CN107813309A - A kind of control method of fighter toy, device and fighter toy - Google Patents
A kind of control method of fighter toy, device and fighter toy Download PDFInfo
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- CN107813309A CN107813309A CN201711140530.6A CN201711140530A CN107813309A CN 107813309 A CN107813309 A CN 107813309A CN 201711140530 A CN201711140530 A CN 201711140530A CN 107813309 A CN107813309 A CN 107813309A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a kind of control method of fighter toy, device and fighter toy, the fighter toy includes deformable robot body, wherein, method includes the ambient parameter around collection fighter toy；According to the incidence relation of default parameter and form, detect whether the robot body needs to change form；If so, determine form corresponding to the ambient parameter；According to the form, the robot body is controlled to change form.Using technical scheme, it is possible to increase the practicality of robot.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of control method of fighter toy, device and deformation
Robot.
Background technology
With increasingly mature, the focus that robot also progressively applies as research of robot technology.
Existing robot can realize the action for imitating the mankind, such as mouth opening and closing, nodding turns by the program of setting
Head, the flexible swing and rotation of arm, a series of actions such as bend over.
But in the prior art, robot is usually people's shape state, and it can not be carried out between form according to the actual requirements
Conversion, reduce the practicality of robot.
The content of the invention
It is an object of the invention to provide a kind of control method of fighter toy, device and fighter toy, solve
The problem of robot can not carry out the conversion between form according to the actual requirements, and practicality is relatively low.
To achieve the above object, the present invention provides a kind of control method of fighter toy, and the fighter toy includes
Deformable robot body, methods described include：
Gather the ambient parameter around fighter toy；
According to the incidence relation of default parameter and form, detect whether the robot body needs to change form；
If so, determine form corresponding to the ambient parameter；
According to the form, the robot body is controlled to change form.
Further, method described above, in addition to：
According to default first analysis rule, sample data is analyzed, obtains the first analysis result；
According to first analysis result, the incidence relation of the parameter and form is set.
Further, method described above, in addition to：
According to default second analysis rule, the ambient parameter is analyzed, obtains the second analysis result；
According to second analysis result, action command is generated；
According to the action command, the robot body is controlled to perform corresponding action.
Further, in method described above, before changing form according to robot body described in the morphology Control,
Also include：
Generate stop motion instruction；
Instructed according to the stop motion, control the fighter toy stop motion.
Further, method described above, in addition to：
Receive the interaction data for inputting the fighter toy；
According to default 3rd analysis rule, the interaction data is analyzed, obtains output data；
The output data is exported.
Further, method described above, in addition to：
Obtain the charge value of the power supply of the fighter toy；
If detecting, the charge value is less than the first predetermined threshold value, controls the fighter toy out of service；
If detecting, the charge value is more than the second predetermined threshold value, stops charging to the power supply.
The present invention also provides a kind of control device of fighter toy, and the fighter toy includes deformable robot
Main body, described device include：
Acquisition module, for gathering the ambient parameter around fighter toy；
Detection module, for the incidence relation according to default parameter and form, detect whether the fighter toy needs
Change form；
Determining module, if for detecting that the fighter toy needs to change form, determine that the ambient parameter is corresponding
Form；
Control module, for according to the form, controlling the robot body to change form.
Further, device described above, in addition to：
First analysis module, for according to default first analysis rule, analyzing sample data, obtaining first point
Analyse result；
Setup module, for according to first analysis result, setting the incidence relation of the parameter and form.
Further, device described above, in addition to：
Second analysis module, for according to default second analysis rule, analyzing the ambient parameter, obtaining
Two analysis results；
Generation module, for according to second analysis result, generating action command；
The control module, it is additionally operable to according to the action command, controls the robot body to perform corresponding action.
The present invention also provides a kind of fighter toy, including deformable robot body and as described in claim
The control device of fighter toy；
The control device of the fighter toy is used to send control instruction to the robot body, so that the machine
Human agent performs corresponding operation according to the control instruction.
Control method, device and the fighter toy of the fighter toy of the present invention, by the way that robot body is arranged to
Deformable structure, and gather the ambient parameter around fighter toy；According to the incidence relation of default parameter and form, inspection
Survey whether robot body needs to change form；If so, determine form corresponding to ambient parameter；According to the form of determination, control
Robot body changes form, realizes fighter toy and carries out conversion between form according to the actual requirements.Using the present invention
Technical scheme, it is possible to increase the practicality of robot.
Brief description of the drawings
Fig. 1 is the flow chart of the control method embodiment one of the fighter toy of the present invention.
Fig. 2 is the flow chart of the control method embodiment two of the fighter toy of the present invention.
Fig. 3 is the structural representation of the control device embodiment one of the fighter toy of the present invention.
Fig. 4 is the structural representation of the control device embodiment two of the fighter toy of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with of the invention specific real
Apply example and technical scheme of the embodiment of the present invention is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment
Only it is part of the embodiment of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the embodiment of the present invention, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of embodiment protection.
The (if present)s such as term " first ", " second " in specification and claims and above-mentioned accompanying drawing are to be used for area
Not similar part, without for describing specific order or precedence.It should be appreciated that the data so used are appropriate
In the case of can exchange, so that embodiments herein described herein can be real with the order in addition to illustrating herein
Apply.
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment 1
Fig. 1 is the flow chart of the control method embodiment one of the fighter toy of the present invention, as shown in figure 1, the present embodiment
The control method of fighter toy specifically may include steps of：
100th, the ambient parameter around fighter toy is gathered.
The fighter toy of the present embodiment can include deformable robot body, for example, deformable in the present embodiment
Robot body can but be not restricted to enter line translation between people's shape state and car-shape state, such as people's shape state and animal shape
State, car-shape state and animals shaped state etc..Fighter toy acts corresponding to being performed under different shape.
During a specific implementation, due under varying environment, it may be necessary to which fighter toy is under different forms
Operation, therefore, in order to avoid the artificial operation form for being operated to fighter toy, fighter toy could being changed, this
In embodiment, when fighter toy is run, it can gather the ambient parameter around fighter toy, to recognize change in real time
Outdoor scene information around anthropomorphic robot, and make corresponding morphological transformation.In the present embodiment, the environment ginseng around fighter toy
Number can include but is not limited to：With the presence or absence of the situation of barrier, the size of barrier, the shape of barrier and present road
At least one of.For example, range sensor, ultrasonic wave etc. can be utilized to know fighter toy surrounding objects in the present embodiment
Distance, it is for confirmation with the presence or absence of barrier, video camera etc. can be utilized to obtain the image information around fighter toy, with
Obtain size, the shape of barrier, present road situation of barrier etc..
101st, whether need to change form according to the incidence relation of default parameter and form, detection robot body.
In the present embodiment, parameter corresponding to every kind of prominent form can be directed to, by establish parameter and in the form of incidence relation.
After the ambient parameter around fighter toy is collected, can detect collection ambient parameter whether with the form currently run
Match, by determine fighter toy whether need transformation in the form of.
For example, the form behaviour shape state that robot body currently runs, the ambient parameter pair that fighter toy collects
The form behaviour shape state answered, it may be determined that form need not be changed, if form corresponding to the ambient parameter of collection is car shape
State, it may be determined that need to change form.
If the 102, detecting, robot body needs to change form, determines form corresponding to ambient parameter.
103rd, form is changed according to the form of determination, control machine human agent.
During a specific implementation, if detecting, robot body needs to change form, it needs to be determined that environment is joined
Form corresponding to number, so as to the form according to determination, control machine human agent changes form.
For example, the current form behaviour shape state of robot body, and the ambient parameter gathered is road steepening, and road
Value of slope it is corresponding with car-shape state, at this point it is possible to determine that robot body needs to be transformed into car-shape state, and control machine
Human agent changes form.
The executive agent of the control method of the fighter toy of the present embodiment can be the control device of fighter toy, should
The control device of fighter toy can specifically be integrated by software and/or hardware, and the present invention is to this without being particularly limited to.
The control method of the fighter toy of the present embodiment, by the way that robot body is arranged into deformable structure, and
Gather the ambient parameter around fighter toy；According to the incidence relation of default parameter and form, detection robot body is
It is no to need to change form；If so, determine form corresponding to ambient parameter；According to the form of determination, control machine human agent transformation
Form, realize fighter toy and carry out conversion between form according to the actual requirements., can using technical scheme
Improve the practicality of robot.
Embodiment 2
Fig. 2 is the flow chart of the control method embodiment two of the fighter toy of the present invention, as shown in Fig. 2 the present embodiment
Fighter toy control method on the basis of embodiment illustrated in fig. 1, further in further detail to the present invention technology
Scheme is described.
As shown in Fig. 2 the control method of the fighter toy of the present embodiment specifically may include steps of：
200th, according to default first analysis rule, sample data is analyzed, obtains the first analysis result.
In the present embodiment, artificial intelligence technology can be applied in fighter toy, and be inputted greatly to fighter toy
Various environmental parameters corresponding to each form of amount, using can be according to default first point as sample data, fighter toy
Analysis rule, analyzes sample data, obtains the first analysis result.For example, the sample data in the present embodiment can include
Data and fighter toy historical behavior data of user's input etc..Fighter toy can combine the factors such as self attributes, and
By modes such as machine learning, sample data is analyzed, it is determined that the ambient parameter included under each form, as first point
Analyse result.
201st, according to the first analysis result, the incidence relation of arrange parameter and form.
For example, can be directed to each one initial parameter of prominent form in the present embodiment, fighter toy is obtaining first
After analysis result, parameter can be changed automatically, by reset parameter and in the form of incidence relation so that after fighter toy
It is continuous independently to determine whether to change form.
202nd, the ambient parameter around fighter toy is gathered.
203rd, whether need to change form according to the incidence relation of default parameter and form, detection robot body；If
It is to perform step 204, otherwise, performs step 208.
204th, form corresponding to ambient parameter is determined.
205th, stop motion instruction is generated.
206th, instructed according to stop motion, control fighter toy stop motion.
During a specific implementation, if fighter toy in motion process, it is determined that needing to change form, now needs
Stop motion instruction is generated, after controlling fighter toy stop motion, then completes to change form.
It should be noted that the present embodiment not execution sequence between conditioning step 205-206 and step 204.
207th, form is changed according to the form of determination, control machine human agent.
208th, according to default second analysis rule, ambient parameter is analyzed, obtains the second analysis result.
209th, according to the second analysis result, action command is generated.
210th, according to action command, control machine human agent performs corresponding action.
During a specific implementation, no matter whether robot body changes form, is obtaining around fighter toy
Ambient parameter after, ambient parameter can be analyzed, obtain the second analysis knot according to default second analysis rule
Fruit, according to the second analysis result, action command corresponding to generation, to make fighter toy be able to carry out acting accordingly.
In the present embodiment, when robot body is in people's shape state, if running into barrier, can according to barrier size,
Shape etc. is analyzed, with avoiding obstacles, as the second analysis result.In the present embodiment, can generate but be not restricted to
At least one of lower action command：Stop motion, alarm signal is sent, turns an angle and squats down, and control machine people
Main body performs corresponding action.
When robot body is in car-shape state, can be carried out according to road grade size, road with the presence or absence of turning etc.
Analysis, driven with determining how, as the second analysis result.In the present embodiment, can generate but be not restricted to it is following action refer to
At least one of order：Increase power, left-hand rotation and right-hand rotation, and control machine human agent performs corresponding action.
The control method of the fighter toy of the embodiment of the present invention, by analyzing sample data, arrange parameter with
The incidence relation of form, and, by analyzing ambient parameter, action command corresponding to generation, make fighter toy complete
Into corresponding action, the subjective control of fighter toy is realized.Using technical scheme, it is possible to increase the reality of robot
The property used.
Further, in above-described embodiment, fighter toy can also receive the interaction data of input fighter toy, and
According to default 3rd analysis rule, the interaction data is analyzed, obtains output data, and output data is exported, with
Realize that people and machine, people are exchanged, linked up by the way that metamorphic robotic is interpersonal.For example, the interaction data in the present embodiment
Text data and/or speech data can be included but is not limited to.
During a specific implementation, in the control method of the fighter toy of the present embodiment, deformation can also be obtained
The charge value of the power supply of robot；If detecting, the charge value of power supply is less than the first predetermined threshold value, controls texturing machine
Device people is out of service；If detecting, charge value is more than the second predetermined threshold value, stops charging to power supply.For example, in texturing machine
In device people's running, in order to prevent the power supply overdischarge of fighter toy, the first predetermined threshold value can be set, and when inspection
When measuring charge value and being less than the first predetermined threshold value, control fighter toy is out of service, subsequently to be filled to power supply
Electricity.In order to prevent power supply from overcharging, the second predetermined threshold value can be set, and detect that charge value is more than the second predetermined threshold value
When, stop charging to power supply.
In actual applications, in original deformation robot, it is still necessary to obtain the electricity of the power supply of fighter toy
Value；If detecting, charge value is less than the first predetermined threshold value, forbids fighter toy to run, otherwise, it is allowed to which fighter toy is run.
Below so that fighter toy includes two kinds of appearance models of people's shape state and car-shape state as an example, to the technology of the present invention
Scheme illustrates, and still, the present embodiment is not limited in above two form.
Robot body mainly includes four limbs, head, driver's cabin and four wheels in the present embodiment.Wherein, people's shape state
Under, four limbs can be by 14 servo drivings, for example, upper limbs can be by 4 servo drivings, left and right respectively sets 2 steering wheels, and lower limb can
So that by 10 servo drivings, left and right respectively sets 5 steering wheels.End rotation can set double by 1 servo driving, the-head
Eye, can be driven by 2 light emitting diodes (Light-Emitting Diode, LED).Driver's cabin can be by 1 under car-shape state
Portion's reducing motor driving, front-wheel can be driven by 1 servo driving, trailing wheel by 2 reducing motors.
In the present embodiment, the supply voltage of steering wheel is preferably 7V, and the supply voltage of reducing motor is preferably 12V.
Under normal circumstances, fighter toy after the power-up, can detect the electricity of power supply, and when electricity abundance,
The current form of fighter toy is detected, if the current form behaviour shape state of robot body, into walking mode, the present embodiment
Middle fighter toy can also can be walked with random walk according to actual conditions, can also be walked according to the condition of setting, this reality
Example is applied to be not particularly limited.
Fighter toy in the process of walking, gathers the ambient parameter around fighter toy, if for example, detecting front
Barrier at 50cm be present, can stop walking, and be kept upright, or, change walking angle, walk on, to get around
Barrier.If detecting, ambient parameter around fighter toy is adapted to car-shape state to drive, can be with such as situations such as road steepening
Deformation instruction is sent, for example, 14 tunnel pulse width modulations (Pulse Width Modulation, PWM) square wave letter can be exported
Number, 14 steering wheels of four limbs are controlled, specifically, can be controlled according to the difference of the square wave pulse width length of PWM square-wave signals
The rotational angle of steering wheel processed and duration etc..2 road PWM square-wave signals control reducing motors can be exported to be rotated forward or instead
Turn, the purpose in the form of reaching driver's cabin transformation.The velocity of rotation of wherein reducing motor is determined by supply voltage, if supply voltage
For 12V, the rotating speed of reducing motor is about 125 revs/min.
In actual applications, the action of fighter toy can also be determined according to the ambient parameter of collection, e.g., sat down, point
Head, rotary head, the flexible swing and rotation of arm, the action such as bend over.
During a specific implementation, if the current form of robot body is car-shape state, into driving model, this reality
Applying fighter toy in example can drive at random, can also be driven according to actual conditions, can also be driven according to the condition of setting,
The present embodiment is not particularly limited.
If detecting, present road needs to turn, action command corresponding to generation, to complete to turn.If detect texturing machine
Ambient parameter around device people is adapted to humanoid state to walk, and as peripheral obstacle is more, deformation instruction can be sent, for example, can
To send PWM square-wave signals, control machine human agent becomes people's shape state by car-shape state, and its conversion process becomes with people's shape state
The process of car-shape state is changed on the contrary, will not be repeated here.
Embodiment 3
Fig. 3 is the structural representation of the control device embodiment one of the fighter toy of the present invention, wherein, the present embodiment
Fighter toy includes deformable robot body, and the device includes acquisition module 10, detection module 11, the and of determining module 12
Control module 13.
Acquisition module 10, for gathering the ambient parameter around fighter toy；
Detection module 11, for the incidence relation according to default parameter and form, whether detection fighter toy needs
Change form；
Determining module 12, if detecting that fighter toy needs to change form for detection module 11, determine ambient parameter
Corresponding form；
Control module 13, for the form according to determination, control machine human agent changes form.
The control device of the fighter toy of the present embodiment, realize that fighter toy changes shape by using above-mentioned each module
The realization mechanism of state is identical with the realization mechanism of above-mentioned embodiment illustrated in fig. 1, may be referred to above-mentioned embodiment illustrated in fig. 1 in detail
Record, will not be repeated here.
The control device of the fighter toy of the present embodiment, by the way that robot body is arranged into deformable structure, and
The ambient parameter around fighter toy can be gathered using above-mentioned each module；According to associating for default parameter and form
Whether system, detection robot body need to change form；If so, determine form corresponding to ambient parameter；According to the form of determination,
Control machine human agent changes form, realizes fighter toy and carries out conversion between form according to the actual requirements.Using this
The technical scheme of invention, it is possible to increase the practicality of robot.
Embodiment 4
Fig. 4 is the structural representation of the control device embodiment two of the fighter toy of the present invention, as shown in figure 4, this reality
The first analysis module can also further be included on the basis of embodiment illustrated in fig. 3 by applying the control device of the fighter toy of example
14th, setup module 15, the second analysis module 16 and generation module 17.
First analysis module 14, for according to default first analysis rule, analyzing sample data, obtaining first
Analysis result；
Setup module 15, for according to the first analysis result, the incidence relation of arrange parameter and form.
Second analysis module 16, for according to default second analysis rule, analyzing ambient parameter, obtaining second
Analysis result；
Generation module 17, for according to the second analysis result, generating action command；
Control module 13, it is additionally operable to according to action command, control machine human agent performs corresponding action.
As shown in figure 4, the control device of the fighter toy of the present embodiment can also include receiving module 18 and the 3rd point
Analyse module 19.
Receiving module 18, for receiving the interaction data of input fighter toy；
3rd analysis module 19, for according to default 3rd analysis rule, analyzing interaction data, being exported
Data；
Control module 13, it is additionally operable to export output data.
Further, in above-described embodiment, generation module 17, it is additionally operable to generate stop motion instruction；
Control module 13, it is additionally operable to be instructed according to stop motion, controls fighter toy stop motion.
Detection module 11, it is additionally operable to obtain the charge value of the power supply of fighter toy；
Control module 13, if being additionally operable to detection module 11 detects that charge value is less than the first predetermined threshold value, control texturing machine
Device people is out of service；Or if detection module 11 detects that charge value is more than the second predetermined threshold value, stop filling power supply
Electricity.
The control device of the fighter toy of the present embodiment, realize that fighter toy changes shape by using above-mentioned each module
The realization mechanism of state is identical with the realization mechanism of above-mentioned embodiment illustrated in fig. 2, may be referred to above-mentioned embodiment illustrated in fig. 2 in detail
Record, will not be repeated here.
The present invention also provides a kind of fighter toy, including deformable robot body and change as shown in Figure 3 or Figure 4
The control device of anthropomorphic robot；
Wherein, the control device of fighter toy is used to send control instruction to robot body, so that robot body
Corresponding operation is performed according to control instruction.For example, the control instruction can including but not limited to deformation instruction and/or action
Instruction.
The fighter toy of the present embodiment, the realization mechanism of fighter toy transformation form is realized by using said structure
It is identical with above-mentioned Fig. 1 or embodiment illustrated in fig. 2 realization mechanism, the note of above-mentioned Fig. 1 or embodiment illustrated in fig. 2 is may be referred in detail
Carry, will not be repeated here.
The fighter toy of the present embodiment, by the way that robot body is arranged into deformable structure, and utilize above-mentioned knot
Structure can gather the ambient parameter around fighter toy；According to the incidence relation of default parameter and form, robot is detected
Whether main body needs to change form；If so, determine form corresponding to ambient parameter；According to the form of determination, control machine people master
Body changes form, realizes fighter toy and carries out conversion between form according to the actual requirements.Using the technical side of the present invention
Case, it is possible to increase the practicality of robot.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the scope of protection of present invention.
Claims (10)
1. a kind of control method of fighter toy, it is characterised in that the fighter toy includes deformable robot master
Body, methods described include：
Gather the ambient parameter around fighter toy；
According to the incidence relation of default parameter and form, detect whether the robot body needs to change form；
If so, determine form corresponding to the ambient parameter；
According to the form, the robot body is controlled to change form.
2. according to the method for claim 1, it is characterised in that also include：
According to default first analysis rule, sample data is analyzed, obtains the first analysis result；
According to first analysis result, the incidence relation of the parameter and form is set.
3. the method described in right as requested 1, it is characterised in that also include：
According to default second analysis rule, the ambient parameter is analyzed, obtains the second analysis result；
According to second analysis result, action command is generated；
According to the action command, the robot body is controlled to perform corresponding action.
4. according to any described methods of claim 1-3, it is characterised in that according to robot body described in the morphology Control
Before changing form, in addition to：
Generate stop motion instruction；
Instructed according to the stop motion, control the fighter toy stop motion.
5. according to any described methods of claim 1-3, it is characterised in that also include：
Receive the interaction data for inputting the fighter toy；
According to default 3rd analysis rule, the interaction data is analyzed, obtains output data；
The output data is exported.
6. according to any described methods of claim 1-3, it is characterised in that also include：
Obtain the charge value of the power supply of the fighter toy；
If detecting, the charge value is less than the first predetermined threshold value, controls the fighter toy out of service；
If detecting, the charge value is more than the second predetermined threshold value, stops charging to the power supply.
7. a kind of control device of fighter toy, it is characterised in that the fighter toy includes deformable robot master
Body, described device include：
Acquisition module, for gathering the ambient parameter around fighter toy；
Detection module, for the incidence relation according to default parameter and form, detect whether the fighter toy needs to turn
Deformation states；
Determining module, if for detecting that the fighter toy needs to change form, determine shape corresponding to the ambient parameter
State；
Control module, for according to the form, controlling the robot body to change form.
8. device according to claim 7, it is characterised in that also include：
First analysis module, for according to default first analysis rule, analyzing sample data, obtaining the first analysis knot
Fruit；
Setup module, for according to first analysis result, setting the incidence relation of the parameter and form.
9. device according to claim 7, it is characterised in that also include：
Second analysis module, for according to default second analysis rule, analyzing the ambient parameter, obtaining second point
Analyse result；
Generation module, for according to second analysis result, generating action command；
The control module, it is additionally operable to according to the action command, controls the robot body to perform corresponding action.
10. a kind of fighter toy, it is characterised in that including deformable robot body and such as any institutes of claim 6-9
The control device for the fighter toy stated；
The control device of the fighter toy is used to send control instruction to the robot body, so that the robot master
Body performs corresponding operation according to the control instruction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300451A (en) * | 2020-03-19 | 2020-06-19 | 深圳国信泰富科技有限公司 | High-intelligence shape shifting robot |
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| CN201727958U (en) * | 2010-04-29 | 2011-02-02 | 晋江恒盛玩具有限公司 | Novel remote control toy car |
| JP2012187353A (en) * | 2011-03-14 | 2012-10-04 | Ing 21:Kk | Transformable toy |
| CN202289438U (en) * | 2011-09-09 | 2012-07-04 | 周剑 | Man and automobile transformation self-programming telecontrol robot toy |
| CN103786806A (en) * | 2014-01-20 | 2014-05-14 | 北京航空航天大学 | Multifunctional leg-and-wheel combination robot and multi-movement-mode intelligent switching method thereof |
| CN204926654U (en) * | 2015-05-20 | 2015-12-30 | 沈阳理工大学 | Shape -shifting robot for teaching |
| CN105364930A (en) * | 2015-10-26 | 2016-03-02 | 湖南荣乐科技有限公司 | Service robot |
| CN105965475A (en) * | 2016-04-18 | 2016-09-28 | 智造未来（北京）机器人系统技术有限公司 | Robot control method and system and robot |
| CN206123679U (en) * | 2016-10-21 | 2017-04-26 | 昆明理工大学 | Humanoid robot is out of shape to high trafficability characteristic |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111300451A (en) * | 2020-03-19 | 2020-06-19 | 深圳国信泰富科技有限公司 | High-intelligence shape shifting robot |
| CN111300451B (en) * | 2020-03-19 | 2021-06-29 | 深圳国信泰富科技有限公司 | High-intelligence shape shifting robot |
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Application publication date: 20180320 |