CN108115697A - The control method of service robot and service robot - Google Patents
The control method of service robot and service robot Download PDFInfo
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- CN108115697A CN108115697A CN201611069000.2A CN201611069000A CN108115697A CN 108115697 A CN108115697 A CN 108115697A CN 201611069000 A CN201611069000 A CN 201611069000A CN 108115697 A CN108115697 A CN 108115697A
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- supporting plate
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 65
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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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- 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
- B25J11/008—Manipulators for service tasks
-
- 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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the control method of a kind of service robot and service robot, wherein, which includes：Input module, chip control module, horicontal motion mechanism and vertical and straight movement mechanism；Input module is for receiving control parameter input by user；Chip control module is used to that control parameter to be handled to obtain the first control instruction that robot body is controlled to move horizontally and the second control instruction for controlling water receiving supporting plate vertical shift；Horicontal motion mechanism is used to according to the first control instruction the moving parts of robot body be controlled to move according to the track of setting, so that the position that robot body arrival is specified；Vertical and straight movement mechanism is used to according to the second control instruction water receiving supporting plate be controlled to reach specified altitude assignment position, so that water receiving supporting plate is operated accordingly in specified altitude assignment position.The present invention can facilitate user's control, realize moving horizontally and vertically object being taken to move for robot, to realize and object is taken to operate having preferable experience effect mobile.
Description
Technical field
The present invention relates to robotic technology field more particularly to the control methods of a kind of robot and robot.
Background technology
With the continuous development of electronic technology, there is large quantities of intellectual products to meet the growing need of people
It asks, and intelligent robot is exactly one of these intellectual products.At present, intelligent robot have begun to be applied to military, production and
In life.It is mostly service robot applied to the intelligent machine National People's Congress in life, this kind of robot mostly includes robot body
And mobile path, the robot body can be moved according to mobile path, such as dining room class service robot, as long as recording clothes
The termination address of business robot motion, can be achieved with the reciprocating motion successively of starting point and destination.Above-mentioned robot only has
There is the function of carrying, movement, and can only be used cooperatively by mating terminal, limit the use scope of robot, reduce
Experience effect.
In view of this, it is necessary to which above-mentioned service robot is further improved.
The content of the invention
To solve an above-mentioned at least technical problem, the main object of the present invention is to provide a kind of robot.
To achieve the above object, one aspect of the present invention is：A kind of service robot is provided, including machine
Human body and the water receiving supporting plate being arranged on robot body, the service robot further include：
Input module, the input module is for receiving control parameter input by user；
Chip control module, the chip control module are electrically connected with input module, for handling control parameter
It obtains the first control instruction that robot body is controlled to move horizontally and controls the second control instruction of water receiving supporting plate vertical shift；
Horicontal motion mechanism, the horicontal motion mechanism are electrically connected with chip control module, for being referred to according to the first control
Order control robot body is moved according to the track of setting, so that the position that robot body arrival is specified；
Vertical and straight movement mechanism, the vertical and straight movement mechanism are electrically connected with chip control module, for being referred to according to the second control
Order control water receiving supporting plate reaches specified altitude assignment position, so that water receiving supporting plate is operated accordingly in specified altitude assignment position.
Preferably, the input module includes：
Voice-input unit, for supplying user's input speech signal；
Voice recognition unit obtains voice data for carrying out speech recognition to voice signal input by user；
Voice converting unit, for converting voice data to the control parameter of robot.
Preferably, the input module includes：
ID cards, the ID cards are stored with the exercise data of robot；
It swipes the card sensing unit, the sensing unit of swiping the card can be connected with ID card wireless communications, for reading ID card inner machines
People numbers, and the control parameter of robot is generated according to exercise data.
Preferably, the input module includes：
Touch sensitive display unit, the touch sensitive display unit input the exercise data of robot for user；
Date Conversion Unit, the Date Conversion Unit and touch sensitive display unit wireless connection, for receiving intelligent terminal
The control signal of transmission, and according to the control parameter of control signal generation robot.
Preferably, the horicontal motion mechanism includes servomotor and the universal wheel for being assemblied in robot body bottom, institute
State servomotor drives universal wheel to carry out horizontal reciprocating movement according to the first control instruction, so that robot body is back and forth in water receiving
Between position and water intaking position.
Preferably, the service robot further includes the railway line for being layed in ground and the setting of respective carter line and can
The line walking module of sensing identification railway line, the line walking module are electrically connected with chip control module, for carrying out water in robot
When translation is dynamic, robot is made to be moved horizontally according to the position of the railway line of sensing.
Preferably, the service robot further includes obstacle detection module, the obstacle detection module and chip controls mould
Block is electrically connected, to detect the front whether there are obstacles of robot horizontal movement, if in the presence of generating false trigger signals
And chip control module is delivered to, by the deceleration of chip control module controlled level moving drive mechanism or stop motion.
Preferably, the vertical and straight movement mechanism includes two fixed links, the screw between two fixed links and drives silk
The stepper motor of thick stick movement, the screw are fixedly connected with water receiving supporting plate, and the stepper motor can drive according to the second control instruction
Dynamic screw movement, and drive water receiving supporting plate vertically reciprocating by screw, so that water receiving supporting plate, which reaches, specifies height
Spend position.
Preferably, the service robot further includes camera module, and the camera module is electrically connected with chip control module.
To achieve the above object, another technical solution used in the present invention is：A kind of control of service robot is provided
Method includes the following steps：
Receive control parameter input by user；
Control parameter is handled to obtain the first control instruction and the control water receiving that control robot body moves horizontally
Second control instruction of supporting plate vertical shift；
According to the first control instruction robot body is controlled to be moved according to the track of setting, so that robot body arrival refers to
Fixed position；
According to the second control instruction water receiving supporting plate is controlled to reach specified altitude assignment position, so that water receiving supporting plate is in specified altitude assignment position
It puts and is operated accordingly.
Technical scheme can be transported to chip control by input module with input control parameter, the control parameter
Molding block is simultaneously handled control parameter by chip control module, generates the first control instruction and the second control instruction, horizontal
Motion can control robot body to move horizontally according to first control instruction, so as to fulfill robot in water receiving position
It is moved back and forth with water intaking position；Vertical and straight movement mechanism can control water receiving supporting plate to be vertically moved according to second control instruction, from
And realize that the water receiving supporting plate of robot moves to specified altitude assignment, to facilitate robot water receiving, in this way, by horicontal motion mechanism and
Vertical and straight movement mechanism can realize that the object that moves and take of robot is operated and (such as realized with the automatic water receiving function of robot), can subtract
Few manual operation, has preferable user experience effect.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the block diagram of one embodiment of the invention service robot；
Fig. 2 is the structure diagram at one visual angle of service robot of Fig. 1；
Fig. 3 is the flow diagram of the control method of one embodiment of the invention service robot.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that the description of " first ", " second " etc. involved in the present invention be only used for description purpose, and it is not intended that
Indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Define as a result, " first ",
At least one this feature can be expressed or be implicitly included to the feature of " second ".In addition, the technical side between each embodiment
Case can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution
Conflicting or can not realize when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
Referring to Fig.1 and 2, in embodiments of the present invention, which includes robot body 11 and sets
In the water receiving supporting plate 12 on robot body 11, which further includes：
Input module 20, the input module 20 is for receiving control parameter input by user；
Chip control module 10, the chip control module 10 are electrically connected with input module 20, for control parameter into
Row processing obtains the of 12 vertical shift of the first control instruction for moving horizontally of control robot body 11 and control water receiving supporting plate
Two control instructions；
Horicontal motion mechanism 30, the horicontal motion mechanism 30 is electrically connected with chip control module 10, for according to first
Control instruction controls robot body 11 to be moved according to the track of setting, so that robot body 11 reaches the position specified；
Vertical and straight movement mechanism 40, the vertical and straight movement mechanism 40 is electrically connected with chip control module 10, for according to second
Control instruction control water receiving supporting plate 12 reaches specified altitude assignment position, so that water receiving supporting plate 12 carries out accordingly in specified altitude assignment position
Operation.
In the present embodiment, input module 20 can be phonetic entry, swipe the card and touch it is any in screen input,
It can be phonetic entry, swipe the card and touch two or more arbitrary combination in screen input.It can by input module 20
To realize the input of robot control parameter.The control chip of the chip control module 10 including model Mega2560 and with
Each interface circuit of chip electrical connection is controlled, which can be handled control parameter, be obtained for level
The first control instruction and the second control instruction for 40 movement of vertical and straight movement mechanism that motion 30 moves, in this way, can be with
Realize robot body 11 move horizontally and the vertical and straight movement of water receiving supporting plate 12, robot is suitble to complete mobile and object is taken to grasp
Make, compared with prior art in service robot can reduce manual operation, have preferable user experience effect.
Technical scheme can be transported to chip by input module 20 with input control parameter, the control parameter
Control module 10 is simultaneously handled control parameter by chip control module 10, generates the first control instruction and the second control refers to
Order, horicontal motion mechanism 30 can control robot body 11 to move horizontally according to first control instruction, so as to fulfill machine
People moves back and forth in water receiving position and water intaking position；Vertical and straight movement mechanism 40 can control water receiving supporting plate according to second control instruction
12 are vertically moved, and specified altitude assignment is moved to so as to fulfill the water receiving supporting plate 12 of robot, to facilitate robot water receiving, in this way,
By horicontal motion mechanism 30 and vertical and straight movement mechanism 40 can realize robot move and take object operate (as realize with robot
The functions such as automatic water receiving), it is possible to reduce manual operation has preferable user experience effect.
In one embodiment, the input module 20 includes：
Voice-input unit, for supplying user's input speech signal；
Voice recognition unit obtains voice data for carrying out speech recognition to voice signal input by user；
Voice converting unit, for converting voice data to the control parameter of robot.
In the present embodiment, voice recognition unit and voice converting unit can be realized by speech chip, the voice core
Piece use ASR MO8-A technologies, the speech chip work when, can recognize that user voice, using voice software sound record into
It goes, then converts tones into control parameter, in this way, can be with the relevant action of voice control robot, in addition, encountering event
Barrier is can also to play the sound recorded, realizes that people exchanges with robot.
In an embodiment arranged side by side, the input module 20 includes：
ID cards, the ID cards are stored with the exercise data of robot；
It swipes the card sensing unit, the sensing unit of swiping the card can be connected with ID card wireless communications, for reading ID card inner machines
People numbers, and the control parameter of robot is generated according to exercise data.
In the present embodiment, input module 20 is specifically made of ID cards and sensing unit of swiping the card, the sensing unit installation of swiping the card
In on robot body 11, ID card inner machines people can be read by the sensing unit of swiping the card and numbered, and given birth to according to exercise data
Into the control parameter of robot, in this way, control parameter can be rapidly input, the problem of user needs to set control parameter is saved,
Certainly, which can be applied to movement of the robot in setting position.
In an embodiment arranged side by side, the input module 20 includes：
Touch sensitive display unit, the touch sensitive display unit input the exercise data of robot for user；
Date Conversion Unit, the Date Conversion Unit and touch sensitive display unit wireless connection, for receiving intelligent terminal
The control signal of transmission, and according to the control parameter of control signal generation robot.
In the present embodiment, the APP softwares for user's operation on the touch sensitive display unit are installed, and are swashed in APP softwares
Specific operation interface is provided to the user when living, and user can input the exercise data of robot, the movement in operation interface
Data can obtain the control parameter of robot after conversion.
To sum up, in the present embodiment, which may be employed phonetic entry, swipe the card and APP input control parameters,
In actual scheme, one or more kinds of combinations can be selected to be inputted into row information, it, can be with when being provided with multigroup input
The input sequence of priority according to specific requirement is set, to facilitate the processing of chip control module 10, through the above scheme can
It is enough to be greatly convenient for user input operations.
Fig. 2 is refer to, in one embodiment, the horicontal motion mechanism 30 includes servomotor 31 and is assemblied in robot
The universal wheel 32 of 11 bottom of body, the servomotor 31 can drive universal wheel 32 to carry out back and forth horizontally according to the first control instruction
Movement so that robot body 11 back and forth in water receiving position and water intaking position between.
In the present embodiment, servomotor 31 and universal wheel 32 are segmented into two groups, need to make horizontal linear in robot
During movement, which can control two groups of universal wheels 32 to be synchronized with the movement；When robot turns round, the servomotor 31 is controllable
It makes one group of universal wheel 32 to move, another group of retarded motion, to realize that turning is handled.
Fig. 1 is refer to, in one embodiment, the service robot further includes the railway line that is layed in ground and right
Railway line is answered to set and the line walking module 70 of identification railway line can be sensed, the line walking module 70 is electrically connected with chip control module 10
It connects, for when robot is moved horizontally, robot being made to be moved horizontally according to the position of the railway line of sensing.
In the present embodiment, in order to make robot motion, on fixed railway line (such as black line), the service robot is also
Line walking module 70 can be increased, /V can be carried out to the movement position of robot by line walking module 70, to reduce robot
The failure rate of movement.
In one embodiment, the service robot further includes obstacle detection module 50, the obstacle detection module 50 with
Chip control module 10 is electrically connected, to detect the front whether there are obstacles of robot horizontal movement, if in the presence of generating
False trigger signals are simultaneously delivered to chip control module 10, are slowed down or are stopped by chip control module controlled level moving drive mechanism
Only move.
In the present embodiment, a ultrasonic sensor is built-in in obstacle detection module 50, it is former using ultrasonic echo ranging
Reason, with accurate time difference measurement technology, the distance between detection sensor and object, by using ultrasonic sensor,
Robot can be adjusted correspondingly in the different barriers run into during traveling.
In one embodiment, the vertical and straight movement mechanism 40 includes two fixed links 41, the screw between two fixed links
42 and the stepper motor 43 of guide screw movement is driven, the screw 42 is fixedly connected with water receiving supporting plate 12, the stepper motor 43
According to the second control instruction screw 42 can be driven to move, and pass through screw 42 and water receiving supporting plate 12 is driven vertically to make reciprocal fortune
It is dynamic, so that water receiving supporting plate 12 reaches specified altitude assignment position.
In the present embodiment, 42 vertical and straight movement of leading screw can be driven by stepper motor 43, and drive water receiving supporting plate about 12
Movement, in this way, can solve the problems, such as that the supporting plate 12 of robot is different from water receiving position height, it is necessary to artificially object is taken to operate, because
And the experience effect of user can be improved.
In one embodiment, the service robot further includes camera module 60, the camera module 60 and chip controls
Module 10 is electrically connected.
In the present embodiment, which is controlled by chip control module 10, can be according to chip control module 10
Control is taken pictures, and is recorded with the traveling to robot.
It refer to Fig. 3, in the embodiment of the present invention, the control method of the service robot includes the following steps：
Step S10, control parameter input by user is received；
Step S20, control parameter is handled to obtain the first control instruction that control robot body moves horizontally and
Control the second control instruction of water receiving supporting plate vertical shift；
Step S30, according to the first control instruction robot body is controlled to be moved according to the track of setting, so that robot sheet
The position that body arrival is specified；
Step S40, according to the second control instruction water receiving supporting plate is controlled to reach specified altitude assignment position, so that water receiving supporting plate is referring to
Determine height and position to be operated accordingly.
In the present embodiment, chip control module may be employed, control parameter is handled to obtain control robot body
The first control instruction and the second control instruction of control water receiving supporting plate vertical shift moved horizontally, and the horicontal motion mechanism
First control instruction of movement and the second control instruction for vertical and straight movement mechanism kinematic, in this way, robot can be realized
Move horizontally and the vertical and straight movement of water receiving supporting plate, robot is suitble to complete mobile and object taken to operate, compared with prior art in
Service robot can reduce manual operation, have preferable user experience effect.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
The equivalent structure transformation made under the inventive concept of invention using description of the invention and accompanying drawing content or directly/utilization indirectly
It is included in other related technical areas in the scope of patent protection of the present invention.
Claims (10)
1. a kind of service robot exists including robot body and the water receiving supporting plate being arranged on robot body, feature
In the service robot further includes：
Input module, the input module is for receiving control parameter input by user；
Chip control module, the chip control module are electrically connected with input module, for being handled to obtain to control parameter
The first control instruction and the second control instruction of control water receiving supporting plate vertical shift that control robot body moves horizontally；
Horicontal motion mechanism, the horicontal motion mechanism are electrically connected with chip control module, for according to the first control instruction control
The moving parts of robot body processed are moved according to the track of setting, so that the position that robot body arrival is specified；
Vertical and straight movement mechanism, the vertical and straight movement mechanism are electrically connected with chip control module, for being controlled according to water receiving supporting plate second
System instruction control water receiving supporting plate reaches specified altitude assignment position, so that water receiving supporting plate is operated accordingly in specified altitude assignment position.
2. service robot as described in claim 1, which is characterized in that the input module includes：
Voice-input unit, for supplying user's input speech signal；
Voice recognition unit obtains voice data for carrying out speech recognition to voice signal input by user；
Voice converting unit, for converting voice data to the control parameter of robot.
3. service robot as described in claim 1, which is characterized in that the input module includes：
ID cards, the ID cards are stored with the exercise data of robot；
It swipes the card sensing unit, the sensing unit of swiping the card can be connected with ID card wireless communications, be compiled for reading ID card inner machines people
Number, and according to the control parameter of exercise data generation robot.
4. service robot as described in claim 1, which is characterized in that the input module includes：
Touch sensitive display unit, the touch sensitive display unit input the exercise data of robot for user；
Date Conversion Unit, the Date Conversion Unit and touch sensitive display unit wireless connection send for receiving intelligent terminal
Control signal, and according to control signal generate robot control parameter.
5. such as Claims 1-4 any one of them service robot, which is characterized in that the horicontal motion mechanism includes watching
Take motor and be assemblied in the universal wheel of robot body bottom, the servomotor according to the second control instruction drive universal wheel into
Row horizontal reciprocating movement so that robot body back and forth in water receiving position and water intaking position between.
6. service robot as claimed in claim 5, which is characterized in that the service robot, which further includes, is layed in ground
Railway line and respective carter line set and can sense the line walking module of identification railway line, the line walking module and chip controls
Module is electrically connected, for when robot is moved horizontally, robot being made to be moved horizontally according to the position of the railway line of sensing.
7. service robot as claimed in claim 6, which is characterized in that the service robot further includes obstacle detection mould
Block, the obstacle detection module are electrically connected with chip control module, and the front to detect robot horizontal movement whether there is
Barrier, if in the presence of generating false trigger signals and be delivered to chip control module, moved by chip control module controlled level
Dynamic driving mechanism is slowed down or stop motion.
8. service robot as claimed in claim 6, which is characterized in that the vertical and straight movement mechanism includes two fixed links, position
The stepper motor of screw and drive guide screw movement between two fixed links, the screw are fixedly connected with water receiving supporting plate, institute
State stepper motor can according to the second control instruction drive screw movement, and by screw drive water receiving supporting plate vertically make it is past
Multiple movement, so that water receiving supporting plate reaches specified altitude assignment position.
9. service robot as claimed in claim 8, which is characterized in that the service robot further includes camera module, institute
Camera module is stated to be electrically connected with chip control module.
10. a kind of control method of service robot, which is characterized in that the control method of the service robot includes following step
Suddenly：
Receive control parameter input by user；
Control parameter is handled to obtain the first control instruction and the control water receiving supporting plate that control robot body moves horizontally
Second control instruction of vertical shift；
According to the first control instruction robot body is controlled to be moved according to the track of setting, so that robot body arrival was specified
Position；
According to the second control instruction control water receiving supporting plate reach specified altitude assignment position so that water receiving supporting plate specified altitude assignment position into
The corresponding operation of row.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611069000.2A CN108115697A (en) | 2016-11-28 | 2016-11-28 | The control method of service robot and service robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611069000.2A CN108115697A (en) | 2016-11-28 | 2016-11-28 | The control method of service robot and service robot |
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| CN108115697A true CN108115697A (en) | 2018-06-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109602282A (en) * | 2019-01-21 | 2019-04-12 | 蔡烨栋 | Automatic water heating device |
| CN111319048A (en) * | 2018-12-13 | 2020-06-23 | 南京硅基智能科技有限公司 | Nanny robot for man-machine conversation based on AI simulation of elapsed human voice |
| CN113350718A (en) * | 2021-04-13 | 2021-09-07 | 西安石油大学 | Remote control ultrasonic wave platform of putting out a fire based on FPGA |
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