it is more.
In one embodiment, the robot is anthropomorphic robot, and predetermined number is specifically as follows 17, i.e. robot
Including 17 steering wheels 20, this 17 steering wheels 20 are respectively：The first steering wheel on the jaw joint of robot is arranged on, neck is arranged on
The second steering wheel for being used to drive robot head to move up and down on joint and for driving robot head left-right rotation
Three steering wheels, are separately positioned on the 4th steering wheel and the 5th steering wheel in robot or so shoulder joint, are separately positioned on robot or so
The 6th steering wheel and the 7th steering wheel on elbow joint, are separately positioned on the 8th steering wheel and the 9th rudder on robot or so wrist joint
Machine, being arranged on is used for the 11st steering wheel of the tenth steering wheel and left-right rotation for driving robot waist bending motion on waist joint,
The 12nd steering wheel and the 13rd steering wheel on robot or so hip joint are separately positioned on, robot or so knee pass is separately positioned on
The 14th steering wheel and the 15th steering wheel on section, and, be separately positioned on the 16th steering wheel on robot or so ankle-joint and
17th steering wheel.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the control circuit of a kind of robot, it is characterised in that the robot includes the steering wheel of predetermined number, the control electricity
Road includes main control module, power management and audio processing modules, link block, wireless communication module and motion-control module；
The power management and audio processing modules, the link block, the wireless communication module and the motion control mould
Block is electrically connected with the main control module, and the motion-control module is electrically connected with each steering wheel respectively；
The power management and audio processing modules gather voice signal, and are voice number by the voice signal identifying processing
According to；The link block accesses externally fed circuit to obtain electric energy；The wireless communication module and exterior terminal radio communication,
To receive the wireless control directives that the exterior terminal is sent；The main control module is according to the speech data and the wireless controlled
System instruction generation motion control instruction；The motion-control module is controlled according to the motion control instruction to the steering wheel
System, so that the robot makes corresponding actions.
2. the control circuit of robot according to claim 1, it is characterised in that the main control module includes ARM processing
Device.
3. the control circuit of robot according to claim 1, it is characterised in that the power management and audio frequency process mould
Block includes PMU, audio input unit and audio output unit, the audio input unit and the audio output
Unit is electrically connected with the PMU, and the PMU is electrically connected with the main control module.
4. the control circuit of robot according to claim 1, it is characterised in that the link block includes：
To access externally fed circuit to obtain the power interface unit of electric energy；
Memory card interface unit to access External memory equipment；
Identification card interface unit to access identity identification chip；
To connect the serial interface unit that multiple external equipments realize Function Extension by serial ports；
To connect the parallel cell interface that multiple external equipments realize Function Extension by parallel port；And,
Usb interface unit to transmit usb protocol data.
5. the control circuit of robot according to claim 1, it is characterised in that the wireless communication module includes：
Radio-frequency communication unit to carry out radio communication with exterior terminal；And,
Wireless communication unit to carry out radio communication with exterior terminal.
6. the control circuit of robot according to claim 1, it is characterised in that also including being electrically connected with the main control module
The touch-control module connect, the touch-control module, which is sensed, exports touch signal to the main control module after external touch, so that described
Robot described in master control module controls performs corresponding preset instructions.
7. the control circuit of robot according to claim 1, it is characterised in that also including being electrically connected with the main control module
The infrared control module connect；
The infrared control module includes being used to detect that human body realizes antitheft infrared detection unit and/or for remote control electrical appliance
Infrared remote control unit.
8. the control circuit of robot according to claim 1, it is characterised in that also including being electrically connected with the main control module
The display module connect.
9. the control circuit of robot according to claim 1, it is characterised in that also including being electrically connected with the main control module
The police instruction module connect；
The police instruction module includes being sent corresponding acousto-optic report according to different abnormal informations by the master control module controls
Acousto-optic warning unit, indicator unit and/or the audible alarm unit of alert prompting.
10. a kind of robot, it is characterised in that steering wheel including predetermined number and as described in any one of claim 1~9
The control circuit of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469568.1A CN107229243A (en) | 2017-06-20 | 2017-06-20 | A kind of robot and its control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469568.1A CN107229243A (en) | 2017-06-20 | 2017-06-20 | A kind of robot and its control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107229243A true CN107229243A (en) | 2017-10-03 |
Family
ID=59935101
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|---|---|---|---|
| CN201710469568.1A Pending CN107229243A (en) | 2017-06-20 | 2017-06-20 | A kind of robot and its control circuit |
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| CN110568785A (en) * | 2019-08-07 | 2019-12-13 | 安徽延达智能科技有限公司 | Robot remote communication system |
| CN111015642A (en) * | 2019-12-12 | 2020-04-17 | 深圳优地科技有限公司 | Robot and multifunctional main board thereof |
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| TWI658377B (en) * | 2018-02-08 | 2019-05-01 | 佳綸生技股份有限公司 | Robot assisted interaction system and method thereof |
| CN110568785A (en) * | 2019-08-07 | 2019-12-13 | 安徽延达智能科技有限公司 | Robot remote communication system |
| CN111128152A (en) * | 2019-11-29 | 2020-05-08 | 中国科学院深圳先进技术研究院 | Voice interaction controller, system and robot |
| CN111015642A (en) * | 2019-12-12 | 2020-04-17 | 深圳优地科技有限公司 | Robot and multifunctional main board thereof |
| CN112230586A (en) * | 2020-10-29 | 2021-01-15 | 德鲁动力科技(海南)有限公司 | Circuit of foot type robot |
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